105 lines
4.2 KiB
Plaintext
105 lines
4.2 KiB
Plaintext
This directory has various example pieces of code and Microsoft VC++
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project files.
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The two most useful example programs are teleopActionsExample and
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wander. TeleopActionsExample does guarded teleoperation, so you
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can drive the robot around without running into walls.
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Wander just has the robot wander, ie drive forward until there is
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an obstacle, avoid it, then keep driving. lasers shows how to
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connect to laser rangefinder(s) and use the data from them.
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The smallest, simplest example program is simpleConnect. It just
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connects to the robot, prints some information, then disconnects
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and exits.
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Partial list of examples:
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demo - Uses "Modes" defined in ARIA to provide keyboard control of many
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different robot features. Use this utility to experiment and test the robot's
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hardware.
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simpleConnect - The smallest example program. It just connects to the robot.
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simpleUserTask - Demonstrates how to make a simple user task
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robotSyncTaskExample - simple example of ArRobot synchronized task callbacks
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lasers - Demonstrates how to connect to one or more laser rangefinder devices
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as defined in robot and program parameters, and obtain data from them.
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directMotionDemo - Drives the robot around using the basic direct
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motion commands (no ArActions or obstacle avoidance). it also runs the
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robot in its own thread, and has examples of connection handler callbacks.
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actionExample - Defines a couple of custom ArAction classes, and uses them.
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actionGroup - Program that uses action groups to switch back and forth
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between wander and teleop mode
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cameraPTZExample - Connect to PTZ camera or PTU (depending on robot parameter
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file configuration or command line arguments).
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dpptuExample - A program to control the Directed Perception PTU with the keyboard.
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functor - An example program on the basic use of functors.
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gotoActionExample - An example of how to use ArActionGoto to go to many different
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points and not just one
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gpsExample - An example showing how to get data from a GPS
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gripperDemo - Program that moves the robot and controls the gripper with the
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joystick, note this doesn't do obstacle avoidance
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actsColorFolowingExample - A simple program that uses ACTS and a VC-C4 camera to move the
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robot toward a color blob.
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joydriveActionExample - Uses an action that reads the robot to drive the joystick,
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does not do obstacle avoidance
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joydriveThreaded - Program to drive the robot with a joystick. This one
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uses its own ArASyncTask to drive the joystick handler. This is a good
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example to look at to see how threading works. This does not do obstacle
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avoidance, this also has a connection handler
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joydriveUserTask - Program to drive the robot with a joystick. This one
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uses a user task to drive the joystick handler, does not do obstacle avoidance
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getAuxExample - An example program that uses the getAux command and
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talks about how to use the getAux to do actual work
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moduleExample - Tests the loadable modules in a simple way
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socketClientExample - This program works with socketServerExample to
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demonstrate ArSockets
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socketServerExample - A program to demonstrate ArSocket, works with
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socketClientExample
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sickLineFinderSimple - An example of using the laser sensor line finding
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class and lets you save the lines
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threadExample - Demonstrates ARIA's threading tools
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soundsQueueExamples - Demonstrates use of the ArSoundsQueue sound/speech queue
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teleopActionsExample - This uses ARIA's powerful Actions system to drive
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the robot around using input from the keyboard or a joystick, but does
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obstacle avoidance so the robot won't run into things (if it can sense
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them with sonar or laser).
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wander - Makes the robot wander around, turning to avoid any sensed obstacles.
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Uses sonar and laser (if available) to detect obstacles.
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wanderAndLogData - similar to wander, but prints out all kinds of runtime
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information about the robot
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(others) - there are several other example programs in this directory not
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listed here. Some are for older or less common hardware, or show some
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advanced features of ARIA that only some users will need. Browse them
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and read their descriptions (in comments at the top of source files)
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for more information.
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