forked from Arturvpf/ProjetoExtra-ip
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathvrep.cc
482 lines (330 loc) · 26.6 KB
/
vrep.cc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
#define PI 3.14
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
extern "C" {
#include "extApi.h"
}
void Pos0(int clientID,int handler){
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
void carregaVotos(int* qtdVotos, char*** votos){
FILE* arq;
char voto[100];
arq = fopen("votos.txt", "r");
int digitos = 0;
if (arq == NULL)
{
printf("Nao foi possivel computar votos\n"); exit(1);
}
while (!feof(arq)){
fscanf(arq, "%99[^\n]\n", voto);
digitos = strlen(voto);
(*qtdVotos)++;
(*votos) = (char**)realloc((*votos), (*qtdVotos) * sizeof(char*));
(*votos)[(*qtdVotos) - 1] = NULL;
(*votos)[(*qtdVotos) - 1] = (char*) realloc((*votos)[(*qtdVotos) - 1], digitos * sizeof(char));
strcpy((*votos)[(*qtdVotos) - 1], voto);
}
fclose(arq);
}
float radian(float grau){
float rad;
rad = (grau * PI) / 180;
return rad;
}
int main(int argc, char* argv[])
{
char** votos = NULL;
int qtdVotos = 0;
carregaVotos(&qtdVotos, &votos);
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");
}
for (int i = 0; i < qtdVotos; i++) {
int k = strlen(votos[i]);
printf("voto #%d/%d = %s\n", i + 1, qtdVotos, votos[i]);
for (int j = 0; j < k; j++) {
if (votos[i][j] == '1'){
simxChar handlerName1[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName1, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-0.20, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)-0.84, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0.13, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(3000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0.1, (simxInt)simx_opmode_oneshot_wait);
strcat(handlerName1, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName1, &handler, (simxInt)simx_opmode_oneshot_wait);
simxChar handlerNameR1[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerNameR1, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerNameR1, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerNameR1, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerNameR1, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerNameR1, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '2'){
simxChar handlerName2[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName2, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-20.8418), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-63.5543), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(0.205), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-23.487), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(64.3565), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(10.2405), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcat(handlerName2, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName2, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName2, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName2, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName2, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName2, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName2, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName2, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '3'){
simxChar handlerName3[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName3, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-27.5), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-62.6473), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(5.06), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-31.9732), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(60.6), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(16.6357), (simxInt)simx_opmode_oneshot_wait);
strcat(handlerName3, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName3, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName3, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName3, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(55.6), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName3, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName3, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName3, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName3, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName3, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName3, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '4'){
simxChar handlerName4[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName4, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-18.1847), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-59.822), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-5.89), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-25.7076), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(66.7), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(10.42), (simxInt)simx_opmode_oneshot_wait);
strcat(handlerName4, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName4, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName4, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName4, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(60.13), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(1200);
strcpy(handlerName4, "/NiryoOne/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName4, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName4, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName4, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName4, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName4, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '5'){
simxChar handlerName5[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName5, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-23.4947), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-59.822), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-5.89), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-25.7076), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(66.7), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(10.42), (simxInt)simx_opmode_oneshot_wait);
strcat(handlerName5, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName5, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName5, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName5, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(58.53), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(1200);
strcpy(handlerName5, "/NiryoOne/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName5, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName5, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName5, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName5, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName5, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '6'){
simxChar handlerName6[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName6, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-28.803), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-64.357), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(1.269), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-31.967), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(65.53), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(14.065), (simxInt)simx_opmode_oneshot_wait);
strcat(handlerName6, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName6, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName6, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName6, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(61.53), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName6, "/NiryoOne/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName6, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName6, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName6, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName6, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName6, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '7'){
simxChar handlerName7[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName7, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-18.634), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-61.92), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-11.475), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-19.0962), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(71.31), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(5.0745), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(3000);
strcat(handlerName7, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName7, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName7, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName7, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(68.53), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName7, "/NiryoOne/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName7, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName7, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName7, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName7, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName7, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '8'){
simxChar handlerName8[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName8, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-25.4769), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-64.028), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-7.61), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-26.8344), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(72.386), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(8.336), (simxInt)simx_opmode_oneshot_wait);
strcat(handlerName8, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName8, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName8, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName8, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(67.53), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName8, "/NiryoOne/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName8, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName8, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName8, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName8, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName8, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '9'){
simxChar handlerName9[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName9, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-29.88), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-65.2646), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-3.72), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-31.7808), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(70.96), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(11.02), (simxInt)simx_opmode_oneshot_wait);
strcat(handlerName9, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName9, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName9, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName9, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(65.53), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName9, "/NiryoOne/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName9, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName9, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName9, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName9, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName9, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
if (votos[i][j] == '0'){
simxChar handlerName0[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerName0, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-26.2714), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-66.9255), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(1000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-10.075), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-26.9766), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(79.268), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(5.994), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcat(handlerName0, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName0, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName0, "/NiryoOne/Joint/Link/Joint/Link/Joint/Link/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName0, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(72.268), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
strcpy(handlerName0, "/NiryoOne/Joint/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName0, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerName0, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerName0, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerName0, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerName0, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(1000);
}
}
simxChar handlerNameConf[150] = "/NiryoOne/Joint";
simxGetObjectHandle(clientID, handlerNameConf, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-34.5314), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-72.956), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-2.79), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(-35.5412), (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(75.24), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(2000);
simxSetJointTargetPosition(clientID, handler, (simxFloat)radian(8.3587), (simxInt)simx_opmode_oneshot_wait);
extApi_sleepMs(1000);
strcat(handlerNameConf, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerNameConf, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerNameConf, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerNameConf, &handler, (simxInt)simx_opmode_oneshot_wait);
Pos0(clientID,handler);
strcat(handlerNameConf, "/Link/Joint");
simxGetObjectHandle(clientID, (simxChar*)handlerNameConf, &handler, (simxInt)simx_opmode_oneshot_wait);
strcpy(handlerNameConf, "/NiryoOne/Joint");
simxGetObjectHandle(clientID, handlerNameConf, &handler, (simxInt)simx_opmode_oneshot_wait);
simxSetJointTargetPosition(clientID, handler, (simxFloat)0, (simxInt)simx_opmode_oneshot_wait);
}
printf("fim da votacao!\n");
simxFinish(clientID);
return(0);
}