156 lines
3.8 KiB
C++
156 lines
3.8 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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ArTime lastLoopTime;
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int loopTime;
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class FillerThread : public ArASyncTask
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{
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public:
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FillerThread(void) {}
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~FillerThread(void) {}
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virtual void * runThread(void *arg);
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protected:
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ArTime myStartBusyTime;
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};
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void *FillerThread::runThread(void *arg)
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{
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while (1)
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{
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myStartBusyTime.setToNow();
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while (myStartBusyTime.mSecSince() < 150);
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}
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}
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class JoydriveAction : public ArAction
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{
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public:
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JoydriveAction(void);
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virtual ~JoydriveAction(void) {};
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virtual ArActionDesired *fire(ArActionDesired currentDesired);
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bool joystickInited(void);
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protected:
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ArActionDesired myDesired;
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ArJoyHandler myJoyHandler;
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};
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JoydriveAction::JoydriveAction(void) :
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ArAction("Joydrive Action", "This action reads the joystick and sets the translational and rotational velocity based on this.")
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{
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myJoyHandler.init();
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myJoyHandler.setSpeeds(50, 700);
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}
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bool JoydriveAction::joystickInited(void)
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{
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return myJoyHandler.haveJoystick();
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}
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ArActionDesired *JoydriveAction::fire(ArActionDesired currentDesired)
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{
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int rot, trans;
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printf("%6ld ms since last loop. ms longer than desired: %6ld. mpac %d\n",
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lastLoopTime.mSecSince(),
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lastLoopTime.mSecSince() - loopTime, myRobot->getMotorPacCount());
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lastLoopTime.setToNow();
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if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
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myJoyHandler.getButton(2)))
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{
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if (ArMath::fabs(myRobot->getVel()) < 10.0)
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myRobot->comInt(ArCommands::ENABLE, 1);
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myJoyHandler.getAdjusted(&rot, &trans);
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myDesired.setVel(trans);
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myDesired.setDeltaHeading(-rot);
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return &myDesired;
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}
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else
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{
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myDesired.setVel(0);
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myDesired.setDeltaHeading(0);
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return &myDesired;
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}
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}
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int main(void)
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{
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ArTcpConnection con;
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ArRobot robot;
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int ret;
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std::string str;
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JoydriveAction jdAct;
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FillerThread ft;
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ft.create();
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FillerThread ft2;
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ft2.create();
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Aria::init();
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/*
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if (!jdAct.joystickInited())
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{
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printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
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Aria::shutdown();
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return 1;
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}
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*/
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if ((ret = con.open()) != 0)
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{
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str = con.getOpenMessage(ret);
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printf("Open failed: %s\n", str.c_str());
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Aria::shutdown();
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return 1;
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}
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robot.setDeviceConnection(&con);
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if (!robot.blockingConnect())
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{
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printf("Could not connect to robot... exiting\n");
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Aria::shutdown();
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return 1;
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}
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robot.comInt(ArCommands::SONAR, 0);
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robot.comInt(ArCommands::ENABLE, 1);
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robot.comInt(ArCommands::SOUNDTOG, 0);
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lastLoopTime.setToNow();
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loopTime = robot.getCycleTime();
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robot.addAction(&jdAct, 100);
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robot.runAsync(true);
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robot.waitForRunExit();
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Aria::shutdown();
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return 0;
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}
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