139 lines
3.9 KiB
C++
139 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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#include "Aria.h"
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/*
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This program will just have the robot wander around, it uses some avoidance
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routines, then just has a constant velocity.
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*/
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int main(int argc, char **argv)
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{
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// robot
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ArRobot robot;
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// the laser
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ArSick sick;
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// sonar, must be added to the robot
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//ArSonarDevice sonar;
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// the actions we'll use to wander
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// recover from stalls
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//ArActionStallRecover recover;
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// react to bumpers
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//ArActionBumpers bumpers;
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// limiter for close obstacles
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ArActionLimiterForwards limiter("speed limiter near", 1600, 0, 0, 1.3);
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// limiter for far away obstacles
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//ArActionLimiterForwards limiterFar("speed limiter near", 300, 1000, 450, 1.1);
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//ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 600, 1.1);
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// limiter for the table sensors
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//ArActionLimiterTableSensor tableLimiter;
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// actually move the robot
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ArActionConstantVelocity constantVelocity("Constant Velocity", 1500);
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// turn the orbot if its slowed down
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ArActionTurn turn;
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// mandatory init
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Aria::init();
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// Parse all our args
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ArSimpleConnector connector(&argc, argv);
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connector.parseArgs();
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if (argc > 1)
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{
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connector.logOptions();
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exit(1);
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}
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// add the sonar to the robot
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//robot.addRangeDevice(&sonar);
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// add the laser to the robot
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robot.addRangeDevice(&sick);
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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::shutdown();
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return 1;
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}
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robot.comInt(ArCommands::SONAR, 0);
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// turn on the motors, turn off amigobot sounds
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//robot.comInt(ArCommands::SONAR, 0);
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robot.comInt(ArCommands::SOUNDTOG, 0);
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// add the actions
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//robot.addAction(&recover, 100);
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//robot.addAction(&bumpers, 75);
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robot.addAction(&limiter, 49);
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//robot.addAction(&limiter, 48);
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//robot.addAction(&tableLimiter, 50);
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robot.addAction(&turn, 30);
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robot.addAction(&constantVelocity, 20);
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limiter.activate();
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turn.activate();
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constantVelocity.activate();
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robot.clearDirectMotion();
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//robot.setStateReflectionRefreshTime(50);
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robot.setRotVelMax(50);
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robot.setTransAccel(1500);
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robot.setTransDecel(100);
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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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connector.setupLaser(&sick);
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// now that we're connected to the robot, connect to the laser
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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::shutdown();
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return 1;
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}
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sick.lockDevice();
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sick.setMinRange(250);
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sick.unlockDevice();
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robot.lock();
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robot.comInt(ArCommands::ENABLE, 1);
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robot.unlock();
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robot.waitForRunExit();
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// now exit
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Aria::shutdown();
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return 0;
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}
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