void Joydrive::drive(void)
{
int trans, rot;
// print out some data about the 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 a joystick butotn is pushed, if so drive
if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
myJoyHandler.getButton(2)))
{
// get the values out of the joystick handler
myJoyHandler.getAdjusted(&rot, &trans);
// drive the robot
myRobot->setVel(trans);
myRobot->setRotVel(-rot);
}
// if a button isn't pushed, stop the robot
else
{
myRobot->setVel(0);
myRobot->setRotVel(0);
}
}
void laserRequest_and_odom(ArServerClient *client, ArNetPacket *packet)
{
robot.lock();
ArNetPacket sending;
sending.empty();
ArLaser* laser = robot.findLaser(1);
if(!laser){
printf("Could not connect to Laser... exiting\n");
Aria::exit(1);}
laser->lockDevice();
const std::list<ArSensorReading*> *sensorReadings = laser->getRawReadings(); // see ArRangeDevice interface doc
sending.byte4ToBuf((ArTypes::Byte4)(sensorReadings->size()));
for (std::list<ArSensorReading*>::const_iterator it2= sensorReadings->begin(); it2 != sensorReadings->end(); ++it2){
ArSensorReading* laserRead =*it2;
sending.byte4ToBuf((ArTypes::Byte4)(laserRead->getRange()));
//printf("%i,%i:",laserRead->getRange(),laserRead->getIgnoreThisReading());
}
sending.byte4ToBuf((ArTypes::Byte4)(robot.getX()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getY()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getTh()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getVel()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getRotVel()));
//printf("%1f,%1f,%1f\n",robot.getX(),robot.getY(),robot.getTh());
laser->unlockDevice();
robot.unlock();
sending.finalizePacket();
//sending.printHex();
client->sendPacketTcp(&sending);
}
// this is the function called in the new thread
void *Joydrive::runThread(void *arg)
{
threadStarted();
int trans, rot;
// only run while running, ie play nice and pay attention to the thread
//being shutdown
while (myRunning)
{
// lock the robot before touching it
myRobot->lock();
if (!myRobot->isConnected())
{
myRobot->unlock();
break;
}
// print out some information about the 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);
// if one of the joystick buttons is pushed, drive the robot
if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
myJoyHandler.getButton(2)))
{
// get out the values from the joystick
myJoyHandler.getAdjusted(&rot, &trans);
// drive the robot
myRobot->setVel(trans);
myRobot->setRotVel(-rot);
}
// if no buttons are pushed stop the robot
else
{
myRobot->setVel(0);
myRobot->setRotVel(0);
}
// unlock the robot, so everything else can run
myRobot->unlock();
// now take a little nap
ArUtil::sleep(50);
}
// return out here, means the thread is done
return NULL;
}
int main(int argc, char **argv)
{
std::string str;
int ret;
int dist;
ArTime start;
ArPose startPose;
bool vel2 = false;
// connection to the robot
ArSerialConnection con;
// the robot
ArRobot robot;
// the connection handler from above
ConnHandler ch(&robot);
// init area with a dedicated signal handling thread
Aria::init(Aria::SIGHANDLE_THREAD);
if (argc != 2 || (dist = atoi(argv[1])) == 0)
{
printf("Usage: %s <distInMM>\n", argv[0]);
exit(0);
}
if (dist < 1000)
{
printf("You must go at least a meter\n");
exit(0);
}
// open the connection with the defaults, exit if failed
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
// set the robots connection
robot.setDeviceConnection(&con);
// try to connect, if we fail, the connection handler should bail
if (!robot.blockingConnect())
{
// this should have been taken care of by the connection handler
// but just in case
printf(
"asyncConnect failed because robot is not running in its own thread.\n");
Aria::shutdown();
return 1;
}
// run the robot in its own thread, so it gets and processes packets and such
robot.runAsync(false);
// just a big long set of printfs, direct motion commands and sleeps,
// it should be self-explanatory
robot.lock();
/*
robot.setAbsoluteMaxTransVel(2000);
robot.setTransVelMax(2000);
robot.setTransAccel(1000);
robot.setTransDecel(1000);
robot.comInt(82, 30); // rotkp
robot.comInt(83, 200); // rotkv
robot.comInt(84, 0); // rotki
robot.comInt(85, 30); // transkp
robot.comInt(86, 450); // transkv
robot.comInt(87, 4); // transki
*/
printf("Driving %d mm (going full speed for that far minus a meter then stopping)\n", dist);
if (vel2)
robot.setVel2(2200, 2200);
else
robot.setVel(2200);
robot.unlock();
start.setToNow();
startPose = robot.getPose();
while (1)
{
robot.lock();
printf("\r vel: %.0f x: %.0f y: %.0f: dist: %.0f heading: %.2f",
robot.getVel(), robot.getX(), robot.getY(),
startPose.findDistanceTo(robot.getPose()),
robot.getTh());
if (startPose.findDistanceTo(robot.getPose()) > abs(dist) - 1000)
{
printf("\nFinished distance\n");
robot.setVel(0);
robot.unlock();
break;
}
if (start.mSecSince() > 10000)
{
printf("\nDistance timed out\n");
robot.setVel(0);
robot.unlock();
break;
}
robot.unlock();
ArUtil::sleep(50);
}
if (vel2)
robot.setVel2(0, 0);
else
robot.setVel(0);
start.setToNow();
while (1)
{
robot.lock();
if (vel2)
robot.setVel2(0, 0);
else
robot.setVel(0);
if (fabs(robot.getVel()) < 20)
{
printf("Stopped\n");
robot.unlock();
break;
}
if (start.mSecSince() > 2000)
{
printf("\nStop timed out\n");
robot.unlock();
break;
}
robot.unlock();
ArUtil::sleep(50);
}
robot.lock();
robot.disconnect();
robot.unlock();
// shutdown and ge tout
Aria::shutdown();
return 0;
}
int __cdecl _tmain (int argc, char** argv)
{
//------------ I N I C I O M A I N D E L P R O G R A M A D E L R O B O T-----------//
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
ActionGos go(500, 350);
robot.addAction(&go, 48);
ActionTurns turn(400, 110);
robot.addAction(&turn, 49);
ActionTurns turn2(400, 110);
robot.addAction(&turn2, 49);
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("Presionar ESC para salir\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
// ============================ INICIO CONFIG COM =================================//
CSerial serial;
LONG lLastError = ERROR_SUCCESS;
// Trata de abrir el com seleccionado
lLastError = serial.Open(_T("COM3"),0,0,false);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Imposible abrir el COM"));
// Inicia el puerto serial (9600,8N1)
lLastError = serial.Setup(CSerial::EBaud9600,CSerial::EData8,CSerial::EParNone,CSerial::EStop1);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Imposible setear la config del COM"));
// Register only for the receive event
lLastError = serial.SetMask(CSerial::EEventBreak |
CSerial::EEventCTS |
CSerial::EEventDSR |
CSerial::EEventError |
CSerial::EEventRing |
CSerial::EEventRLSD |
CSerial::EEventRecv);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to set COM-port event mask"));
// Use 'non-blocking' reads, because we don't know how many bytes
// will be received. This is normally the most convenient mode
// (and also the default mode for reading data).
lLastError = serial.SetupReadTimeouts(CSerial::EReadTimeoutNonblocking);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to set COM-port read timeout."));
// ============================ FIN CONFIG COM =================================//
bool first = true;
int goalNum = 0;
int color = 3;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
printf("El contador esta en: --> %d <---\n",goalNum);
if (goalNum > 20)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
{
gotoPoseAction.setGoal(ArPose(1150, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
// Create the sound queue.
ArSoundsQueue soundQueue;
// Run the sound queue in a new thread
soundQueue.runAsync();
std::vector<const char*> filenames;
filenames.push_back("sound-r2a.wav");
soundQueue.play(filenames[0]);
}
else if (goalNum == 2)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn.myActivate = 1;
turn.myDirection = 1;
turn.activate();
ArUtil::sleep(1000);
turn.deactivate();
turn.myActivate = 0;
turn.myDirection = 0;
robot.lock();
}
else if (goalNum == 3)
{
gotoPoseAction.setGoal(ArPose(1150, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 4)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 5)
{
gotoPoseAction.setGoal(ArPose(650, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 6)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 7)
{
gotoPoseAction.setGoal(ArPose(650, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 8)
{
gotoPoseAction.setGoal(ArPose(1800,1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 9)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 10)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 850));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
gotoPoseAction.setGoal(ArPose(3500, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1550));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 11)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 613));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
goalNum = 19;
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1785));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 12)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 13)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3500, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3500, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 14)
{
robot.unlock();
//Valor para el while
bool fContinue = true;
// <<<<<<------------- 1 Parte Secuencia: BAJA BRAZO ------------->>>>>> //
lLastError = serial.Write("b");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
//-------------------------E S C U C H A C O M ----------------------------//
do
{
// Wait for an event
lLastError = serial.WaitEvent();
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to wait for a COM-port event."));
// Save event
const CSerial::EEvent eEvent = serial.GetEventType();
// Handle break event
if (eEvent & CSerial::EEventBreak)
{
printf("\n### BREAK received ###\n");
}
// Handle CTS event
if (eEvent & CSerial::EEventCTS)
{
printf("\n### Clear to send %s ###\n", serial.GetCTS()?"on":"off");
}
// Handle DSR event
if (eEvent & CSerial::EEventDSR)
{
printf("\n### Data set ready %s ###\n", serial.GetDSR()?"on":"off");
}
// Handle error event
if (eEvent & CSerial::EEventError)
{
printf("\n### ERROR: ");
switch (serial.GetError())
{
case CSerial::EErrorBreak: printf("Break condition"); break;
case CSerial::EErrorFrame: printf("Framing error"); break;
case CSerial::EErrorIOE: printf("IO device error"); break;
case CSerial::EErrorMode: printf("Unsupported mode"); break;
case CSerial::EErrorOverrun: printf("Buffer overrun"); break;
case CSerial::EErrorRxOver: printf("Input buffer overflow"); break;
case CSerial::EErrorParity: printf("Input parity error"); break;
case CSerial::EErrorTxFull: printf("Output buffer full"); break;
default: printf("Unknown"); break;
}
printf(" ###\n");
}
// Handle ring event
if (eEvent & CSerial::EEventRing)
{
printf("\n### RING ###\n");
}
// Handle RLSD/CD event
if (eEvent & CSerial::EEventRLSD)
{
printf("\n### RLSD/CD %s ###\n", serial.GetRLSD()?"on":"off");
}
// Handle data receive event
if (eEvent & CSerial::EEventRecv)
{
// Read data, until there is nothing left
DWORD dwBytesRead = 0;
char szBuffer[101];
do
{
// Lee datos del Puerto COM
lLastError = serial.Read(szBuffer,sizeof(szBuffer)-1,&dwBytesRead);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to read from COM-port."));
if (dwBytesRead > 0)
{
//Preseteo color
int color = 0;
// Finaliza el dato, asi que sea una string valida
szBuffer[dwBytesRead] = '\0';
// Display the data
printf("%s", szBuffer);
// <<<<<<----------- 2 Parte Secuencia: CIERRA GRIPPER ----------->>>>>> //
if (strchr(szBuffer,76))
{
lLastError = serial.Write("c");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<------------- 3 Parte Secuencia: SUBE BRAZO ------------->>>>>> //
if (strchr(szBuffer,117))
{
lLastError = serial.Write("s");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<------------- 4 Parte Secuencia: COLOR ------------->>>>>> //
if (strchr(szBuffer,72))
{
lLastError = serial.Write("C");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<---------- 5.1 Parte Secuencia: COLOR ROJO---------->>>>>> //
if (strchr(szBuffer,82))
{
color = 1;
//salir del bucle
fContinue = false;
}
// <<<<<<---------- 5.2 Parte Secuencia: COLOR AZUL ---------->>>>>> //
if (strchr(szBuffer,66))
{
color = 2;
//salir del bucle
fContinue = false;
}
// <<<<<<---------- 5.3 Parte Secuencia: COLOR VERDE ---------->>>>>> //
if (strchr(szBuffer,71))
{
color = 3;
//salir del bucle
fContinue = false;
}
}
}
while (dwBytesRead == sizeof(szBuffer)-1);
}
}
while (fContinue);
// Close the port again
serial.Close();
robot.lock();
}
else if (goalNum == 15)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 16)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 17)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 603));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1795));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 18)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 860));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1540));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 19)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 20)
{
gotoPoseAction.setGoal(ArPose(1800, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "No puede llegar al punto, y la aplicacion saldra en %d", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(10);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
//------------ F I N M A I N D E L P R O G R A M A D E L R O B O T-----------//
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArLog::log(ArLog::Terse, "WARNING: this program does no sensing or avoiding of obstacles, the robot WILL collide with any objects in the way! Make sure the robot has approximately 3 meters of free space on all sides.");
// ArRobotConnector connects to the robot, get some initial data from it such as type and name,
// and then loads parameter files for this robot.
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "simpleMotionCommands: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
}
if (!Aria::parseArgs())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
ArLog::log(ArLog::Normal, "simpleMotionCommands: Connected.");
// Start the robot processing cycle running in the background.
// True parameter means that if the connection is lost, then the
// run loop ends.
robot.runAsync(true);
// Print out some data from the SIP.
// We must "lock" the ArRobot object
// before calling its methods, and "unlock" when done, to prevent conflicts
// with the background thread started by the call to robot.runAsync() above.
// See the section on threading in the manual for more about this.
// Make sure you unlock before any sleep() call or any other code that will
// take some time; if the robot remains locked during that time, then
// ArRobot's background thread will be blocked and unable to communicate with
// the robot, call tasks, etc.
robot.lock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
robot.unlock();
// Sleep for 3 seconds.
ArLog::log(ArLog::Normal, "simpleMotionCommands: Will start driving in 3 seconds...");
ArUtil::sleep(3000);
// Set forward velocity to 50 mm/s
ArLog::log(ArLog::Normal, "simpleMotionCommands: Driving forward at 250 mm/s for 5 sec...");
robot.lock();
robot.enableMotors();
robot.setVel(250);
robot.unlock();
ArUtil::sleep(5000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
robot.lock();
robot.stop();
robot.unlock();
ArUtil::sleep(1000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Rotating at 10 deg/s for 5 sec...");
robot.lock();
robot.setRotVel(10);
robot.unlock();
ArUtil::sleep(5000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Rotating at -10 deg/s for 10 sec...");
robot.lock();
robot.setRotVel(-10);
robot.unlock();
ArUtil::sleep(10000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Driving forward at 150 mm/s for 5 sec...");
robot.lock();
robot.setRotVel(0);
robot.setVel(150);
robot.unlock();
ArUtil::sleep(5000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
robot.lock();
robot.stop();
robot.unlock();
ArUtil::sleep(1000);
// Other motion command functions include move(), setHeading(),
// setDeltaHeading(). You can also adjust acceleration and deceleration
// values used by the robot with setAccel(), setDecel(), setRotAccel(),
// setRotDecel(). See the ArRobot class documentation for more.
robot.lock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
robot.unlock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Ending robot thread...");
robot.stopRunning();
// wait for the thread to stop
robot.waitForRunExit();
// exit
ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
Aria::exit(0);
return 0;
}
int _tmain(int argc, char** argv)
{
//-------------- M A I N D E L P R O G R A M A D E L R O B O T------------//
//----------------------------------------------------------------------------------//
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
ActionTurns turn(400, 55);
robot.addAction(&turn, 49);
ActionTurns turn2(400, 55);
robot.addAction(&turn2, 49);
turn.deactivate();
turn2.deactivate();
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("Presionar ESC para salir\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
bool first = true;
int goalNum = 0;
int color = 3;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
printf("El contador esta en: --> %d <---\n",goalNum);
if (goalNum > 20)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
{
gotoPoseAction.setGoal(ArPose(1150, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 2)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn.myActivate = 1;
turn.myDirection = 1;
turn.activate();
ArUtil::sleep(1000);
turn.deactivate();
turn.myActivate = 0;
turn.myDirection = 0;
robot.lock();
}
else if (goalNum == 3)
{
gotoPoseAction.setGoal(ArPose(1150, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 4)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 5)
{
gotoPoseAction.setGoal(ArPose(650, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 6)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 7)
{
gotoPoseAction.setGoal(ArPose(650, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 8)
{
gotoPoseAction.setGoal(ArPose(1800,1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 9)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 10)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 850));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
gotoPoseAction.setGoal(ArPose(3500, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1550));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 11)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 613));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
goalNum = 19;
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1785));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 12)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 13)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3500, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3500, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 14)
{
//secuencia de drop de la figura
}
else if (goalNum == 15)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 16)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 17)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 603));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1795));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 18)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 860));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1540));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 19)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 20)
{
gotoPoseAction.setGoal(ArPose(1800, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "No puede llegar al punto, y la aplicacion saldra en %d", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(10);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
//----------------------------------------------------------------------------------//
return 0;
}
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;
}
}
}