/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#include <carmen/carmen.h>#include "Nclient.h"#define        METRES_PER_INCH        0.0254#define        METRES_TO_SCOUT        (METRES_PER_INCH/10.0)#define        WHEELBASE              (13.4 * METRES_PER_INCH)#define        ROT_VEL_FACT_RAD       (WHEELBASE/METRES_TO_SCOUT)int main(int argc, char **argv){  float vel, acc;  if(argc < 3)    carmen_die("usage: %s <rotation speed> <acceleration>\n", argv[0]);  vel = 0.5 * carmen_degrees_to_radians(atof(argv[1])) * ROT_VEL_FACT_RAD;  acc = atof(argv[2])/METRES_TO_SCOUT;  connect_robot(1, MODEL_SCOUT2, "/dev/ttyS0", 38400);  ac(acc, acc, 0);  carmen_warn("rv: %f makes vel: %f\n", carmen_degrees_to_radians(atof(argv[1])), vel);  while(1) {    vm(vel, -vel, 0);    usleep(250000);  }  return 0;}