200 lines
7.8 KiB
C++
200 lines
7.8 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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/** @example gyroExample.cpp Example program that activates an onboard gyro if it exists and uses its data to correct the robot pose.
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*
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* This program uses ArActionKeydrive and ArActionJoydrive to allow
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* teleoperation with the keyboard or joystick, and displays gyro data.
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* Additional keys (numbers 0-9 and letters q, w, e, r, t, y, u, i, o, p)
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* activate preset rotation velocities.
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*
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*/
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#include "Aria.h"
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#include "ArAnalogGyro.h"
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class GyroTask
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{
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public:
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// the constructor, it must use constructor chaining to intialize its base
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// class ArSimpleUserTask
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GyroTask(ArRobot *robot);
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// empty destructor
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~GyroTask(void) {}
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// the task we want to do
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void doTask(void);
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bool handlePacket(ArRobotPacket *pkt);
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protected:
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//double myHeading;
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ArAnalogGyro *myGyro;
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ArRobot *myRobot;
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ArFunctorC<GyroTask> myTaskCB;
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ArRetFunctor1C<bool, GyroTask, ArRobotPacket*> myPacketHandlerCB;
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bool gotGyroPacket;
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};
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// the constructor, note how it uses chaining to initialize the myTaskCB
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GyroTask::GyroTask(ArRobot *robot) :
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myTaskCB(this, &GyroTask::doTask),
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myPacketHandlerCB(this, &GyroTask::handlePacket),
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gotGyroPacket(false)
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{
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ArKeyHandler *keyHandler;
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myRobot = robot;
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// just add it to the robot
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myRobot->addUserTask("GyroTask", 50, &myTaskCB);
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myRobot->addPacketHandler(&myPacketHandlerCB, ArListPos::LAST);
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myRobot->comInt(ArCommands::GYRO, 2);
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myGyro = new ArAnalogGyro(myRobot);
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if ((keyHandler = Aria::getKeyHandler()) == NULL)
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{
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keyHandler = new ArKeyHandler;
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Aria::setKeyHandler(keyHandler);
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if (myRobot != NULL)
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myRobot->attachKeyHandler(keyHandler);
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else
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ArLog::log(ArLog::Terse, "GyroTask: No robot to attach a keyHandler to, keyHandling won't work... either make your own keyHandler and drive it yourself, make a keyhandler and attach it to a robot, or give this a robot to attach to.");
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}
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keyHandler->addKeyHandler('1', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 10));
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keyHandler->addKeyHandler('2', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 20));
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keyHandler->addKeyHandler('3', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 30));
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keyHandler->addKeyHandler('4', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 40));
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keyHandler->addKeyHandler('5', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 50));
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keyHandler->addKeyHandler('6', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 60));
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keyHandler->addKeyHandler('7', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 70));
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keyHandler->addKeyHandler('8', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 80));
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keyHandler->addKeyHandler('9', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 90));
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keyHandler->addKeyHandler('0', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, 100));
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keyHandler->addKeyHandler('q', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -10));
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keyHandler->addKeyHandler('w', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -20));
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keyHandler->addKeyHandler('e', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -30));
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keyHandler->addKeyHandler('r', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -40));
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keyHandler->addKeyHandler('t', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -50));
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keyHandler->addKeyHandler('y', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -60));
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keyHandler->addKeyHandler('u', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -70));
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keyHandler->addKeyHandler('i', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -80));
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keyHandler->addKeyHandler('o', new ArFunctor1C<ArRobot, double>(myRobot,&ArRobot::setRotVel, -90));
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keyHandler->addKeyHandler('p', new ArFunctor1C<ArRobot, double>(myRobot, &ArRobot::setRotVel, -100));
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keyHandler->addKeyHandler('a', new ArFunctor1C<ArRobot, double>(myRobot, &ArRobot::setHeading, 0));
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keyHandler->addKeyHandler('s', new ArFunctor1C<ArRobot, double>(myRobot, &ArRobot::setHeading, 90));
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keyHandler->addKeyHandler('d', new ArFunctor1C<ArRobot, double>(myRobot, &ArRobot::setHeading, 180));
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keyHandler->addKeyHandler('f', new ArFunctor1C<ArRobot, double>(myRobot, &ArRobot::setHeading, 270));
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}
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void GyroTask::doTask(void)
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{
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/*
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double degrees = -((myRobot->getAnalog() * 5.0 / 255) - 2.509) * 150 / 2.5 * 1.265;
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if (fabs(degrees) < 2)
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degrees = 0;
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myHeading += degrees * .025;
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printf("%10f %10f %10f %10f\n", myRobot->getAnalog() * 5.0 / 255, degrees,
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myRobot->getRotVel(), myHeading);
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fflush(stdout);
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*/
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printf("gyro th (mode 1 only):%8.4f encoder th:%8.4f ArRobot mixed th:%8.4f temp:%d ave:%g gyro packets:%s\n", myGyro->getHeading(), myRobot->getRawEncoderPose().getTh(), myRobot->getTh(), myGyro->getTemperature(), myGyro->getAverage(), gotGyroPacket?"received":"not received");
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}
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bool GyroTask::handlePacket(ArRobotPacket *pkt)
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{
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if(pkt->getID() == 152)
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gotGyroPacket = true;
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return true;
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}
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int main(int argc, char **argv)
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{
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Aria::init();
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ArRobot robot;
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// the joydrive action
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ArActionJoydrive joydriveAct;
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// the keydrive action
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ArActionKeydrive keydriveAct;
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GyroTask gyro(&robot);
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// sonar device, so the limiter will work, this must be added to the robot
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ArSonarDevice sonar;
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ArArgumentParser parser(&argc, argv);
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parser.loadDefaultArguments();
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ArRobotConnector connector(&parser, &robot);
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if (!Aria::parseArgs() || argc > 1)
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{
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Aria::logOptions();
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Aria::exit(1);
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return 1;
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}
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printf("This program will allow you to use a joystick or keyboard to control the robot.\nYou can use the arrow keys to drive, and the spacebar to stop.\nFor joystick control press the trigger button and then drive.\nPress escape to exit.\n");
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// if we don't have a joystick, let 'em know
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if (!joydriveAct.joystickInited())
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printf("Do not have a joystick, only the arrow keys on the keyboard will work.\n");
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// set the joystick so it won't do anything if the button isn't pressed
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joydriveAct.setStopIfNoButtonPressed(false);
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// add the sonar to the robot
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robot.addRangeDevice(&sonar);
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// try to connect, if we fail exit
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if (!connector.connectRobot())
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{
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printf("Could not connect to robot... exiting\n");
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Aria::exit(1);
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return 1;
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}
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robot.comInt(ArCommands::ENABLE, 1);
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robot.addAction(&joydriveAct, 50);
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robot.addAction(&keydriveAct, 45);
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// set the joydrive action so it'll let the keydrive action fire if
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// there is no button pressed
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joydriveAct.setStopIfNoButtonPressed(false);
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// run the robot, true here so that the run will exit if connection lost
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robot.run(true);
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// now exit
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Aria::exit(0);
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return 0;
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}
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