145 lines
3.6 KiB
C++
145 lines
3.6 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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ArRobot *robot;
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ArGripper *grip;
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ArSonyPTZ *cam;
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void runCommands(void)
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{
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static int state = 0;
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static ArTime last;
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/* MODIFY THIS TO SEND MORE PACKETS */
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int numToSend = 4;
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int i;
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if (last.getSec() != 0 && last.getMSec() != 0 && last.mSecSince() < 8000)
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return;
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last.setToNow();
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for (i = 0; i < numToSend; i++)
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robot->comInt(97, state);
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switch (state % 4) {
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case 0:
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printf("Down Open, Down Left\n");
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cam->panTilt(-90, -45);
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grip->liftDown();
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grip->gripOpen();
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break;
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case 1:
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printf("Up Open, Up Left\n");
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cam->panTilt(-90, 45);
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grip->liftUp();
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grip->gripOpen();
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break;
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case 2:
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printf("Up Closed, Up Right\n");
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cam->panTilt(90, 45);
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grip->liftUp();
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grip->gripClose();
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break;
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case 3:
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printf("Down Closed, Down Right\n");
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cam->panTilt(90, -45);
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grip->liftDown();
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grip->gripClose();
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break;
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}
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for (i = 0; i < numToSend; i++)
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robot->comInt(97, state);
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state++;
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if (numToSend > 0)
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printf("Should be at %d times\n", state * numToSend * 2);
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}
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/*
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This program will just have the robot wander around, it uses some avoidance
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routines, then just has a constant velocity.
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*/
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int main(void)
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{
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ArGlobalFunctor func(&runCommands);
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// sonar, must be added to the robot
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ArSonarDevice sonar;
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// the connection
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ArSerialConnection con;
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ArActionStallRecover recover;
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ArActionBumpers bumpers;
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ArActionAvoidFront avoidFront;
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ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
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// robot
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robot = new ArRobot;
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cam = new ArSonyPTZ(robot);
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grip = new ArGripper(robot);
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// mandatory init
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Aria::init();
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// set the port for the connection
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con.setPort();
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con.setBaud(38400);
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// set the device connection on the robot
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robot->setDeviceConnection(&con);
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robot->addUserTask("slam p2os", 50, &func);
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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 (!robot->blockingConnect())
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{
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printf("Could not connect to robot->.. exiting\n");
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Aria::shutdown();
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return 1;
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}
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ArUtil::sleep(100);
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robot->addAction(&recover, 100);
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robot->addAction(&bumpers, 75);
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robot->addAction(&avoidFront, 50);
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robot->addAction(&constantVelocity, 25);
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// start the robot running, true so that if we lose connection the run stops
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robot->run(true);
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// now exit
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Aria::shutdown();
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return 0;
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}
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