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Testar.txt
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Testar.txt
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#define PI 3.14
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
extern "C" {
#include "extApi.h"
}
int main(int argc, char* argv[]){
//vetores de valores
float numj3[] = {-PI/35, PI/45, PI/20, PI/20, PI/150, PI/45, PI/30, -PI/55, 0, PI/200};
float numj2[] = {-PI/4, -PI/4, -PI/4, -PI/4, -PI/4.5, -PI/4, -PI/4, -PI/4.5, -PI/4, -PI/4};
float numj1[] = {-PI/11, -PI/15, -PI/11, -PI/10, -PI/15, -PI/11, -PI/9.5, -PI/15,-PI/11, -PI/9.5};
float backj2[] = {-PI/3.75, -PI/3.8, -PI/3.6, -PI/3.55, -PI/3.8, -PI/3.70, -PI/3.6, -PI/3.9, -PI/3.75, -PI/3.65};
int t1[] = {1000, 1000, 2000, 3000, 4000, 2000, 3000, 2000, 2000, 2000};
int t2[] = {1000, 3000, 2000, 1000, 5000, 1000, 5000, 2000, 2000, 3000};
int t3[] = {1000, 3000, 2000, 2000, 2000, 1000, 3000, 2000, 1000, 2000};
int t4[] = {1000, 3000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000};
int handler = 0;
int clientID = simxStart((simxChar*) "127.0.0.1", 19999, true, true, 2000, 5);
extApi_sleepMs(500);
if (clientID == -1) {
printf("Erro conectando ao Coppelia!\n");
return 0;
} else {
printf("Conectado ao Coppelia!\n");
}
//Definir ponto central para movimentação do robô (em cima do número 5)
simxChar handlerName[150] = "/base_link_respondable[0]/joint_3";
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(1000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)PI/45, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat) -PI/4, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(12000);
strcpy(handlerName, "/base_link_respondable[0]/joint_1");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI/11, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(3000);
int digito;
char numero[6];
int cont;
int tam;
FILE* arq;
arq = fopen("votos.txt", "r");
if (arq == NULL) {
printf("Falha ao acessar o arquivo");
exit (1);
}
else if (arq != NULL) {
printf("Sucesso ao acessar o arquivo");
while (!feof(arq)) {
fscanf(arq, " %s\n", numero);
tam = strlen(numero);
for (cont = 0; cont < tam; cont++) {
digito = (numero[cont]) - 48;
strcpy(handlerName, "/base_link_respondable[0]/joint_3");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)(numj3[digito]), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs((t1[digito]));
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)(numj2[digito]), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs((t2[digito]));
strcpy(handlerName, "/base_link_respondable[0]/joint_1");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)(numj1[digito]), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs((t3[digito]));
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)(backj2[digito]), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs((t4[digito]));
//VOLTANDO PARA O PONTO DEFINIDO
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 4, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(4000);
strcpy(handlerName, "/base_link_respondable[0]/joint_1");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 11, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName, "/base_link_respondable[0]/joint_3");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)PI/45, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
if (cont == tam-1) {
//CONFIRMANDO VOTO
strcpy(handlerName, "/base_link_respondable[0]/joint_3");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 70, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(6000);
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 8, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(6000);
strcpy(handlerName, "/base_link_respondable[0]/joint_1");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 8, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(6000);
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 3.55, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(7000);
//VOLTANDO PARA O PONTO DEFINIDO
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 4, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(4000);
strcpy(handlerName, "/base_link_respondable[0]/joint_1");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-PI / 11, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName, "/base_link_respondable[0]/joint_3");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)PI / 45, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
}
}
}
fclose(arq);
//VOLTANDO PARA A POSIÇÃO INICIAL
strcpy(handlerName, "/base_link_respondable[0]/joint_3");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(3000);
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(15000);
strcpy(handlerName, "/base_link_respondable[0]/joint_1");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(3000);
strcpy(handlerName, "/base_link_respondable[0]/joint_2");
simxGetObjectHandle(clientID, handlerName, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
}
simxFinish(clientID);
return(0);
}