int main(int argc, char **argv)
{
ArRobot robot;
Aria::init();
ArSimpleConnector connector(&argc, argv);
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
return 1;
}
// Instance of the JoydriveAction class defined above
JoydriveAction jdAct;
// if the joydrive action couldn't find the joystick, then exit.
if (!jdAct.joystickInited())
{
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
Aria::exit(1);
return 1;
}
// Connect to the robot
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
return 2;
}
// disable sonar, enable motors, disable amigobot sound
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add the action
robot.addAction(&jdAct, 100);
// run the robot, true so it'll exit if we lose connection
robot.run(true);
// now exit program
Aria::exit(0);
return 0;
}
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);
}
