/usr/share/doc/libaria-dev/examples/advanced/joydriveActionMod.cpp is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 | /*
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"
// the action which'll drive the robot
class JoydriveAction : public ArAction
{
public:
// constructor
JoydriveAction(void);
// empty destructor
virtual ~JoydriveAction(void);
//the fire which will actually tell the resolver what to do
virtual ArActionDesired *fire(ArActionDesired currentDesired);
// whether the joystick is initalized or not
bool joystickInited(void);
protected:
// action desired
ArActionDesired myDesired;
// joystick handler
ArJoyHandler myJoyHandler;
};
class JoydriveMod : public ArModule
{
public:
bool init(ArRobot *robot, void *argument = NULL);
bool exit();
};
JoydriveMod aModule;
ARDEF_MODULE(aModule);
JoydriveAction aJDAct;
bool JoydriveMod::init(ArRobot *robot, void *argument)
{
if (!aJDAct.joystickInited())
{
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
return(false);
}
robot->addAction(&aJDAct, 100);
return(true);
}
bool JoydriveMod::exit()
{
return(true);
}
/*
Note the use of constructor chaining with ArAction.
*/
JoydriveAction::JoydriveAction(void) :
ArAction("Joydrive Action", "This action reads the joystick and sets the translational and rotational velocity based on this.")
{
// initialize the joystick
myJoyHandler.init();
// set up the speed parameters on the joystick
myJoyHandler.setSpeeds(50, 700);
}
JoydriveAction::~JoydriveAction(void)
{
// it just removes itself from the robots action list
if (myRobot != NULL)
myRobot->remAction(this);
}
// whether the joystick is there or not
bool JoydriveAction::joystickInited(void)
{
return myJoyHandler.haveJoystick();
}
// the guts of the thing
ArActionDesired *JoydriveAction::fire(ArActionDesired currentDesired)
{
int rot, trans;
// print out some info about hte robot
printf("\rx %6.1f y %6.1f tth %6.1f vel %7.1f mpacs %3d", myRobot->getX(),
myRobot->getY(), myRobot->getTh(), myRobot->getVel(),
myRobot->getMotorPacCount());
fflush(stdout);
// see if one of the buttons is pushed, if so drive
if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
myJoyHandler.getButton(2)))
{
// get the readings from the joystick
myJoyHandler.getAdjusted(&rot, &trans);
// set what we want to do
myDesired.setVel(trans);
myDesired.setDeltaHeading(-rot);
// return the actionDesired
return &myDesired;
}
else
{
// set what we want to do
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
// return the actionDesired
return &myDesired;
}
}
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