111 lines
3.0 KiB
C++
111 lines
3.0 KiB
C++
|
/*
|
||
|
|
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"
|
||
|
|
|
||
|
|
int main(int argc, char **argv)
|
||
|
|
{
|
||
|
|
std::string str;
|
||
|
|
int ret;
|
||
|
|
time_t lastTime;
|
||
|
|
int trans, rot;
|
||
|
|
|
||
|
|
ArJoyHandler joyHandler;
|
||
|
|
ArSerialConnection con;
|
||
|
|
ArRobot robot(NULL, false);
|
||
|
|
|
||
|
|
joyHandler.init();
|
||
|
|
joyHandler.setSpeeds(100, 700);
|
||
|
|
|
||
|
|
if (joyHandler.haveJoystick())
|
||
|
|
{
|
||
|
|
printf("Have a joystick\n\n");
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
|
||
|
|
// exit(0);
|
||
|
|
}
|
||
|
|
|
||
|
|
if ((ret = con.open()) != 0)
|
||
|
|
{
|
||
|
|
str = con.getOpenMessage(ret);
|
||
|
|
printf("Open failed: %s\n", str.c_str());
|
||
|
|
exit(0);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
robot.setDeviceConnection(&con);
|
||
|
|
if (!robot.blockingConnect())
|
||
|
|
{
|
||
|
|
printf("Could not connect to robot... exiting\n");
|
||
|
|
exit(0);
|
||
|
|
}
|
||
|
|
|
||
|
|
robot.comInt(ArCommands::SONAR, 0);
|
||
|
|
robot.comInt(ArCommands::ENABLE, 1);
|
||
|
|
robot.comInt(ArCommands::SOUNDTOG, 0);
|
||
|
|
//robot.comInt(ArCommands::ENCODER, 1);
|
||
|
|
|
||
|
|
//robot.comStrN(ArCommands::SAY, "\1\6\2\105", 4);
|
||
|
|
|
||
|
|
lastTime = time(NULL);
|
||
|
|
while (1)
|
||
|
|
{
|
||
|
|
if (!robot.isConnected())
|
||
|
|
{
|
||
|
|
printf("No longer connected to robot, exiting.\n");
|
||
|
|
exit(0);
|
||
|
|
}
|
||
|
|
robot.loopOnce();
|
||
|
|
if (lastTime != time(NULL))
|
||
|
|
{
|
||
|
|
printf("\rx %6.1f y %6.1f tth %6.1f vel %7.1f mpacs %3d", robot.getX(),
|
||
|
|
robot.getY(), robot.getTh(), robot.getVel(),
|
||
|
|
robot.getMotorPacCount());
|
||
|
|
fflush(stdout);
|
||
|
|
lastTime = time(NULL);
|
||
|
|
}
|
||
|
|
if (joyHandler.haveJoystick() && (joyHandler.getButton(1) ||
|
||
|
|
joyHandler.getButton(2)))
|
||
|
|
{
|
||
|
|
if (ArMath::fabs(robot.getVel()) < 10.0)
|
||
|
|
robot.comInt(ArCommands::ENABLE, 1);
|
||
|
|
joyHandler.getAdjusted(&rot, &trans);
|
||
|
|
robot.comInt(ArCommands::VEL, trans);
|
||
|
|
robot.comInt(ArCommands::RVEL, -rot);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
robot.comInt(ArCommands::VEL, 0);
|
||
|
|
robot.comInt(ArCommands::RVEL, 0);
|
||
|
|
}
|
||
|
|
ArUtil::sleep(100);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
}
|
||
|
|
|