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