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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"
/** If you start this program up with an argument it will not use the gyro
with no argument it will use the gyro
**/
ArRobot *robot;
void printer(void)
{
printf("%.2f\n", robot->getTh());
}
void hardExit(void)
{
ArKeyHandler *keyHandler;
robot->disconnect();
if ((keyHandler = Aria::getKeyHandler()) != NULL)
keyHandler->restore();
else
printf("Could not restore keyboard settings.");
exit(0);
}
int main(int argc, char **argv)
{
bool done;
double distToTravel = 3000;
int spinTime = 0;
// set up our simpleConnector
ArSimpleConnector simpleConnector(&argc, argv);
// set up a key handler so escape exits and attach to the robot
ArKeyHandler keyHandler;
Aria::init();
robot = new ArRobot;
printf("You can press the escape key to exit this program\n");
// parse its arguments
if (simpleConnector.parseArgs())
{
simpleConnector.logOptions();
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);
}
*/
ArGlobalFunctor exitCB(&hardExit);
ArGlobalFunctor printerCB(&printer);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &exitCB);
robot->attachKeyHandler(&keyHandler);
Aria::setKeyHandler(&keyHandler);
// set up the robot for connecting
if (!simpleConnector.connectRobot(robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
keyHandler.restore();
return 1;
}
//robot->addUserTask("printer", 50, &printerCB);
// run the robot, true here so that the run will exit if connection lost
robot->runAsync(true);
#ifdef WIN32
// wait until someone pushes the motor button to go
printf("Press the motor button to start the robot moving\n");
while (1)
{
robot->lock();
if (!robot->isRunning())
hardExit();
if (robot->areMotorsEnabled())
{
robot->unlock();
break;
}
robot->unlock();
ArUtil::sleep(100);
}
#endif
ArAnalogGyro *gyro;
if (argc == 1)
{
printf("Gyro\n");
gyro = new ArAnalogGyro(robot);
}
printf("Waiting for inertial to stabilize for 5 seconds.\n");
// wait a bit for the inertial to warm up
ArUtil::sleep(5000);
// basically from here on down the robot just cruises around a bit
robot->lock();
// enable the motors, disable amigobot sounds
robot->comInt(ArCommands::SONAR, 0);
robot->comInt(ArCommands::ENABLE, 1);
robot->setMoveDoneDist(200);
// move a couple meters
printf("Driving out\n");
robot->move(distToTravel);
robot->setHeading(0);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(0);
done = robot->isMoveDone(200);
robot->unlock();
} while (!done);
if (spinTime != 0)
{
printf("Spinning a while\n");
// rotate a few times
robot->lock();
robot->setRotVel(200);
robot->unlock();
ArUtil::sleep(spinTime * 1000);
}
printf("Pointing back\n");
robot->lock();
robot->setHeading(180);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(180);
done = robot->isHeadingDone(5);
robot->unlock();
} while (!done);
printf("Driving back\n");
// move a couple meters
robot->lock();
robot->move(distToTravel);
robot->setHeading(180);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(180);
done = robot->isMoveDone(200);
robot->unlock();
} while (!done);
printf("Pointing back in original direction.\n");
robot->lock();
robot->setHeading(0);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(0);
done = robot->isHeadingDone(5);
robot->unlock();
} while (!done);
robot->lock();
printf("Final heading %.2f\n", robot->getTh());
robot->disconnect();
robot->unlock();
// now exit
Aria::shutdown();
return 0;
}
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