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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 program will just have the robot drive a couple of meters forwards.
You can press escape while it was running to cause the program to
close up and exit.
*/
int main(void)
{
// the serial connection (robot)
ArSerialConnection serConn;
// tcp connection (sim)
ArTcpConnection tcpConn;
// robot
ArRobot robot;
// sonar, must be added to the robot
ArSonarDevice sonar;
// limiter for close obstacles
ArActionLimiterForwards limiter("speed limiter near", 300, 600, 250);
// limiter for far away obstacles
ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 400);
// limiter so we don't bump things backwards
// limiter for far away obstacles
ArActionLimiterTableSensor tableLimiter;
// goto the goal
ArActionGoto gotoPose("goto", ArPose(2000, 0));
// Make a key handler, so that escape will shut down the program
// cleanly
ArKeyHandler keyHandler;
// mandatory init
Aria::init();
// Add the key handler to Aria so other things can find it
Aria::setKeyHandler(&keyHandler);
// Attach the key handler to a robot now, so that it actually gets
// some processing time so it can work, this will also make escape
// exit
robot.attachKeyHandler(&keyHandler);
// First we see if we can open the tcp connection, if we can we'll
// assume we're connecting to the sim, and just go on... if we
// can't open the tcp it means the sim isn't there, so just try the
// robot
// modify this next line if you're not using default tcp connection
tcpConn.setPort();
// see if we can get to the simulator (true is success)
if (tcpConn.openSimple())
{
// we could get to the sim, so set the robots device connection to the sim
printf("Connecting to simulator through tcp.\n");
robot.setDeviceConnection(&tcpConn);
}
else
{
// we couldn't get to the sim, so set the port on the serial
// connection and then set the serial connection as the robots
// device
// modify the next line if you're not using the first serial port
// to talk to your robot
serConn.setPort();
printf(
"Could not connect to simulator, connecting to robot through serial.\n");
robot.setDeviceConnection(&serConn);
}
// add the sonar to the robot
robot.addRangeDevice(&sonar);
// try to connect, if we fail exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// turn on the motors, turn off amigobot sounds
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add the actions
robot.addAction(&tableLimiter, 100);
robot.addAction(&limiter, 95);
robot.addAction(&limiterFar, 90);
robot.addAction(&gotoPose, 50);
// start the robot running, true so that if we lose connection the run stops
robot.run(true);
// now exit
Aria::shutdown();
return 0;
}
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