77 lines
2.6 KiB
C
77 lines
2.6 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 ARRATIOINPUTROBOTJOYDRIVE_H
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#define ARRATIOINPUTROBOTJOYDRIVE_H
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#include "ariaTypedefs.h"
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#include "ArActionRatioInput.h"
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class ArRobotPacket;
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class ArRobot;
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class ArRobotJoyHandler;
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/// Use robot's joystick to control an ArActionRatioInput action and drive the robot.
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/**
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This class connects the joystick data obtained from the robot's built
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in joystick port (if it has one, not all robots have a joystick port)
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to an ArActionRatioInput which drives the robot. (See ArRatioInputJoydrive
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for a similar class that uses a joystick plugged in to the computer.)
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A callback is attached to the ArActionRatioInput object which reads joystick
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information using an ArRobotJoyHandler object, and sets requested drive rations on the ArActionRatioInput
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object.
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@sa ArRatioInputJoydrive
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@sa ArActionRatioInput
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@ingroup OptionalClasses
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**/
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class ArRatioInputRobotJoydrive
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{
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public:
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/// Constructor
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AREXPORT ArRatioInputRobotJoydrive(ArRobot *robot,
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ArActionRatioInput *input,
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int priority = 75,
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bool requireDeadmanPushed = true);
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/// Destructor
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AREXPORT virtual ~ArRatioInputRobotJoydrive();
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protected:
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AREXPORT void fireCallback(void);
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ArRobot *myRobot;
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ArActionRatioInput *myInput;
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bool myRequireDeadmanPushed;
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bool myDeadZoneLast;
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ArRobotJoyHandler *myRobotJoyHandler;
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ArFunctorC<ArRatioInputRobotJoydrive> myFireCB;
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};
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#endif //ARRATIOINPUTROBOTJOYDRIVE_H
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