105 lines
4.2 KiB
Plaintext
105 lines
4.2 KiB
Plaintext
|
This directory has various example pieces of code and Microsoft VC++
|
||
|
|
project files.
|
||
|
|
|
||
|
|
The two most useful example programs are teleopActionsExample and
|
||
|
|
wander. TeleopActionsExample does guarded teleoperation, so you
|
||
|
|
can drive the robot around without running into walls.
|
||
|
|
Wander just has the robot wander, ie drive forward until there is
|
||
|
|
an obstacle, avoid it, then keep driving. lasers shows how to
|
||
|
|
connect to laser rangefinder(s) and use the data from them.
|
||
|
|
|
||
|
|
The smallest, simplest example program is simpleConnect. It just
|
||
|
|
connects to the robot, prints some information, then disconnects
|
||
|
|
and exits.
|
||
|
|
|
||
|
|
|
||
|
|
Partial list of examples:
|
||
|
|
-------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
|
||
|
|
demo - Uses "Modes" defined in ARIA to provide keyboard control of many
|
||
|
|
different robot features. Use this utility to experiment and test the robot's
|
||
|
|
hardware.
|
||
|
|
|
||
|
|
simpleConnect - The smallest example program. It just connects to the robot.
|
||
|
|
|
||
|
|
simpleUserTask - Demonstrates how to make a simple user task
|
||
|
|
|
||
|
|
robotSyncTaskExample - simple example of ArRobot synchronized task callbacks
|
||
|
|
|
||
|
|
lasers - Demonstrates how to connect to one or more laser rangefinder devices
|
||
|
|
as defined in robot and program parameters, and obtain data from them.
|
||
|
|
|
||
|
|
directMotionDemo - Drives the robot around using the basic direct
|
||
|
|
motion commands (no ArActions or obstacle avoidance). it also runs the
|
||
|
|
robot in its own thread, and has examples of connection handler callbacks.
|
||
|
|
|
||
|
|
actionExample - Defines a couple of custom ArAction classes, and uses them.
|
||
|
|
|
||
|
|
actionGroup - Program that uses action groups to switch back and forth
|
||
|
|
between wander and teleop mode
|
||
|
|
|
||
|
|
cameraPTZExample - Connect to PTZ camera or PTU (depending on robot parameter
|
||
|
|
file configuration or command line arguments).
|
||
|
|
|
||
|
|
dpptuExample - A program to control the Directed Perception PTU with the keyboard.
|
||
|
|
|
||
|
|
functor - An example program on the basic use of functors.
|
||
|
|
|
||
|
|
gotoActionExample - An example of how to use ArActionGoto to go to many different
|
||
|
|
points and not just one
|
||
|
|
|
||
|
|
gpsExample - An example showing how to get data from a GPS
|
||
|
|
|
||
|
|
gripperDemo - Program that moves the robot and controls the gripper with the
|
||
|
|
joystick, note this doesn't do obstacle avoidance
|
||
|
|
|
||
|
|
actsColorFolowingExample - A simple program that uses ACTS and a VC-C4 camera to move the
|
||
|
|
robot toward a color blob.
|
||
|
|
|
||
|
|
joydriveActionExample - Uses an action that reads the robot to drive the joystick,
|
||
|
|
does not do obstacle avoidance
|
||
|
|
|
||
|
|
joydriveThreaded - Program to drive the robot with a joystick. This one
|
||
|
|
uses its own ArASyncTask to drive the joystick handler. This is a good
|
||
|
|
example to look at to see how threading works. This does not do obstacle
|
||
|
|
avoidance, this also has a connection handler
|
||
|
|
|
||
|
|
joydriveUserTask - Program to drive the robot with a joystick. This one
|
||
|
|
uses a user task to drive the joystick handler, does not do obstacle avoidance
|
||
|
|
|
||
|
|
getAuxExample - An example program that uses the getAux command and
|
||
|
|
talks about how to use the getAux to do actual work
|
||
|
|
|
||
|
|
moduleExample - Tests the loadable modules in a simple way
|
||
|
|
|
||
|
|
socketClientExample - This program works with socketServerExample to
|
||
|
|
demonstrate ArSockets
|
||
|
|
|
||
|
|
socketServerExample - A program to demonstrate ArSocket, works with
|
||
|
|
socketClientExample
|
||
|
|
|
||
|
|
sickLineFinderSimple - An example of using the laser sensor line finding
|
||
|
|
class and lets you save the lines
|
||
|
|
|
||
|
|
threadExample - Demonstrates ARIA's threading tools
|
||
|
|
|
||
|
|
soundsQueueExamples - Demonstrates use of the ArSoundsQueue sound/speech queue
|
||
|
|
|
||
|
|
teleopActionsExample - This uses ARIA's powerful Actions system to drive
|
||
|
|
the robot around using input from the keyboard or a joystick, but does
|
||
|
|
obstacle avoidance so the robot won't run into things (if it can sense
|
||
|
|
them with sonar or laser).
|
||
|
|
|
||
|
|
wander - Makes the robot wander around, turning to avoid any sensed obstacles.
|
||
|
|
Uses sonar and laser (if available) to detect obstacles.
|
||
|
|
|
||
|
|
wanderAndLogData - similar to wander, but prints out all kinds of runtime
|
||
|
|
information about the robot
|
||
|
|
|
||
|
|
(others) - there are several other example programs in this directory not
|
||
|
|
listed here. Some are for older or less common hardware, or show some
|
||
|
|
advanced features of ARIA that only some users will need. Browse them
|
||
|
|
and read their descriptions (in comments at the top of source files)
|
||
|
|
for more information.
|