105 lines
3.2 KiB
Python
105 lines
3.2 KiB
Python
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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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from AriaPy import *
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import sys
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# This is an example of how to use the limiting behaviors.
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#
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# The way it works is that it has a limiting behavior higher priority
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# than the joydrive action behavior. So the joydrive action can try
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# to do whatever it wants, but it won't work.
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Aria_init()
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# Robot and device objects
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robot = ArRobot()
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sonar = ArSonarDevice()
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sick = ArSick()
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robot.addRangeDevice(sonar)
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if 1:
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robot.addRangeDevice(sick)
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# the joydrive action
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jdAct = ArActionJoydrive()
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# a keyboard drive action
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kdAct = ArActionKeydrive()
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# limiter for close obstacles
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limiter = ArActionLimiterForwards("speed limiter near", 300, 600, 250)
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# limiter for far away obstacles
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limiterFar = ArActionLimiterForwards("speed limiter far", 300, 1100, 400)
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# if the robot has upward facing IR sensors ("under the table" sensors), this
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# stops us too
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tableLimiter = ArActionLimiterTableSensor()
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# limiter so we don't bump things backwards
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backwardsLimiter = ArActionLimiterBackwards()
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connector = ArSimpleConnector(sys.argv)
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if not connector.parseArgs():
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connector.logOptions()
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Aria_exit(1)
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# try to connect to the robot, if we fail exit
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print "Connecting to the robot..."
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if not connector.connectRobot(robot):
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print "Could not connect to robot. exiting"
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Aria_shutdown()
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Aria_exit(1)
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# try to connect to the laser, if we succeed, add as range device to robot
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print "setup and connect sick"
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sick.runAsync()
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connector.setupLaser(sick)
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if sick.blockingConnect():
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print "Connected to SICK laser"
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else:
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print "Note, could not connect to SICK laser."
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print "Connected to the robot. Use arrow keys or joystick to move. Spacebar to stop."
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# add the actions, put the limiters on top, then have the joydrive action,
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# this will keep the action from being able to drive too fast and hit
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# something
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robot.addAction(tableLimiter, 100)
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robot.addAction(limiter, 95)
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robot.addAction(limiterFar, 90)
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robot.addAction(backwardsLimiter, 85)
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robot.addAction(kdAct, 51)
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robot.addAction(jdAct, 50)
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# enable motors and run the robot until connection is lost
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robot.enableMotors()
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robot.run(1)
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Aria_shutdown()
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