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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"
/** @example armExample.cpp Example program showing use of the original 5DOF P2 arm accessory.
*
* Demonstrates how to connect with the Pioneer 2 controller
* and set up the P2Arm class, including the ARMpac handler.
* It simply queries and prints the status of the arm, moving it to a position, then exits.
* Note, The P2Arm class is only for use with the microcontroller-integrated original 5DOF
* Pioneer 2 arm (Robotica arm). The newer Energid Cyton 7DOF arm is accessed through
* separate cyton libraries.
*
*/
int main(int argc, char **argv)
{
Aria::init();
ArSimpleConnector con(&argc, argv);
ArRobot robot;
ArP2Arm arm;
if(!Aria::parseArgs())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
ArLog::log(ArLog::Normal, "armExample: Connecting to the robot.");
if(!con.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "armExample: Could not connect to the robot. Exiting.");
Aria::exit(1);
return 1;
}
robot.runAsync(true);
// turn off sonar
robot.comInt(28, 0);
// Set up and initialize the arm
arm.setRobot(&robot);
if (arm.init() != ArP2Arm::SUCCESS)
{
ArLog::log(ArLog::Terse, "armExample: Error initializing the P2 Arm!");
return 1;
}
// Print out some of the settings
P2ArmJoint *joint;
printf("Current joint info:\nJoint Vel Home Center\n");
for (int i=1; i<=ArP2Arm::NumJoints; i++)
{
joint = arm.getJoint(i);
printf(" %2i: %5i %5i %5i\n", i, joint->myVel, joint->myHome, joint->myCenter);
}
printf("\n");
// Put the arm to work
printf("Powering on (takes a couple seconds to stabilize)\n");
arm.powerOn();
// Request one status packet and print out the arm's status
printf("Current arm status:\n");
arm.requestStatus(ArP2Arm::StatusSingle);
ArUtil::sleep(200); // Give time to get the packet
printf("Arm Status: ");
if (arm.getStatus() & ArP2Arm::ArmGood)
printf("Good=1 ");
else
printf("Good=0 ");
if (arm.getStatus() & ArP2Arm::ArmInited)
printf("Inited=1 ");
else
printf("Inited=0 ");
if (arm.getStatus() & ArP2Arm::ArmPower)
printf("Power=1 ");
else
printf("Power=0 ");
if (arm.getStatus() & ArP2Arm::ArmHoming)
printf("Homing=1 ");
else
printf("Homing=0 ");
printf("\n\n");
// Move the arm joints to specific positions
printf("Moving Arm...\n");
int deploy_offset[] = {0, -100, 10, 40, 80, -55, 20};
for (int i=1; i<=ArP2Arm::NumJoints; i++)
{
joint = arm.getJoint(i);
arm.moveToTicks(i, joint->myCenter + deploy_offset[i]);
}
// Wait for arm to achieve new position, printing joint positions and M for
// moving, NM for not moving.
arm.requestStatus(ArP2Arm::StatusContinuous);
ArUtil::sleep(300); // wait a moment for arm status packet update with joints moving
bool moving = true;
while (moving)
{
moving = false;
printf("Joints: ");
for (int i=1; i<=ArP2Arm::NumJoints; i++)
{
printf("[%d] %.0f, ", i, arm.getJointPos(i));
if (arm.getMoving(i))
{
printf("M; ");
moving = true;
}
else
{
printf("NM; ");
}
}
printf("\r");
}
printf("\n\n");
// Return arm to park, wait, and disconnect. (Though the arm will automatically park
// on client disconnect)
printf("Parking arm.\n");
arm.park();
// Wait 5 seconds or until arm shuts off
for(int i = 5; (i > 0) && (arm.getStatus() & ArP2Arm::ArmPower); i--)
{
ArUtil::sleep(1000);
}
// Disconnect from robot, etc., and exit.
printf("Shutting down ARIA and exiting.\n");
Aria::exit(0);
return(0);
}
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