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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program 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.
This program 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 this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
/*
This is basically just a demo of how to use the AMPTU, but made fancy so
you can drive around the robot and look at stuff with the camera. Press
button 1 to drive the robot and button two to move the camera.
*/
/*
This class is the core of this demo, it adds itself to the robot given
as a user task, then drives the robot and camera from the joystick
*/
class Joydrive
{
public:
// constructor
Joydrive(ArRobot *robot);
// destructor, its just empty
~Joydrive(void) {}
// the callback function
void drive(void);
protected:
// the rotational max for the robot
int myRotValRobot;
// translational max for the robot
int myTransValRobot;
// pan max for the camera
int myPanValCamera;
// tilt max for the camera
int myTiltValCamera;
// the joystick handler
ArJoyHandler myJoyHandler;
// the camera
ArAMPTU myCam;
// whether the camera has been inited or not
bool myCamInited;
// pointer to the robot
ArRobot *myRobot;
// callback for the drive function
ArFunctorC<Joydrive> myDriveCB;
};
/*
Constructor, sets the robot pointer, and some initial values, also note the
use of constructor chaining on myCam and myDriveCB.
*/
Joydrive::Joydrive(ArRobot *robot) :
myCam(robot),
myDriveCB(this, &Joydrive::drive)
{
// set the robot pointer and add the joydrive as a user task
myRobot = robot;
myRobot->addUserTask("joydrive", 50, &myDriveCB);
// initialize some variables
myRotValRobot = 100;
myTransValRobot = 700;
myPanValCamera = 8;
myTiltValCamera = 6;
myCamInited = false;
// initialize the joystick
myJoyHandler.init();
// see if we have a joystick, and let user know the results
if (myJoyHandler.haveJoystick())
{
printf("Have a joystick\n\n");
}
// we don't have a joystick, so get out
else
{
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
Aria::shutdown();
exit(0);
}
}
// the important function
void Joydrive::drive(void)
{
int trans, rot;
int pan, tilt;
// if the camera isn't initialized, initialize it here... it has to be
// done here instead of above because it needs to be done when the
// robot is connected
if (!myCamInited && myRobot->isConnected())
{
myCam.init();
myCamInited = true;
}
// if joystick button one is pushed, then drive the robot
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1))
{
// set the speeds on the joyhandler so we get the values out we want
myJoyHandler.setSpeeds(myRotValRobot, myTransValRobot);
// get the values from the joyhandler
myJoyHandler.getAdjusted(&rot, &trans);
// set the velocities
myRobot->setVel(trans);
myRobot->setRotVel(-rot);
}
// if the joystick button one isn't pushed, stop the robot
else
{
myRobot->setVel(0);
myRobot->setRotVel(0);
}
// if button two is pressed then move the camera
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(2))
{
// set the speeds so we get out the values we want
myJoyHandler.setSpeeds(myPanValCamera, myTiltValCamera);
// get the values
myJoyHandler.getAdjusted(&pan, &tilt);
// move the camera
myCam.panTilt(myCam.getPan() + pan, myCam.getTilt() + tilt);
}
}
int main(int argc, char **argv)
{
// just some stuff for returns
std::string str;
int ret;
// robots connection
ArSerialConnection con;
// the robot, this turns state reflection off
ArRobot robot(NULL, false);
// the joydrive as defined above, this also adds itself as a user task
Joydrive joyd(&robot);
// mandatory init
Aria::init();
// open the connection, if it fails, exit
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
// set the connection o nthe robot
robot.setDeviceConnection(&con);
// connect, if we fail, exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// turn off the sonar, enable the motors, turn off amigobot sounds
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// run, if we lose connection to the robot, exit
robot.run(true);
// shutdown and go away
Aria::shutdown();
return 0;
}
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