/usr/share/doc/libaria-dev/examples/advanced/joydriveUserControl.cpp is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 | /*
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"
int main(int argc, char **argv)
{
std::string str;
int ret;
time_t lastTime;
int trans, rot;
ArJoyHandler joyHandler;
ArSerialConnection con;
ArRobot robot(NULL, false);
joyHandler.init();
joyHandler.setSpeeds(100, 700);
if (joyHandler.haveJoystick())
{
printf("Have a joystick\n\n");
}
else
{
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
// exit(0);
}
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
exit(0);
}
robot.setDeviceConnection(&con);
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
exit(0);
}
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
//robot.comInt(ArCommands::ENCODER, 1);
//robot.comStrN(ArCommands::SAY, "\1\6\2\105", 4);
lastTime = time(NULL);
while (1)
{
if (!robot.isConnected())
{
printf("No longer connected to robot, exiting.\n");
exit(0);
}
robot.loopOnce();
if (lastTime != time(NULL))
{
printf("\rx %6.1f y %6.1f tth %6.1f vel %7.1f mpacs %3d", robot.getX(),
robot.getY(), robot.getTh(), robot.getVel(),
robot.getMotorPacCount());
fflush(stdout);
lastTime = time(NULL);
}
if (joyHandler.haveJoystick() && (joyHandler.getButton(1) ||
joyHandler.getButton(2)))
{
if (ArMath::fabs(robot.getVel()) < 10.0)
robot.comInt(ArCommands::ENABLE, 1);
joyHandler.getAdjusted(&rot, &trans);
robot.comInt(ArCommands::VEL, trans);
robot.comInt(ArCommands::RVEL, -rot);
}
else
{
robot.comInt(ArCommands::VEL, 0);
robot.comInt(ArCommands::RVEL, 0);
}
ArUtil::sleep(100);
}
}
|