144 lines
4.7 KiB
C++
144 lines
4.7 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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/** @example gotoActionExample.cpp Uses ArActionGoto to drive the robot in a square
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This program will make the robot drive in a 2.5x2.5 meter square by
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setting each corner in turn as the goal for an ArActionGoto action.
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It also uses speed limiting actions to avoid collisions. After some
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time, it cancels the goal (and the robot stops due to a stopping action)
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and exits.
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Press escape to shut down Aria and exit.
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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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ArArgumentParser parser(&argc, argv);
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parser.loadDefaultArguments();
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ArSimpleConnector simpleConnector(&parser);
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ArRobot robot;
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ArSonarDevice sonar;
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ArAnalogGyro gyro(&robot);
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robot.addRangeDevice(&sonar);
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// Make a key handler, so that escape will shut down the program
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// cleanly
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ArKeyHandler keyHandler;
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Aria::setKeyHandler(&keyHandler);
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robot.attachKeyHandler(&keyHandler);
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printf("You may press escape to exit\n");
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// Collision avoidance actions at higher priority
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ArActionLimiterForwards limiterAction("speed limiter near", 300, 600, 250);
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ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
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ArActionLimiterTableSensor tableLimiterAction;
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robot.addAction(&tableLimiterAction, 100);
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robot.addAction(&limiterAction, 95);
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robot.addAction(&limiterFarAction, 90);
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// Goto action at lower priority
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ArActionGoto gotoPoseAction("goto");
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robot.addAction(&gotoPoseAction, 50);
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// Stop action at lower priority, so the robot stops if it has no goal
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ArActionStop stopAction("stop");
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robot.addAction(&stopAction, 40);
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// Parse all command line arguments
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if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
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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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// Connect to the robot
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if (!simpleConnector.connectRobot(&robot))
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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.runAsync(true);
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// turn on the motors, turn off amigobot sounds
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robot.enableMotors();
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robot.comInt(ArCommands::SOUNDTOG, 0);
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const int duration = 30000; //msec
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ArLog::log(ArLog::Normal, "Going to four goals in turn for %d seconds, then cancelling goal and exiting.", duration/1000);
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bool first = true;
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int goalNum = 0;
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ArTime start;
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start.setToNow();
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while (Aria::getRunning())
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{
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robot.lock();
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// Choose a new goal if this is the first loop iteration, or if we
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// achieved the previous goal.
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if (first || gotoPoseAction.haveAchievedGoal())
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{
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first = false;
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goalNum++;
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if (goalNum > 4)
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goalNum = 1; // start again at goal #1
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// set our positions for the different goals
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if (goalNum == 1)
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gotoPoseAction.setGoal(ArPose(2500, 0));
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else if (goalNum == 2)
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gotoPoseAction.setGoal(ArPose(2500, 2500));
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else if (goalNum == 3)
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gotoPoseAction.setGoal(ArPose(0, 2500));
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else if (goalNum == 4)
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gotoPoseAction.setGoal(ArPose(0, 0));
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ArLog::log(ArLog::Normal, "Going to next goal at %.0f %.0f",
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gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
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}
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if(start.mSecSince() >= duration) {
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ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
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gotoPoseAction.cancelGoal();
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robot.unlock();
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ArUtil::sleep(3000);
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break;
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}
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robot.unlock();
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ArUtil::sleep(100);
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}
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// Robot disconnected or time elapsed, shut down
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Aria::exit(0);
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return 0;
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}
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