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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 wander around, it uses some avoidance
routines, then just has a constant velocity.
*/
int main(int argc, char **argv)
{
// robot
ArRobot robot;
// the laser
ArSick sick;
// sonar, must be added to the robot
//ArSonarDevice sonar;
// the actions we'll use to wander
// recover from stalls
//ArActionStallRecover recover;
// react to bumpers
//ArActionBumpers bumpers;
// limiter for close obstacles
ArActionLimiterForwards limiter("speed limiter near", 1600, 0, 0, 1.3);
// limiter for far away obstacles
//ArActionLimiterForwards limiterFar("speed limiter near", 300, 1000, 450, 1.1);
//ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 600, 1.1);
// limiter for the table sensors
//ArActionLimiterTableSensor tableLimiter;
// actually move the robot
ArActionConstantVelocity constantVelocity("Constant Velocity", 1500);
// turn the orbot if its slowed down
ArActionTurn turn;
// mandatory init
Aria::init();
// Parse all our args
ArSimpleConnector connector(&argc, argv);
connector.parseArgs();
if (argc > 1)
{
connector.logOptions();
exit(1);
}
// add the sonar to the robot
//robot.addRangeDevice(&sonar);
// add the laser to the robot
robot.addRangeDevice(&sick);
// try to connect, if we fail exit
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.comInt(ArCommands::SONAR, 0);
// turn on the motors, turn off amigobot sounds
//robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add the actions
//robot.addAction(&recover, 100);
//robot.addAction(&bumpers, 75);
robot.addAction(&limiter, 49);
//robot.addAction(&limiter, 48);
//robot.addAction(&tableLimiter, 50);
robot.addAction(&turn, 30);
robot.addAction(&constantVelocity, 20);
limiter.activate();
turn.activate();
constantVelocity.activate();
robot.clearDirectMotion();
//robot.setStateReflectionRefreshTime(50);
robot.setRotVelMax(50);
robot.setTransAccel(1500);
robot.setTransDecel(100);
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
connector.setupLaser(&sick);
// now that we're connected to the robot, connect to the laser
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
Aria::shutdown();
return 1;
}
sick.lockDevice();
sick.setMinRange(250);
sick.unlockDevice();
robot.lock();
robot.comInt(ArCommands::ENABLE, 1);
robot.unlock();
robot.waitForRunExit();
// now exit
Aria::shutdown();
return 0;
}
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