109 lines
2.7 KiB
C++
109 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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ArRobot *robot;
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ArSick laser;
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void laserPrinter(void)
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{
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double d;
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double th;
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d = laser.currentReadingPolar(-45, 45, &th);
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printf("front: %5.0fmm ", d);
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if (d != laser.getMaxRange())
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printf("%3.0fdeg ", th);
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else
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printf("???deg ");
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d = laser.currentReadingPolar(-135, -45, &th);
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printf(" right: %5.0fmm ", d);
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if (d != laser.getMaxRange())
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printf("%3.0fdeg ", th);
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else
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printf("???deg ");
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d = laser.currentReadingPolar(45, 135, &th);
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printf(" left: %5.0fmm ", d);
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if (d != laser.getMaxRange())
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printf("%3.0fdeg ", th);
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else
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printf("???deg ");
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d = laser.currentReadingPolar(135, -135, &th);
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printf(" back: %5.0fmm ", d);
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if (d != laser.getMaxRange())
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printf("%3.0fdeg ", th);
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else
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printf("???deg ");
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printf("\r");
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fflush(stdout);
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}
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int main(int argc, char** argv)
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{
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ArGlobalFunctor laserPrinterCB(&laserPrinter);
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Aria::init();
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ArSimpleConnector connector(&argc, argv);
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if(!connector.parseArgs())
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{
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connector.logOptions();
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return 1;
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}
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robot = new ArRobot;
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robot->addRangeDevice(&laser);
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if(!connector.connectRobot(robot))
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{
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printf("Could not connect to robot.\n");
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return 2;
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}
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connector.setupLaser(&laser);
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laser.runAsync();
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if(!laser.blockingConnect())
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{
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printf("Could not connect to SICK laser\n");
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return 3;
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}
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robot->comInt(ArCommands::SOUNDTOG, 0);
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printf("Closest readings within quadrants:\n");
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robot->addUserTask("Laser printer", 50, &laserPrinterCB);
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robot->run(true);
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Aria::shutdown();
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}
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