/* 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) { bool done; bool shouldSpin = true; int spinTime = 10000; double distToTravel = 1000; double rotVelMax = 50; double rotAccel = 100; double rotDecel = 100; double transVelMax = 1500; double transAccel = 600; double transDecel = 600; Aria::init(); // set up our parser ArArgumentParser parser(&argc, argv); // set up our simple connector ArSimpleConnector simpleConnector(&parser); // robot ArRobot robot; // a laser in case one is used ArSick sick; // sonar, must be added to the robot, for teleop and wander ArSonarDevice sonarDev; parser.addDefaultArgument("-connectLaser -laserIncrement half"); // load the default arguments parser.loadDefaultArguments(); // parse the command line... fail and print the help if the parsing fails // or if the help was requested if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) { Aria::logOptions(); exit(1); } //ArLog::init(ArLog::StdOut, ArLog::Verbose); // if you're using a program at startup in linux you must NOT // include a keyhandler or you'll get lockups when trying to read // keys with no terminal // a key handler so we can do our key handling ArKeyHandler keyHandler; // let the global aria stuff know about it Aria::setKeyHandler(&keyHandler); // toss it on the robot robot.attachKeyHandler(&keyHandler); printf("You may press escape to exit\n"); // add the sonar to the robot robot.addRangeDevice(&sonarDev); // add the laser to the robot robot.addRangeDevice(&sick); // add a gyro, it'll see if it should attach to the robot or not ArAnalogGyro gyro(&robot); // set up the robot for connecting if (!simpleConnector.connectRobot(&robot)) { printf("Could not connect to robot... exiting\n"); Aria::exit(1); } robot.setRotVelMax(rotVelMax); robot.setRotAccel(rotAccel); robot.setRotDecel(rotDecel); robot.setTransVelMax(transVelMax); robot.setTransAccel(transAccel); robot.setTransDecel(transDecel); // start the robot running, true so that if we lose connection the run stops robot.runAsync(true); // set up the laser before handing it to the laser mode sick.runAsync(); // connect the laser if it was requested if (!simpleConnector.connectLaser(&sick)) { printf("Could not connect to laser... exiting\n"); Aria::exit(2); } ArUtil::sleep(300); robot.lock(); // set a default filename //std::string filename = "c:\\log\\1scans.2d"; std::string filename = "1scans.2d"; // see if we want to use a different filename //if (argc > 1) printf("Logging to file %s\n", filename.c_str()); // start the logger with good values ArSickLogger logger(&robot, &sick, 300, 25, filename.c_str()); //Make a couple action groups, one for driving in a straight line, one for turning ArActionGroup drive(&robot); ArActionDriveDistance driveAction("driveDistance", transVelMax, transDecel); ArActionDeceleratingLimiter limiterAction; limiterAction.setParameters(200, 100, 100, 0, 100, 100, 2000, 1000, true, 0); drive.addAction(&driveAction, 50); drive.addAction(&limiterAction, 75); ArActionGroup spin(&robot); ArActionInput spinAction; spin.addAction(&spinAction, 100); robot.unlock(); #ifdef WIN32 // wait until someone pushes the motor button to go (since vnc hoses // timing) while (1) { robot.lock(); if (!robot.isRunning()) exit(0); if (robot.areMotorsEnabled()) { robot.unlock(); break; } robot.unlock(); ArUtil::sleep(100); } #endif // basically from here on down the robot just cruises around a bit robot.lock(); // enable the motors robot.comInt(ArCommands::ENABLE, 1); ArTime startTime; ArLog::log(ArLog::Normal, "Driving out"); // move a couple meters drive.activateExclusive(); driveAction.setDistance(distToTravel); robot.unlock(); done = false; startTime.setToNow(); do { ArUtil::sleep(100); robot.lock(); done = (driveAction.haveAchievedDistance() || startTime.secSince() > 10 || (startTime.secSince() > 2 && fabs(robot.getVel() < 2))); robot.unlock(); } while (!done); if (shouldSpin) { ArLog::log(ArLog::Normal, "Spinning counter clockwise"); robot.lock(); spin.activateExclusive(); spinAction.setRotVel(rotVelMax); spinAction.setVel(0); robot.unlock(); ArUtil::sleep(spinTime); ArLog::log(ArLog::Normal, "Spinning clockwise"); robot.lock(); spin.activateExclusive(); spinAction.setRotVel(-rotVelMax); spinAction.setVel(0); robot.unlock(); ArUtil::sleep(spinTime); } ArLog::log(ArLog::Normal, "Pointing back"); robot.lock(); spin.activateExclusive(); spinAction.setHeading(180); robot.unlock(); done = false; startTime.setToNow(); do { ArUtil::sleep(100); robot.lock(); done = (fabs(ArMath::subAngle(robot.getTh(), 180)) < 2 && fabs(robot.getRotVel() < 2)) || startTime.secSince() > 10; robot.unlock(); } while (!done); ArLog::log(ArLog::Normal, "Driving back"); robot.lock(); drive.activateExclusive(); driveAction.setDistance(distToTravel); robot.unlock(); done = false; startTime.setToNow(); do { ArUtil::sleep(100); robot.lock(); done = (driveAction.haveAchievedDistance() || startTime.secSince() > 10 || (startTime.secSince() > 2 && fabs(robot.getVel() < 2))); robot.unlock(); } while (!done); ArLog::log(ArLog::Normal, "Pointing out"); robot.lock(); spin.activateExclusive(); spinAction.setHeading(0); robot.unlock(); done = false; startTime.setToNow(); do { ArUtil::sleep(100); robot.lock(); done = (fabs(ArMath::subAngle(robot.getTh(), 0)) < 2 && fabs(robot.getRotVel() < 2)) || startTime.secSince() > 10; robot.unlock(); } while (!done); ArLog::log(ArLog::Normal, "Done"); sick.lockDevice(); sick.disconnect(); sick.unlockDevice(); robot.lock(); robot.disconnect(); robot.unlock(); // now exit Aria::shutdown(); return 0; }