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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 a test of the accelerations and decelerations in actions.
*/
class Tester : public ArAction
{
public:
Tester(ArRobot *robot);
virtual ~Tester() {}
virtual ArActionDesired *fire(ArActionDesired currentDesired);
void setRotVelMax(int rotVelMax) { myRotVelMax = rotVelMax; }
void setRotAcc(int rotAccel) { myRotAcc = rotAccel; }
void setRotDecel(int rotDecel) { myRotDecel = rotDecel; }
void setTransVelMax(int transVelMax) { myTransVelMax = transVelMax; }
void setTransAcc(int transAcc) { myTransAcc = transAcc; }
void setTransDecel(int transDecel) { myTransDecel = transDecel; }
protected:
ArActionDesired myActionDesired;
int myRotVelMax;
int myRotAcc;
int myRotDecel;
int myTransVelMax;
int myTransAcc;
int myTransDecel;
};
Tester::Tester(ArRobot *robot) :
ArAction("Tester")
{
ArKeyHandler *keyHandler;
if ((keyHandler = Aria::getKeyHandler()) == NULL)
{
keyHandler = new ArKeyHandler;
Aria::setKeyHandler(keyHandler);
robot->attachKeyHandler(keyHandler);
}
myTransVelMax = 0;
myTransAcc = 0;
myTransDecel = 0;
myRotVelMax = 0;
myRotAcc = 0;
myRotDecel = 0;
keyHandler->addKeyHandler('q', new ArFunctor1C<Tester, int>(this, &Tester::setRotVelMax, 0));
keyHandler->addKeyHandler('w', new ArFunctor1C<Tester, int>(this, &Tester::setRotVelMax, 20));
keyHandler->addKeyHandler('e', new ArFunctor1C<Tester, int>(this, &Tester::setRotVelMax, 500));
keyHandler->addKeyHandler('a', new ArFunctor1C<Tester, int>(this, &Tester::setRotAcc, 0));
keyHandler->addKeyHandler('s', new ArFunctor1C<Tester, int>(this, &Tester::setRotAcc, 8));
keyHandler->addKeyHandler('d', new ArFunctor1C<Tester, int>(this, &Tester::setRotAcc, 500));
keyHandler->addKeyHandler('z', new ArFunctor1C<Tester, int>(this, &Tester::setRotDecel, 0));
keyHandler->addKeyHandler('x', new ArFunctor1C<Tester, int>(this, &Tester::setRotDecel, 8));
keyHandler->addKeyHandler('c', new ArFunctor1C<Tester, int>(this, &Tester::setRotDecel, 500));
keyHandler->addKeyHandler('u', new ArFunctor1C<Tester, int>(this, &Tester::setTransVelMax, 0));
keyHandler->addKeyHandler('i', new ArFunctor1C<Tester, int>(this, &Tester::setTransVelMax, 20));
keyHandler->addKeyHandler('o', new ArFunctor1C<Tester, int>(this, &Tester::setTransVelMax, 500));
keyHandler->addKeyHandler('j', new ArFunctor1C<Tester, int>(this, &Tester::setTransAcc, 0));
keyHandler->addKeyHandler('k', new ArFunctor1C<Tester, int>(this, &Tester::setTransAcc, 8));
keyHandler->addKeyHandler('l', new ArFunctor1C<Tester, int>(this, &Tester::setTransAcc, 500));
keyHandler->addKeyHandler('m', new ArFunctor1C<Tester, int>(this, &Tester::setTransDecel, 0));
keyHandler->addKeyHandler(',', new ArFunctor1C<Tester, int>(this, &Tester::setTransDecel, 8));
keyHandler->addKeyHandler('.', new ArFunctor1C<Tester, int>(this, &Tester::setTransDecel, 500));
}
ArActionDesired *Tester::fire(ArActionDesired currDes)
{
printf("%4.0f %4.0f Rot max: %3d acc: %3d dec: %3d Trans max: %3d acc: %3d dec %3d\n",
myRobot->getVel(), myRobot->getRotVel(),
myRotVelMax, myRotAcc, myRotDecel, myTransVelMax, myTransAcc,
myTransDecel);
myActionDesired.reset();
if (myRotVelMax != 0)
myActionDesired.setMaxRotVel(myRotVelMax);
if (myRotAcc != 0)
myActionDesired.setRotAccel(myRotAcc);
if (myRotDecel != 0)
myActionDesired.setRotDecel(myRotDecel);
if (myTransVelMax != 0)
myActionDesired.setMaxVel(myTransVelMax);
if (myTransVelMax != 0)
myActionDesired.setMaxNegVel(myTransVelMax);
if (myTransAcc != 0)
myActionDesired.setTransAccel(myTransAcc);
if (myTransDecel != 0)
myActionDesired.setTransDecel(myTransDecel);
return &myActionDesired;
}
int main(int argc, char **argv)
{
// robot
ArRobot robot;
// the joydrive action
ArActionJoydrive joydriveAct;
// the keydrive action
ArActionKeydrive keydriveAct;
// Testing action
Tester tester(&robot);
// sonar device, so the limiter will work, this must be added to the robot
ArSonarDevice sonar;
ArSimpleConnector connector(&argc, argv);
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
exit(1);
}
// mandatory init
Aria::init();
printf("This program will allow you to use a joystick or keyboard to control the robot.\nYou can use the arrow keys to drive, and the spacebar to stop.\nFor joystick control press the trigger button and then drive.\nPress escape to exit.\n");
// if we don't have a joystick, let 'em know
if (!joydriveAct.joystickInited())
printf("Do not have a joystick, only the arrow keys on the keyboard will work.\n");
// set the joystick so it won't do anything if the button isn't pressed
joydriveAct.setStopIfNoButtonPressed(false);
// add the sonar to the robot
robot.addRangeDevice(&sonar);
// try to connect, if we fail exit
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// enable the motors
robot.enableMotors();
// add the cations, put the limiters on top, then have the action,
// this will keep the action from being able to drive too fast and hit
// something
robot.addAction(&tester, 55);
//robot.addAction(&joydriveAct, 50);
robot.addAction(&keydriveAct, 45);
// set the joydrive action so it'll let the keydrive action fire if
// there is no button pressed
joydriveAct.setStopIfNoButtonPressed(false);
// run the robot, true here so that the run will exit if connection lost
robot.run(true);
// now exit
Aria::shutdown();
return 0;
}
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