77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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#include <time.h>
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int main(int argc, char **argv)
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{
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// set up our simpleConnector
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ArSimpleConnector simpleConnector(&argc, argv);
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// robot
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ArRobot robot;
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Aria::init();
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// if there are more arguments left then it means we didn't
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// understand an option
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if (!simpleConnector.parseArgs() || argc > 1)
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{
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simpleConnector.logOptions();
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exit(1);
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}
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ArRobotConfigPacketReader config(&robot);
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config.requestPacket();
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printf("Before connect: %s\n", ArUtil::convertBool(config.hasPacketArrived()));
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// set up the robot for connecting
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if (!simpleConnector.connectRobot(&robot))
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{
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printf("Could not connect to robot... exiting\n");
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Aria::shutdown();
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return 1;
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}
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robot.comInt(ArCommands::SONAR, 0);
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printf("After connect before run %s robot orig %s\n", ArUtil::convertBool(config.hasPacketArrived()), ArUtil::convertBool(robot.getOrigRobotConfig()->hasPacketArrived()));
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robot.runAsync(true);
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ArUtil::sleep(1000);
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robot.lock();
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printf("1 second after run arrived %s robot orig %s\n", ArUtil::convertBool(config.hasPacketArrived()), ArUtil::convertBool(robot.getOrigRobotConfig()->hasPacketArrived()));
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if (config.hasPacketArrived())
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{
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config.log();
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printf("Robot maxTransVel %.0f maxRotVel %.0f transAcc %.0f transDecel %.0f rotAcc %.0f rotDecel %.0f\n", robot.getTransVelMax(), robot.getRotVelMax(), robot.getTransAccel(), robot.getTransDecel(), robot.getRotAccel(), robot.getRotDecel());
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}
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robot.unlock();
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Aria::shutdown();
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return 0;
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}
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