Re: lms200 segfault on GetRange() - player 2.1.1

Hi Fred thanks for the advice but for some apparent reason it still doesnt work... wht im trying to do with the program is to be able to get a range reading from each degree increment, so that later on i can put in my potential field program (thats why im only modifying the example program) the program now looks like this:

#include <libplayerc++/playerc++.h>
#include <iostream>

#include "args.h"

#include <stdlib.h> // for atof()
#include <unistd.h>

#include <math.h>
#include <string>

#define RAYS 32


int
main(int argc, char **argv)
{
  parse_args(argc,argv);

  // we throw exceptions on creation if we fail
  try
  {
    using namespace PlayerCc;


    PlayerClient robot(gHostname, gPort);
    Position2dProxy pp(&robot, gIndex);
    LaserProxy lp(&robot, gIndex);
 
    std::cout << robot << std::endl;

 
    pp.SetMotorEnable (true);
       
       
    // go into read-think-act loop
    for(;;)
    {
       
        double newspeed = 0;
        double newturnrate = 0;

       
       
      // this blocks until new data comes; 10Hz by default
      robot.Read();

      double minR = lp.GetMinRight();
      double minL = lp.GetMinLeft();
      double ra = lp.GetRange(1);
       
      std::cout << "range" << ra << std::endl;
       
      // laser avoid (stolen from esben's java example)
//      std::cout << "minR: " << minR <<std::endl
  //              << "minL: " << minL
    //            << std::endl;

      double l = (1e5*minR)/500-100;
      double r = (1e5*minL)/500-100;

      if (l > 100)
        l = 100;
      if (r > 100)
        r = 100;

      newspeed = (r+l)/1e3;

      newturnrate = (r-l);
      newturnrate = limit(newturnrate, -40.0, 40.0);
      newturnrate = dtor(newturnrate);

 //     std::cout << "speed: " << newspeed
   //             << "turn: " << newturnrate
     //           << std::endl;

      // write commands to robot
      pp.SetSpeed(newspeed, newturnrate);
    }
  }
  catch (PlayerCc::PlayerError e)
  {
    std::cerr << e << std::endl;
    return -1;
  }
}


when i run it i still get the same :

localhost: 6665
Segmentation fault

any idea what i did wrong?

THanks

Fred Labrosse wrote:

On Wed, 27 August, 2008 12:46 pm, Thayne (Mech Stu) wrote:
>
> Thanks dude i'll try it again. hahaha i know my C++ sucks they didnt teach us
> enough and im stuck with a thesis that requires a lot of C++ so the
> "robot.Read()" should be outside the loop after the declaration of laser
> proxy or inside the loopbefore "GetRange()"?

Now this is a player question.

You only get the current state of the robot after doing a Read(), so unless
you only want the first state, you need in the loop.

Fred



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