131 lines
3.9 KiB
C++
131 lines
3.9 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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/** @example triangleDriveToActionExample.cpp Example/demonstration of
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* ArActionTriangleDriveTo, which drives the robot towards a specially shaped
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* triangular target
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*
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Press g or G to use ArActionTriangleDriveTo to detect and drive towards
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a triangular target shape. Press s or S to stop.
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See ArActionTriangleDriveTo for more information about the triangular target and what the action does and its parameters.
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**/
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#include "Aria.h"
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int main(int argc, char **argv)
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{
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Aria::init();
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// parse our args and make sure they were all accounted for
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ArSimpleConnector connector(&argc, argv);
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ArRobot robot;
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// the laser. ArActionTriangleDriveTo will use this laser object since it is
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// named "laser" when added to the ArRobot.
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ArSick sick;
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if (!connector.parseArgs() || argc > 1)
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{
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connector.logOptions();
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Aria::exit(1);
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return 1;
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}
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// a key handler so we can do our key handling
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ArKeyHandler keyHandler;
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// let the global aria stuff know about it
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Aria::setKeyHandler(&keyHandler);
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// toss it on the robot
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robot.attachKeyHandler(&keyHandler);
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// add the laser to the robot
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robot.addRangeDevice(&sick);
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ArSonarDevice sonar;
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robot.addRangeDevice(&sonar);
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ArActionTriangleDriveTo triangleDriveTo;
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ArFunctorC<ArActionTriangleDriveTo> lineGoCB(&triangleDriveTo,
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&ArActionTriangleDriveTo::activate);
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keyHandler.addKeyHandler('g', &lineGoCB);
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keyHandler.addKeyHandler('G', &lineGoCB);
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ArFunctorC<ArActionTriangleDriveTo> lineStopCB(&triangleDriveTo,
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&ArActionTriangleDriveTo::deactivate);
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keyHandler.addKeyHandler('s', &lineStopCB);
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keyHandler.addKeyHandler('S', &lineStopCB);
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ArActionLimiterForwards limiter("limiter", 150, 0, 0, 1.3);
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robot.addAction(&limiter, 70);
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ArActionLimiterBackwards limiterBackwards;
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robot.addAction(&limiterBackwards, 69);
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robot.addAction(&triangleDriveTo, 60);
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ArActionKeydrive keydrive;
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robot.addAction(&keydrive, 55);
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ArActionStop stopAction;
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robot.addAction(&stopAction, 50);
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// try to connect, if we fail exit
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if (!connector.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.comInt(ArCommands::SONAR, 1);
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robot.comInt(ArCommands::ENABLE, 1);
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// start the robot running, true so that if we lose connection the run stops
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robot.runAsync(true);
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// now set up the laser
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connector.setupLaser(&sick);
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sick.runAsync();
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if (!sick.blockingConnect())
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{
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printf("Could not connect to SICK laser... exiting\n");
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Aria::exit(1);
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return 1;
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}
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printf("If you press the 'g' key it'll go find a triangle, if you press 's' it'll stop.\n");
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robot.waitForRunExit();
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Aria::exit(0);
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return 0;
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}
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