88 lines
3.3 KiB
C++
88 lines
3.3 KiB
C++
/*
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
|
|
|
This program is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program; if not, write to the Free Software
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
If you wish to redistribute ARIA under different terms, contact
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
|
robots@mobilerobots.com or
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
|
*/
|
|
#ifndef ARACTIONROBOTJOYDRIVE_H
|
|
#define ARACTIONROBOTJOYDRIVE_H
|
|
|
|
#include "ariaTypedefs.h"
|
|
#include "ArAction.h"
|
|
|
|
class ArRobotPacket;
|
|
|
|
/// This action will use the joystick for input to drive the robot
|
|
/**
|
|
This class creates its own ArJoyHandler to get input from the
|
|
joystick. Then it will scale the speed between 0 and the given max
|
|
for velocity and turning, up and down on the joystick go
|
|
forwards/backwards while right and left go right and left. You
|
|
must press in one of the two joystick buttons for the class to pay
|
|
attention to the joystick.
|
|
|
|
NOTE: The joystick does not save calibration information, so you
|
|
must calibrate the joystick before each time you use it. To do
|
|
this, press the button for at least a half a second while the
|
|
joystick is in the middle. Then let go of the button and hold the
|
|
joystick in the upper left for at least a half second and then in
|
|
the lower right corner for at least a half second.
|
|
|
|
@ingroup ActionClasses
|
|
**/
|
|
class ArActionRobotJoydrive : public ArAction
|
|
{
|
|
public:
|
|
/// Constructor
|
|
AREXPORT ArActionRobotJoydrive(const char * name = "robotJoyDrive",
|
|
bool requireDeadmanPushed = true);
|
|
/// Destructor
|
|
AREXPORT virtual ~ArActionRobotJoydrive();
|
|
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
|
|
AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
|
|
#ifndef SWIG
|
|
AREXPORT virtual const ArActionDesired *getDesired(void) const
|
|
{ return &myDesired; }
|
|
#endif
|
|
AREXPORT virtual void setRobot(ArRobot *robot);
|
|
protected:
|
|
AREXPORT bool handleJoystickPacket(ArRobotPacket *packet);
|
|
AREXPORT void connectCallback(void);
|
|
// whether we require the deadman to be pushed to drive
|
|
bool myRequireDeadmanPushed;
|
|
|
|
bool myDeadZoneLast;
|
|
int myButton1;
|
|
int myButton2;
|
|
int myJoyX;
|
|
int myJoyY;
|
|
int myThrottle;
|
|
ArTime myPacketReceivedTime;
|
|
// action desired
|
|
ArActionDesired myDesired;
|
|
ArRetFunctor1C<bool, ArActionRobotJoydrive,
|
|
ArRobotPacket *> myHandleJoystickPacketCB;
|
|
ArFunctorC<ArActionRobotJoydrive> myConnectCB;
|
|
};
|
|
|
|
#endif //ARACTIONROBOTJOYDRIVE_H
|