Data Sheet

38
ⅱ) Arm Monitor Source Description
(1) cmd_process.cpp
- void DrawPage(void)
printf("//======================== Present Value of Arm =======================//\n");
printf(" <Calc(rad)> | <DXL(unit)> | <DXL(rad)> | <EndEffector's Pose> \n");
printf("Joint1 : | | | X(mm) : \n");
printf("Joint2 : | | | Y(mm) : \n");
printf("Joint3 : | | | Z(mm) : \n");
printf("Joint4 : | | | Roll(rad) : \n");
printf("Joint5 : | | | Pitch(rad) : \n");
printf("Joint6 : | | | Yaw(rad) : \n");
printf("//========================= Goal Value of Arm =========================//\n");
printf(" <Calc(rad)> | <DXL(unit)> | <DXL(rad)> | \n");
printf("Joint1 : | | | \n");
printf("Joint2 : | | | \n");
printf("Joint3 : | | | \n");
printf("Joint4 : | | | \n");
printf("Joint5 : | | | \n");
printf("Joint6 : | | | \n");
printf("//========================== Joint Parameter ==========================//\n");
printf(" Velocity | Acceleration | Pos_P | Pos_I | Pos_D | Vel_P | Vel_I \n");
printf("Joint1 : | | | | | | \n");
printf("Joint2 : | | | | | | \n");
printf("Joint3 : | | | | | | \n")
printf("Joint4 : | | | | | | \n");
printf("Joint5 : | | | | | | \n");
printf("Joint6 : | | | | | | \n");
printf("[Status] \n");
GotoCursur(GOAL_JOINT1_ROW, CALC_ANGLE_RAD_COL);
- the above is DrawPage code for ArmMonitor.
void GotoCursur(int row, int col)
COORD pos={col, row};
SetConsoleCursorPosition(GetStdHandle(STD_OUTPUT_HANDLE), pos);
- This allows the cursor to jump between rows and columns.