84 lines
2.7 KiB
C++
84 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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/*
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This program just outputs the values from the joystick
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*/
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int main(void)
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{
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Aria::init();
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ArLog::init(ArLog::StdOut, ArLog::Verbose);
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ArJoyHandler joy;
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joy.init();
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unsigned int i;
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double x, y, z;
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int xi, yi, zi;
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if (!joy.haveJoystick())
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{
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printf("Did not definitely detect a joystick, it may not work.\n");
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}
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printf("Num. Buttons: %d\n", joy.getNumButtons());
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printf("Num. Axes: %d\n", joy.getNumAxes());
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if (joy.haveZAxis())
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printf("The Z axis (Axis 3, the throttle) works\n");
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else
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printf("The Z axis (Axis 3, the throttle) may or may not work (it'll show up below if it does)\n");
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puts("Press button 1 to set speeds to 100,100,100, button 2 for 1000,100,50");
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while (Aria::getRunning())
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{
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printf("\rButton ");
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for (i = 1; i <= joy.getNumButtons(); i++)
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printf(" %d:%d", i, joy.getButton(i));
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joy.getDoubles(&x, &y, &z);
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joy.getAdjusted(&xi, &yi, &zi);
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printf(" Axis x:%6.3f y:%6.3f (adj x:%d y:%d)", x, y, xi, yi);
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if (joy.haveZAxis())
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printf(" z:%6.3f (adj %d)", z, zi);
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for (i = 4; i < joy.getNumAxes(); i++)
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printf(" %d:%6.3f", i, joy.getAxis(i));
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if(joy.getNumButtons() >= 1 && joy.getButton(1))
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{
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printf(" ->setSpeeds(100,100,100);");
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joy.setSpeeds(100,100,100);
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}
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else if (joy.getNumButtons() >= 2 && joy.getButton(2))
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{
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printf(" ->setSpeeds(1000,100,50);");
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joy.setSpeeds(1000,100,50);
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}
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else
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printf(" ");
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fflush(stdout);
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ArUtil::sleep(1);
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}
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}
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