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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 joydriveActionExample.cpp Example ArAction object that uses
* ArJoyHandler to get joystick input.
*
This program just drives the robot around with a joystick,
by way of an ArAction class which reads data fram an ArJoyHandler.
Its a practical example of actions.
*/
// the action which will drive the robot
class JoydriveAction : public ArAction
{
public:
// constructor
JoydriveAction(void);
// empty destructor
virtual ~JoydriveAction(void);
//the fire which will actually tell the resolver what to do
virtual ArActionDesired *fire(ArActionDesired currentDesired);
// whether the joystick is initalized or not
bool joystickInited(void);
protected:
// action desired
ArActionDesired myDesired;
// joystick handler
ArJoyHandler myJoyHandler;
};
/*
Note the use of constructor chaining with ArAction.
*/
JoydriveAction::JoydriveAction(void) :
ArAction("Joydrive Action", "This action reads the joystick and sets the translational and rotational velocity based on this.")
{
// initialize the joystick
myJoyHandler.init();
// set up the speed parameters on the joystick
myJoyHandler.setSpeeds(50, 700);
}
JoydriveAction::~JoydriveAction(void)
{
}
// whether the joystick is there or not
bool JoydriveAction::joystickInited(void)
{
return myJoyHandler.haveJoystick();
}
// the guts of the thing
ArActionDesired *JoydriveAction::fire(ArActionDesired currentDesired)
{
int rot, trans;
// print out some info about hte robot
printf("\rx %6.1f y %6.1f tth %6.1f vel %7.1f mpacs %3d", myRobot->getX(),
myRobot->getY(), myRobot->getTh(), myRobot->getVel(),
myRobot->getMotorPacCount());
fflush(stdout);
// see if one of the buttons is pushed, if so drive
if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
myJoyHandler.getButton(2)))
{
// get the readings from the joystick
myJoyHandler.getAdjusted(&rot, &trans);
// set what we want to do
myDesired.setVel(trans);
myDesired.setDeltaHeading(-rot);
// return the actionDesired
return &myDesired;
}
else
{
// set what we want to do
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
// return the actionDesired
return &myDesired;
}
}
int main(int argc, char **argv)
{
ArRobot robot;
Aria::init();
ArSimpleConnector connector(&argc, argv);
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
return 1;
}
// Instance of the JoydriveAction class defined above
JoydriveAction jdAct;
// if the joydrive action couldn't find the joystick, then exit.
if (!jdAct.joystickInited())
{
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
Aria::exit(1);
return 1;
}
// Connect to the robot
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
return 2;
}
// disable sonar, enable motors, disable amigobot sound
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add the action
robot.addAction(&jdAct, 100);
// run the robot, true so it'll exit if we lose connection
robot.run(true);
// now exit program
Aria::exit(0);
return 0;
}
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