102 lines
3.4 KiB
C
102 lines
3.4 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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#ifndef ARROBOTJOYHANDLER_H
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#define ARROBOTJOYHANDLER_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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class ArRobot;
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class ArRobotPacket;
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/// Interfaces to a joystick on the robot's microcontroller
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/**
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This is largely meant to be about the same as the normal joy
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handler but gets the data back from the robot about the joystick,
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but this sameness is why it reports things as it does.
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Also note that x is usually rotational velocity (since it right/left),
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whereas Y is translational (since it is up/down).
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@ingroup OptionalClasses
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**/
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class ArRobotJoyHandler
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{
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public:
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/// Constructor
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AREXPORT ArRobotJoyHandler(ArRobot *robot);
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/// Destructor
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AREXPORT ~ArRobotJoyHandler();
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/// Gets the adjusted reading, as floats
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AREXPORT void getDoubles(double *x, double *y, double *z);
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/// Gets the first button
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bool getButton1(void) { return myButton1; }
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/// Gets the second button
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bool getButton2(void) { return myButton2; }
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/// Gets the time we last got information back
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AREXPORT ArTime getDataReceivedTime(void) { return myDataReceived; }
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/// If we've ever gotten a packet back
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AREXPORT bool gotData(void) { return myGotData; }
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/// Adds to a section in a config
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AREXPORT void addToConfig(ArConfig *config, const char *section);
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/// Gets the X value (only use for information, or with the robot locked, getDoubles is preferred)
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int getRawX(void) { return myRawX; }
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/// Gets the Y value (only use for information, or with the robot locked, getDoubles is preferred)
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int getRawY(void) { return myRawY; }
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/// Gets the throttle value (only use for information, or with the robot locked, getDoubles is preferred)
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int getRawThrottle(void) { return myRawThrottle; }
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protected:
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AREXPORT bool handleJoystickPacket(ArRobotPacket *packet);
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AREXPORT void connectCallback(void);
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ArRobot *myRobot;
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ArTime myDataReceived;
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bool myButton1;
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bool myButton2;
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double myJoyX;
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double myJoyY;
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double myThrottle;
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bool myGotData;
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int myJoyXCenter;
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int myJoyYCenter;
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int myRawX;
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int myRawY;
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int myRawThrottle;
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ArTime myStarted;
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ArRetFunctor1C<bool, ArRobotJoyHandler,
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ArRobotPacket *> myHandleJoystickPacketCB;
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ArFunctorC<ArRobotJoyHandler> myConnectCB;
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};
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#endif // ARJOYHANDLER_H
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