101 lines
2.6 KiB
C++
101 lines
2.6 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
|
|
*/
|
|
#include "Aria.h"
|
|
|
|
class ActionTest : public ArAction
|
|
{
|
|
public:
|
|
ActionTest(double turnAmount, double speed);
|
|
virtual ~ActionTest(void) {}
|
|
virtual ArActionDesired *fire(ArActionDesired currentDesired);
|
|
|
|
protected:
|
|
ArActionDesired myActionDesired;
|
|
double myTurnAmount;
|
|
double mySpeed;
|
|
};
|
|
|
|
ActionTest::ActionTest(double turnAmount, double speed) :
|
|
ArAction("ActionTest")
|
|
{
|
|
myTurnAmount = turnAmount;
|
|
mySpeed = speed;
|
|
}
|
|
|
|
ArActionDesired *ActionTest::fire(ArActionDesired currentDesired)
|
|
{
|
|
myActionDesired.reset();
|
|
if (fabs(mySpeed) > 1)
|
|
myActionDesired.setVel(mySpeed);
|
|
if (fabs(myTurnAmount) > 1)
|
|
myActionDesired.setDeltaHeading(myTurnAmount);
|
|
return &myActionDesired;
|
|
}
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
|
|
std::string str;
|
|
int ret;
|
|
ArTcpConnection con;
|
|
ArRobot robot;
|
|
|
|
ActionTest at1(-50, 333);
|
|
ActionTest at2(25, 666);
|
|
ActionTest at3(25, 0);
|
|
ActionTest at4(0, -999);
|
|
|
|
Aria::init();
|
|
|
|
if ((ret = con.open()) != 0)
|
|
{
|
|
str = con.getOpenMessage(ret);
|
|
printf("Open failed: %s\n", str.c_str());
|
|
Aria::shutdown();
|
|
return 1;
|
|
}
|
|
|
|
robot.setDeviceConnection(&con);
|
|
if (!robot.blockingConnect())
|
|
{
|
|
printf("Could not connect to robot... exiting\n");
|
|
Aria::shutdown();
|
|
return 1;
|
|
}
|
|
|
|
robot.addAction(&at1, 100);
|
|
robot.addAction(&at2, 100);
|
|
robot.addAction(&at3, 100);
|
|
robot.addAction(&at4, 100);
|
|
|
|
robot.run(true);
|
|
Aria::shutdown();
|
|
return 0;
|
|
|
|
|
|
|
|
}
|