CMGtest.cpp

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/////////////////////////////
// CMGtest.cpp
// test angle of CMG
////////////////////////////

#include <Actuators/ControlMomentGyro.h>
#include <Matrix.h>

using namespace std;

int main()
{

        cout << "Start Program" << endl;

sleep(10);

        ControlMomentGyro CMG;
        CMG.Initialize();
        sleep(13);
        CMG.SetWheelSpeed(20);

        CMG.SetAngle(5);
        sleep(25);

        CMG.SetWheelSpeed(0);
        CMG.SetAngle(0);
        sleep(7);

//      cout << "Angle read(0.36652):  " << CMG.GetAngle() << endl;


/*
        CMG.SetAngle(-0.36652);
        sleep(3);       
        cout << "Angle read(-0.36652):  " << CMG.GetAngle() << endl;
        
        CMG.SetAngle(0.0);
        sleep(3);       
        cout << "Angle read(0):  " << CMG.GetAngle() << endl;
        
        CMG.SetAngle(5.0);
        sleep(3);       
        cout << "Angle read(5.0):  " << CMG.GetAngle() << endl;
        
        CMG.SetAngle(6.0);
        sleep(3);       
        cout << "Angle read(6.0):  " << CMG.GetAngle() << endl;
*/      
        
        return 0;
}

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