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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"
ArRobot *robot;
void printer(void)
{
printf("vel %5.0f rot vel %5.0f\n", robot->getVel(), robot->getRotVel());
}
int main(int argc, char **argv)
{
double speed = 1000;
double squareSide = 2000;
// whether to use the sim for the laser or not, if you use the sim
// for hte laser, you have to use the sim for the robot too
// robot
robot = new ArRobot;
// the laser
ArSick sick;
// set up our simpleConnector
ArSimpleConnector simpleConnector(&argc, argv);
// set up a key handler so escape exits and attach to the robot
ArKeyHandler keyHandler;
robot->attachKeyHandler(&keyHandler);
// parse its arguments
if (simpleConnector.parseArgs())
{
simpleConnector.logOptions();
keyHandler.restore();
exit(1);
}
// if there are more arguments left then it means we didn't
// understand an option
/*
if (argc > 1)
{
simpleConnector.logOptions();
keyHandler.restore();
exit(1);
}
*/
// set a default filename
//std::string filename = "c:\\log\\1scans.2d";
std::string filename = "1scans.2d";
// see if we want to use a different filename
//if (argc > 1)
//Lfilename = argv[1];
printf("Logging to file %s\n", filename.c_str());
// start the logger with good values
//sick.configureShort(useSim, ArSick::BAUD38400, ArSick::DEGREES180, ArSick::INCREMENT_HALF);
ArSickLogger logger(robot, &sick, 300, 25, filename.c_str());
// mandatory init
Aria::init();
// add it to the robot
robot->addRangeDevice(&sick);
//ArAnalogGyro gyro(robot);
// set up the robot for connecting
if (!simpleConnector.connectRobot(robot))
{
printf("Could not connect to robot->.. exiting\n");
Aria::shutdown();
return 1;
}
robot->setRotVelMax(300);
robot->setRotAccel(300);
robot->setRotDecel(300);
robot->setAbsoluteMaxTransVel(2000);
robot->setTransVelMax(2000);
robot->setTransAccel(500);
robot->setTransDecel(500);
/*
robot->comInt(82, 30); // rotkp
robot->comInt(83, 200); // rotkv
robot->comInt(84, 0); // rotki
robot->comInt(85, 15); // transkp
robot->comInt(86, 450); // transkv
robot->comInt(87, 4); // transki
*/
robot->comInt(82, 30); // rotkp
robot->comInt(83, 200); // rotkv
robot->comInt(84, 0); // rotki
robot->comInt(85, 30); // transkp
robot->comInt(86, 450); // transkv
robot->comInt(87, 4); // transki
// run the robot, true here so that the run will exit if connection lost
robot->runAsync(true);
// set up the laser before handing it to the laser mode
simpleConnector.setupLaser(&sick);
// now that we're connected to the robot, connect to the laser
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
robot->disconnect();
Aria::shutdown();
return 1;
}
robot->lock();
robot->addUserTask("printer", 50, new ArGlobalFunctor(&printer));
robot->unlock();
#ifdef WIN32
// wait until someone pushes the motor button to go
while (1)
{
robot->lock();
if (!robot->isRunning())
exit(0);
if (robot->areMotorsEnabled())
{
robot->unlock();
break;
}
robot->unlock();
ArUtil::sleep(100);
}
#endif
// basically from here on down the robot just cruises around a bit
printf("Starting moving\n");
robot->lock();
// enable the motors, disable amigobot sounds
robot->comInt(ArCommands::ENABLE, 1);
robot->setHeading(0);
robot->setVel(1000);
robot->unlock();
ArUtil::sleep(speed / 500.0 * 1000.0);
printf("Should be up to speed, moving on first side\n");
ArUtil::sleep(squareSide / speed * 1000);
printf("Turning to second side\n");
robot->lock();
robot->setHeading(90);
robot->setVel(speed);
robot->unlock();
ArUtil::sleep(squareSide / speed * 1000);
printf("Turning to third side\n");
robot->lock();
robot->setHeading(180);
robot->setVel(speed);
robot->unlock();
ArUtil::sleep(squareSide / speed * 1000);
printf("Turning to last side\n");
robot->lock();
robot->setHeading(-90);
robot->setVel(speed);
robot->unlock();
ArUtil::sleep(squareSide / speed * 1000);
printf("Pointing back original direction and stopping\n");
robot->lock();
robot->setHeading(0);
robot->setVel(0);
robot->unlock();
ArUtil::sleep(300);
printf("Stopped\n");
sick.lockDevice();
sick.disconnect();
sick.unlockDevice();
robot->lock();
robot->disconnect();
robot->unlock();
// now exit
Aria::shutdown();
return 0;
}
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