103 lines
4.1 KiB
C++
103 lines
4.1 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 ARACTIONJOYDRIVE_H
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#define ARACTIONJOYDRIVE_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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#include "ArJoyHandler.h"
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/// This action will use the joystick for input to drive the robot
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/**
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This class creates its own ArJoyHandler to get input from the
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joystick. 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. You
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must press in one of the two joystick buttons for the class to pay
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attention to the joystick.
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@note The joystick does not save calibration information, so you
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must 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.
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@ingroup ActionClasses
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**/
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class ArActionJoydrive : public ArAction
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{
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public:
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/// Constructor
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AREXPORT ArActionJoydrive(const char * name = "joydrive",
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double transVelMax = 400,
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double turnAmountMax = 15,
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bool stopIfNoButtonPressed = true,
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bool useOSCalForJoystick = true);
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/// Destructor
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AREXPORT virtual ~ArActionJoydrive();
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AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
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/// Whether the joystick is initalized or not
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AREXPORT bool joystickInited(void);
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/// Set Speeds
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AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
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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 the params on the throttle (throttle unused unless you call this)
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AREXPORT void setThrottleParams(double lowSpeed, double highSpeed);
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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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AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
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#ifndef SWIG
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AREXPORT virtual const ArActionDesired *getDesired(void) const { return &myDesired; }
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#endif
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protected:
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bool myUseThrottle;
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double myLowThrottle;
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double myHighThrottle;
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// action desired
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ArActionDesired myDesired;
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// joystick handler
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ArJoyHandler *myJoyHandler;
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// full spped
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double myTransVelMax;
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// full amount to turn
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double myTurnAmountMax;
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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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};
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#endif //ARACTIONJOYDRIVE_H
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