102 lines
2.6 KiB
C++
102 lines
2.6 KiB
C++
|
/*
|
||
|
|
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"
|
||
|
|
|
||
|
|
ArRobot *robot;
|
||
|
|
|
||
|
|
ArSonarDevice sonar;
|
||
|
|
|
||
|
|
void sonarPrinter(void)
|
||
|
|
{
|
||
|
|
double d;
|
||
|
|
double th;
|
||
|
|
|
||
|
|
|
||
|
|
d = sonar.currentReadingPolar(-45, 45, &th);
|
||
|
|
printf("front: %5.0fmm ", d);
|
||
|
|
if (d != sonar.getMaxRange())
|
||
|
|
printf("%3.0fdeg ", th);
|
||
|
|
else
|
||
|
|
printf("???deg ");
|
||
|
|
|
||
|
|
d = sonar.currentReadingPolar(-135, -45, &th);
|
||
|
|
printf(" right: %5.0fmm ", d);
|
||
|
|
if (d != sonar.getMaxRange())
|
||
|
|
printf("%3.0fdeg ", th);
|
||
|
|
else
|
||
|
|
printf("???deg ");
|
||
|
|
|
||
|
|
d = sonar.currentReadingPolar(45, 135, &th);
|
||
|
|
printf(" left: %5.0fmm ", d);
|
||
|
|
if (d != sonar.getMaxRange())
|
||
|
|
printf("%3.0fdeg ", th);
|
||
|
|
else
|
||
|
|
printf("???deg ");
|
||
|
|
|
||
|
|
d = sonar.currentReadingPolar(135, -135, &th);
|
||
|
|
printf(" back: %5.0fmm ", d);
|
||
|
|
if (d != sonar.getMaxRange())
|
||
|
|
printf("%3.0fdeg ", th);
|
||
|
|
else
|
||
|
|
printf("???deg ");
|
||
|
|
|
||
|
|
printf("\r");
|
||
|
|
fflush(stdout);
|
||
|
|
}
|
||
|
|
|
||
|
|
int main(int argc, char** argv)
|
||
|
|
{
|
||
|
|
ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
|
||
|
|
Aria::init();
|
||
|
|
|
||
|
|
ArSimpleConnector connector(&argc, argv);
|
||
|
|
if(!connector.parseArgs())
|
||
|
|
{
|
||
|
|
connector.logOptions();
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
robot = new ArRobot;
|
||
|
|
robot->addRangeDevice(&sonar);
|
||
|
|
|
||
|
|
if(!connector.connectRobot(robot))
|
||
|
|
{
|
||
|
|
printf("Could not connect to robot.\n");
|
||
|
|
return 2;
|
||
|
|
}
|
||
|
|
|
||
|
|
robot->comInt(ArCommands::SONAR, 1);
|
||
|
|
robot->comInt(ArCommands::SOUNDTOG, 0);
|
||
|
|
|
||
|
|
printf("Closest readings within quadrants:\n");
|
||
|
|
robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
|
||
|
|
|
||
|
|
robot->run(true);
|
||
|
|
Aria::shutdown();
|
||
|
|
|
||
|
|
|
||
|
|
}
|