void Joydrive::drive(void)
{
int trans, rot;
int pan, tilt;
int zoom, nothing;
// if both buttons are pushed, zoom the joystick
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1) &&
myJoyHandler.getButton(2))
{
// set its speed so we get desired value range, we only care about y
myJoyHandler.setSpeeds(0, myZoomValCamera);
// get the values
myJoyHandler.getAdjusted(¬hing, &zoom);
// zoom the camera
myCam.zoomRel(zoom);
}
// if both buttons aren't pushed, see if one button is pushed
else
{
// if button one is pushed, drive the robot
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1))
{
// set the speed on the joystick so we get the values we want
myJoyHandler.setSpeeds(myRotValRobot, myTransValRobot);
// get the values
myJoyHandler.getAdjusted(&rot, &trans);
// set the robots speed
myRobot->setVel(trans);
myRobot->setRotVel(-rot);
}
// if button one isn't pushed, stop the robot
else
{
myRobot->setVel(0);
myRobot->setRotVel(0);
}
// if button two is pushed, move the camera
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(2))
{
// set the speeds on the joystick so we get desired value range
myJoyHandler.setSpeeds(myPanValCamera, myTiltValCamera);
// get the values
myJoyHandler.getAdjusted(&pan, &tilt);
// drive the camera
myCam.panTiltRel(pan, tilt);
}
}
}
// whether the joystick is there or not
bool JoydriveAction::joystickInited(void)
{
return myJoyHandler.haveJoystick();
}
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);
}
}
void Joydrive::drive(void)
{
int trans, rot;
ArPose pose;
ArPose rpose;
ArTransform transform;
ArRangeDevice *dev;
ArSensorReading *son;
if (!myRobot->isConnected())
{
printf("Lost connection to the robot, exiting\n");
exit(0);
}
printf("\rx %6.1f y %6.1f th %6.1f",
myRobot->getX(), myRobot->getY(), myRobot->getTh());
fflush(stdout);
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1))
{
if (ArMath::fabs(myRobot->getVel()) < 10.0)
myRobot->comInt(ArCommands::ENABLE, 1);
myJoyHandler.getAdjusted(&rot, &trans);
myRobot->setVel(trans);
myRobot->setRotVel(-rot);
}
else
{
myRobot->setVel(0);
myRobot->setRotVel(0);
}
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(2) &&
time(NULL) - myLastPress > 1)
{
myLastPress = time(NULL);
printf("\n");
switch (myTest)
{
case 1:
printf("Moving back to the origin.\n");
pose.setPose(0, 0, 0);
myRobot->moveTo(pose);
break;
case 2:
printf("Moving over a meter.\n");
pose.setPose(myRobot->getX() + 1000, myRobot->getY(), 0);
myRobot->moveTo(pose);
break;
case 3:
printf("Doing a transform test....\n");
printf("\nOrigin should be transformed to the robots coords.\n");
transform = myRobot->getToGlobalTransform();
pose.setPose(0, 0, 0);
pose = transform.doTransform(pose);
rpose = myRobot->getPose();
printf("Pos: ");
pose.log();
printf("Robot: ");
rpose.log();
if (pose.findDistanceTo(rpose) < .1)
printf("Success\n");
else
printf("#### FAILURE\n");
printf("\nRobot coords should be transformed to the origin.\n");
transform = myRobot->getToLocalTransform();
pose = myRobot->getPose();
pose = transform.doTransform(pose);
rpose.setPose(0, 0, 0);
printf("Pos: ");
pose.log();
printf("Robot: ");
rpose.log();
if (pose.findDistanceTo(rpose) < .1)
printf("Success\n");
else
printf("#### FAILURE\n");
break;
case 4:
printf("Doing a tranform test...\n");
printf("A point 1 meter to the -x from the robot (in local coords) should be transformed into global coordinates.\n");
transform = myRobot->getToGlobalTransform();
pose.setPose(-1000, 0, 0);
pose = transform.doTransform(pose);
rpose = myRobot->getPose();
printf("Pos: ");
pose.log();
printf("Robot: ");
rpose.log();
if (ArMath::fabs(pose.findDistanceTo(rpose) - 1000.0) < .1)
printf("Probable Success\n");
else
printf("#### FAILURE\n");
break;
case 5:
printf("Doing a transform test on range devices..\n");
printf("Moving the robot +4 meters x and +4 meters y and seeing if the moveTo will move the sonar readings along with it.\n");
dev = myRobot->findRangeDevice("sonar");
if (dev == NULL)
{
printf("No sonar on the robot, can't do the test.\n");
break;
}
printf("Closest sonar reading to the robot is %.0f away\n", dev->currentReadingPolar(1, 0));
printf("Sonar 0 reading is at ");
son = myRobot->getSonarReading(0);
if (son != NULL)
{
pose = son->getPose();
pose.log();
}
pose = myRobot->getPose();
pose.setX(pose.getX() + 4000);
pose.setY(pose.getY() + 4000);
myRobot->moveTo(pose);
printf("Moved robot.\n");
printf("Closest sonar reading to the robot is %.0f away\n", dev->currentReadingPolar(1, 0));
printf("Sonar 0 reading is at ");
son = myRobot->getSonarReading(0);
if (son != NULL)
{
pose = son->getPose();
pose.log();
}
break;
case 6:
printf("Robot position now is:\n");
pose = myRobot->getPose();
pose.log();
printf("Disconnecting from the robot, then reconnecting.\n");
myRobot->disconnect();
myRobot->blockingConnect();
printf("Robot position now is:\n");
pose = myRobot->getPose();
pose.log();
break;
default:
printf("No test for second button.\n");
break;
}
}
}
