rosaria/Legacy/Aria/tests/encoderCorrectionTest.cpp

/*
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"
#include <time.h>

class JoydriveEnc
{
public:
  JoydriveEnc(ArRobot *robot, int num);
  ~JoydriveEnc(void) {}

  void drive(void);

  
  double originEncoder(ArPoseWithTime delta);
  double defaultEncoder(ArPoseWithTime delta);
  double stayEncoder(ArPoseWithTime delta);
  
protected:
  ArJoyHandler myJoyHandler;
  ArRobot *myRobot;
  int myTest;
  time_t myLastPress;
  ArRetFunctor1C<double, JoydriveEnc, ArPoseWithTime> myOriginCB;
  ArRetFunctor1C<double, JoydriveEnc, ArPoseWithTime> myDefaultCB;
  ArRetFunctor1C<double, JoydriveEnc, ArPoseWithTime> myStayCB;
};

JoydriveEnc::JoydriveEnc(ArRobot *robot, int num) :
  myOriginCB(this, &JoydriveEnc::originEncoder),
  myDefaultCB(this, &JoydriveEnc::defaultEncoder),
  myStayCB(this, &JoydriveEnc::stayEncoder)
{
  myTest = num;
  myLastPress = 0;
  myRobot = robot;
  myJoyHandler.init();
  myJoyHandler.setSpeeds(100, 700);

  if (myJoyHandler.haveJoystick())
  {
    printf("Have a joystick\n\n");
  }
  else
  {
    printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
    Aria::shutdown();
    exit(0);    
  }
}

void JoydriveEnc::drive(void)
{
  int trans, rot;
  if (!myRobot->isConnected())
  {
    printf("Lost connection to the robot, exiting\n");
    exit(0);
  }
  printf("\rx %6.1f  y %6.1f  th  %6.1f", 
	 myRobot->getX(), myRobot->getY(), myRobot->getTh());
  fflush(stdout);
  if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1))
  {
    if (ArMath::fabs(myRobot->getVel()) < 10.0)
      myRobot->comInt(ArCommands::ENABLE, 1);
    myJoyHandler.getAdjusted(&rot, &trans);
    myRobot->setVel(trans);
    myRobot->setRotVel(-rot);
  }
  else
  {
    myRobot->setVel(0);
    myRobot->setRotVel(0);
  }
  if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(2) &&
      time(NULL) - myLastPress > 1)
  {
    myLastPress = time(NULL);
    if (myRobot->getEncoderCorrectionCallback() != NULL)
    {
      printf("\nClearing Encoder Correction.\n");
      myRobot->setEncoderCorrectionCallback(NULL);
    }
    else
    {
      if (myTest == 1)
      {
	printf("\nSetting encoder correction so it sits at the origin\n");
	myRobot->setEncoderCorrectionCallback(&myOriginCB);
      }
      else if (myTest == 2)
      {
	printf("\nSetting encodre correction so that it sits in one spot\n");
	myRobot->setEncoderCorrectionCallback(&myStayCB);
      }
      else if (myTest == 3)
      {
	printf("\nSetting encoder correction so that it behaves like the default\n");
	myRobot->setEncoderCorrectionCallback(&myDefaultCB);
      }
      else
	printf("\nNo encoder correction for test %d\n", myTest);
    }
  }
}

double JoydriveEnc::originEncoder(ArPoseWithTime delta)
{
  return 0;
}

double JoydriveEnc::defaultEncoder(ArPoseWithTime delta)
{
  return delta.getTh();
}

double JoydriveEnc::stayEncoder(ArPoseWithTime delta)
{
  return 0;
}

int main(int argc, char **argv)
{
  std::string str;
  int ret;
  int num;

  if (argc != 2)
  {
    printf("Usage is '%s <num>' where <num> is one of:\n", argv[0]);
    printf("1   keep the robot at 0, 0, 0\n");
    printf("2   keep the robbot from moving\n");
    printf("3   let the robot move normally\n");
    exit(0);
  }
  num = atoi(argv[1]);

  ArSerialConnection con;
  ArRobot robot(NULL, false);
  JoydriveEnc joyd(&robot, num);
  ArFunctorC<JoydriveEnc> driveCB(&joyd, &JoydriveEnc::drive);


  Aria::init();
  if ((ret = con.open()) != 0)
  {
    str = con.getOpenMessage(ret);
    printf("Open failed: %s\n", str.c_str());
    Aria::shutdown();
    return 1;
  }

  robot.addUserTask("joydrive", 50, &driveCB);
  robot.setDeviceConnection(&con);
  if (!robot.blockingConnect())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }

  robot.comInt(ArCommands::SONAR, 0);
  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::SOUNDTOG, 0);

  robot.run(true);
  Aria::shutdown();
  return 0;
}