115 lines
4.6 KiB
C++
115 lines
4.6 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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#ifndef ARRATIOINPUTJOYDRIVE_H
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#define ARRATIOINPUTJOYDRIVE_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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#include "ArActionRatioInput.h"
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#include "ArJoyHandler.h"
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class ArRobot;
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/// Use computer joystick to control an ArActionRatioInput and drive the robot.
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/**
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This class obtains data from
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a joystick attached to the computer
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and provides it to an ArActionRatioInput which drives the robot.
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(See ArRatioInputRobotJoydrive for a similar class that uses the robot's built in
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joystick interface.)
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A callback is attached to the ArActionRatioInput object which reads joystick
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information and sets requested drive rations on the ArActionRatioInput
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If the joystick button is pressed, then input values are set in the
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ArActionRatioDrive action object to request motion.
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If the button is not pressed, then either the robot will be stopped via the
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action (if @a stopIfNoButtonPressed is true), or no action will be requested
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and lower priority actions can take over (if @a stopIfNoButtonPressed is
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false)
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You may need to calibrate the joystick for
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it to work right, for details about this see ArJoyHandler.
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This class creates its own ArJoyHandler object to get input from the
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joystick, or uses the global ArJoyHandler object in the global Aria class if present. Then it will scale the speed between 0 and the given max
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for velocity and turning, up and down on the joystick go
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forwards/backwards while right and left go right and left.
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NOTE: The joystick does not save calibration information, so you
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may need to calibrate the joystick before each time you use it. To do
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this, press the button for at least a half a second while the
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joystick is in the middle. Then let go of the button and hold the
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joystick in the upper left for at least a half second and then in
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the lower right corner for at least a half second. See also ArJoyHandler.
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@sa ArRatioInputRobotJoydrive
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@sa ArActionRatioInput
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@sa ArJoyHandler
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@ingroup OptionalClasses
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**/
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class ArRatioInputJoydrive
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{
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public:
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/// Constructor
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AREXPORT ArRatioInputJoydrive(ArRobot *robot, ArActionRatioInput *input,
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int priority = 50,
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bool stopIfNoButtonPressed = false,
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bool useOSCalForJoystick = true);
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/// Destructor
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AREXPORT virtual ~ArRatioInputJoydrive();
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/// Whether the joystick is initalized or not
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AREXPORT bool joystickInited(void);
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/// Set if we'll stop if no button is pressed, otherwise just do nothing
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AREXPORT void setStopIfNoButtonPressed(bool stopIfNoButtonPressed);
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/// Get if we'll stop if no button is pressed, otherwise just do nothing
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AREXPORT bool getStopIfNoButtonPressed(void);
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/// Sets whether to use OSCalibration the joystick or not
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AREXPORT void setUseOSCal(bool useOSCal);
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/// Gets whether OSCalibration is being used for the joystick or not
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AREXPORT bool getUseOSCal(void);
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/// Gets the joyHandler
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AREXPORT ArJoyHandler *getJoyHandler(void) { return myJoyHandler; }
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protected:
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void fireCallback(void);
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ArRobot *myRobot;
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ArActionRatioInput *myInput;
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// if we're printing extra information for tracing and such
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bool myPrinting;
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// joystick handler
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ArJoyHandler *myJoyHandler;
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bool myFiredLast;
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// if we want to stop when no button is presesd
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bool myStopIfNoButtonPressed;
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// if we're using os cal for the joystick
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bool myUseOSCal;
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bool myPreviousUseOSCal;
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ArFunctorC<ArRatioInputJoydrive> myFireCB;
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};
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#endif //ARRATIOINPUTJOYDRIVE_H
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