89 lines
2.8 KiB
Python
89 lines
2.8 KiB
Python
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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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from AriaPy import *
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import sys
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# Global library initialization, just like the C++ API:
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Aria_init()
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parser = ArArgumentParser(sys.argv)
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parser.loadDefaultArguments()
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# Create a robot object:
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robot = ArRobot()
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# Create a "simple connector" object and connect to either the simulator
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# or the robot. Unlike the C++ API which takes int and char* pointers,
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# the Python constructor just takes argv as a list.
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print "Connecting..."
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con = ArRobotConnector(parser, robot)
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if not Aria_parseArgs():
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Aria_logOptions()
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Aria_exit(1)
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if not con.connectRobot():
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print "Could not connect to robot, exiting"
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Aria_exit(1)
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# Run the robot threads in the background:
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print "Running..."
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robot.runAsync(1)
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# Drive the robot a bit, then exit.
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robot.lock()
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print "Robot position using ArRobot accessor methods: (", robot.getX(), ",", robot.getY(), ",", robot.getTh(), ")"
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pose = robot.getPose()
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print "Robot position by printing ArPose object: ", pose
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print "Robot position using special python-only ArPose members: (", pose.x, ",", pose.y, ",", pose.th, ")"
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print "Sending command to move forward 1 meter..."
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robot.enableMotors()
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robot.move(1000)
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robot.unlock()
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print "Sleeping for 5 seconds..."
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ArUtil_sleep(5000)
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robot.lock()
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print "Sending command to rotate 90 degrees..."
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robot.setHeading(90)
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robot.unlock()
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print "Sleeping for 5 seconds..."
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ArUtil_sleep(5000)
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robot.lock()
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print "Robot position (", robot.getX(), ",", robot.getY(), ",", robot.getTh(), ")"
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pose = robot.getPose()
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print "Robot position by printing ArPose object: ", pose
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print "Robot position using special python-only ArPose members: (", pose.x, ",", pose.y, ",", pose.th, ")"
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robot.unlock()
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print "Exiting."
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Aria_shutdown()
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