339 lines
9.6 KiB
C++
339 lines
9.6 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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/** @example directMotionExample.cpp Sends a sequence of motion commands directly
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* to the robot using ArRobot's direct motion command methods.
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This demo starts up the robot in its own thread, then calls a series of the
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motion commands methods in ArRobot to simply send commands directly
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to the robot (rather than using e.g. ArAction objects.)
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Note that if you want to stop direct motion
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commands and let ArActions take over, you must call ArRobot::clearDirectMotion() (otherwise ArRobot may continue sending motion commands that conflict
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with the requests of the action resolver).
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See the section on motion commands and actions for details.
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*/
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/*
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This is a connection handler class, to demonstrate how to run code in
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response to events such as the program connecting an disconnecting
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from the robot.
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*/
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class ConnHandler
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{
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public:
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// Constructor
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ConnHandler(ArRobot *robot);
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// Destructor, its just empty
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~ConnHandler(void) {}
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// to be called if the connection was made
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void connected(void);
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// to call if the connection failed
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void connFail(void);
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// to be called if the connection was lost
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void disconnected(void);
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protected:
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// robot pointer
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ArRobot *myRobot;
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// the functor callbacks
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ArFunctorC<ConnHandler> myConnectedCB;
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ArFunctorC<ConnHandler> myConnFailCB;
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ArFunctorC<ConnHandler> myDisconnectedCB;
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};
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ConnHandler::ConnHandler(ArRobot *robot) :
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myConnectedCB(this, &ConnHandler::connected),
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myConnFailCB(this, &ConnHandler::connFail),
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myDisconnectedCB(this, &ConnHandler::disconnected)
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{
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myRobot = robot;
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myRobot->addConnectCB(&myConnectedCB, ArListPos::FIRST);
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myRobot->addFailedConnectCB(&myConnFailCB, ArListPos::FIRST);
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myRobot->addDisconnectNormallyCB(&myDisconnectedCB, ArListPos::FIRST);
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myRobot->addDisconnectOnErrorCB(&myDisconnectedCB, ArListPos::FIRST);
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}
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// just exit if the connection failed
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void ConnHandler::connFail(void)
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{
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printf("directMotionDemo connection handler: Failed to connect.\n");
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myRobot->stopRunning();
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Aria::exit(1);
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return;
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}
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// turn on motors, and off sonar, and off amigobot sounds, when connected
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void ConnHandler::connected(void)
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{
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printf("directMotionDemo connection handler: Connected\n");
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myRobot->comInt(ArCommands::SONAR, 0);
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myRobot->comInt(ArCommands::ENABLE, 1);
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myRobot->comInt(ArCommands::SOUNDTOG, 0);
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}
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// lost connection, so just exit
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void ConnHandler::disconnected(void)
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{
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printf("directMotionDemo connection handler: Lost connection, exiting program.\n");
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Aria::exit(0);
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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 argParser(&argc, argv);
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argParser.loadDefaultArguments();
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ArRobot robot;
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ArRobotConnector con(&argParser, &robot);
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// the connection handler from above
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ConnHandler ch(&robot);
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if(!Aria::parseArgs())
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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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if(!con.connectRobot())
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{
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ArLog::log(ArLog::Normal, "directMotionExample: Could not connect to the robot. Exiting.");
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if(argParser.checkHelpAndWarnUnparsed())
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{
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Aria::logOptions();
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}
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Aria::exit(1);
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return 1;
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}
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ArLog::log(ArLog::Normal, "directMotionExample: Connected.");
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if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
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{
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Aria::logOptions();
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Aria::exit(1);
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}
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// Run the robot processing cycle in its own thread. Note that after starting this
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// thread, we must lock and unlock the ArRobot object before and after
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// accessing it.
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robot.runAsync(false);
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// Send the robot a series of motion commands directly, sleeping for a
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// few seconds afterwards to give the robot time to execute them.
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printf("directMotionExample: Setting rot velocity to 100 deg/sec then sleeping 3 seconds\n");
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robot.lock();
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robot.setRotVel(100);
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robot.unlock();
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ArUtil::sleep(3*1000);
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printf("Stopping\n");
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robot.lock();
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robot.setRotVel(0);
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robot.unlock();
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ArUtil::sleep(200);
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printf("directMotionExample: Telling the robot to go 300 mm on left wheel and 100 mm on right wheel for 5 seconds\n");
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robot.lock();
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robot.setVel2(300, 100);
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robot.unlock();
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ArTime start;
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start.setToNow();
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while (1)
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{
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robot.lock();
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if (start.mSecSince() > 5000)
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{
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robot.unlock();
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break;
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}
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robot.unlock();
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ArUtil::sleep(50);
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}
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printf("directMotionExample: Telling the robot to move forwards one meter, then sleeping 5 seconds\n");
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robot.lock();
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robot.move(1000);
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robot.unlock();
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start.setToNow();
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while (1)
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{
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robot.lock();
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if (robot.isMoveDone())
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{
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printf("directMotionExample: Finished distance\n");
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robot.unlock();
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break;
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}
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if (start.mSecSince() > 5000)
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{
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printf("directMotionExample: Distance timed out\n");
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robot.unlock();
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break;
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}
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robot.unlock();
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ArUtil::sleep(50);
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}
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printf("directMotionExample: Telling the robot to move backwards one meter, then sleeping 5 seconds\n");
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robot.lock();
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robot.move(-1000);
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robot.unlock();
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start.setToNow();
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while (1)
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{
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robot.lock();
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if (robot.isMoveDone())
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{
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printf("directMotionExample: Finished distance\n");
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robot.unlock();
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break;
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}
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if (start.mSecSince() > 10000)
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{
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printf("directMotionExample: Distance timed out\n");
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robot.unlock();
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break;
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}
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robot.unlock();
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ArUtil::sleep(50);
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}
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printf("directMotionExample: Telling the robot to turn to 180, then sleeping 4 seconds\n");
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robot.lock();
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robot.setHeading(180);
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robot.unlock();
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start.setToNow();
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while (1)
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{
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robot.lock();
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if (robot.isHeadingDone(5))
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{
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printf("directMotionExample: Finished turn\n");
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robot.unlock();
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break;
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}
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if (start.mSecSince() > 5000)
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{
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printf("directMotionExample: Turn timed out\n");
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robot.unlock();
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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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printf("directMotionExample: Telling the robot to turn to 90, then sleeping 2 seconds\n");
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robot.lock();
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robot.setHeading(90);
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robot.unlock();
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start.setToNow();
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while (1)
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{
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robot.lock();
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if (robot.isHeadingDone(5))
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{
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printf("directMotionExample: Finished turn\n");
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robot.unlock();
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break;
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}
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if (start.mSecSince() > 5000)
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{
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printf("directMotionExample: turn timed out\n");
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robot.unlock();
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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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printf("directMotionExample: Setting vel2 to 200 mm/sec on both wheels, then sleeping 3 seconds\n");
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robot.lock();
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robot.setVel2(200, 200);
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robot.unlock();
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ArUtil::sleep(3000);
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printf("directMotionExample: Stopping the robot, then sleeping for 2 seconds\n");
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robot.lock();
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robot.stop();
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robot.unlock();
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ArUtil::sleep(2000);
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printf("directMotionExample: Setting velocity to 200 mm/sec then sleeping 3 seconds\n");
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robot.lock();
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robot.setVel(200);
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robot.unlock();
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ArUtil::sleep(3000);
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printf("directMotionExample: Stopping the robot, then sleeping for 2 seconds\n");
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robot.lock();
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robot.stop();
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robot.unlock();
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ArUtil::sleep(2000);
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printf("directMotionExample: Setting vel2 with 0 on left wheel, 200 mm/sec on right, then sleeping 5 seconds\n");
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robot.lock();
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robot.setVel2(0, 200);
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robot.unlock();
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ArUtil::sleep(5000);
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printf("directMotionExample: Telling the robot to rotate at 50 deg/sec then sleeping 5 seconds\n");
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robot.lock();
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robot.setRotVel(50);
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robot.unlock();
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ArUtil::sleep(5000);
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printf("directMotionExample: Telling the robot to rotate at -50 deg/sec then sleeping 5 seconds\n");
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robot.lock();
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robot.setRotVel(-50);
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robot.unlock();
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ArUtil::sleep(5000);
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printf("directMotionExample: Setting vel2 with 0 on both wheels, then sleeping 3 seconds\n");
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robot.lock();
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robot.setVel2(0, 0);
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robot.unlock();
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ArUtil::sleep(3000);
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printf("directMotionExample: Now having the robot change heading by -125 degrees, then sleeping for 6 seconds\n");
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robot.lock();
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robot.setDeltaHeading(-125);
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robot.unlock();
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ArUtil::sleep(6000);
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printf("directMotionExample: Now having the robot change heading by 45 degrees, then sleeping for 6 seconds\n");
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robot.lock();
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robot.setDeltaHeading(45);
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robot.unlock();
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ArUtil::sleep(6000);
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printf("directMotionExample: Setting vel2 with 200 on left wheel, 0 on right wheel, then sleeping 5 seconds\n");
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robot.lock();
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robot.setVel2(200, 0);
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robot.unlock();
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ArUtil::sleep(5000);
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printf("directMotionExample: Done, exiting.\n");
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Aria::exit(0);
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return 0;
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}
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