int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "teleopActionsExample: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArLog::log(ArLog::Normal, "teleopActionsExample: Connected.");
// limiter for close obstacles
ArActionLimiterForwards limiter("speed limiter near", 300, 600, 250);
// limiter for far away obstacles
ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 400);
// limiter that checks IR sensors (like Peoplebot has)
ArActionLimiterTableSensor tableLimiter;
// limiter so we don't bump things backwards
ArActionLimiterBackwards backwardsLimiter;
// the joydrive action
ArActionJoydrive joydriveAct;
// the keydrive action
ArActionKeydrive keydriveAct;
// sonar device, used by the limiter actions.
ArSonarDevice sonar;
printf("This program will allow you to use a joystick or keyboard to control the robot.\nYou can use the arrow keys to drive, and the spacebar to stop.\nFor joystick control press the trigger button and then drive.\nPress escape to exit.\n");
// if we don't have a joystick, let 'em know
if (!joydriveAct.joystickInited())
printf("Do not have a joystick, only the arrow keys on the keyboard will work.\n");
// add the sonar to the robot
robot.addRangeDevice(&sonar);
// set the robots maximum velocity (sonar don't work at all well if you're
// going faster)
robot.setAbsoluteMaxTransVel(400);
// enable the motor
robot.enableMotors();
// Add the actions, with the limiters as highest priority, then the teleop.
// actions. This will keep the teleop. actions from being able to drive too
// fast and hit something
robot.addAction(&tableLimiter, 100);
robot.addAction(&limiter, 95);
robot.addAction(&limiterFar, 90);
robot.addAction(&backwardsLimiter, 85);
robot.addAction(&joydriveAct, 50);
robot.addAction(&keydriveAct, 45);
// Configure the joydrive action so it will let the lower priority actions
// (i.e. keydriveAct) request motion if the joystick button is
// not pressed.
joydriveAct.setStopIfNoButtonPressed(false);
// run the robot, true means that the run will exit if connection lost
robot.run(true);
Aria::exit(0);
}
int main(int argc, char** argv)
{
Aria::init();
ArLog::init(ArLog::StdErr, ArLog::Normal);
ArArgumentParser argParser(&argc, argv);
ArSimpleConnector connector(&argParser);
ArGPSConnector gpsConnector(&argParser);
ArRobot robot;
ArActionLimiterForwards nearLimitAction("limit near", 300, 600, 250);
ArActionLimiterForwards farLimitAction("limit far", 300, 1100, 400);
ArActionLimiterBackwards limitBackwardsAction;
ArActionJoydrive joydriveAction;
ArActionKeydrive keydriveAction;
ArSonarDevice sonar;
ArSick laser;
argParser.loadDefaultArguments();
if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
return -1;
}
robot.addRangeDevice(&sonar);
robot.addRangeDevice(&laser);
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connecting to robot...");
if(!connector.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "gpsRobotTaskExample: Could not connect to the robot. Exiting.");
return -2;
}
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connected to the robot.");
// Connect to GPS
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connecting to GPS, it may take a few seconds...");
ArGPS *gps = gpsConnector.createGPS();
if(!gps || !gps->connect());
{
ArLog::log(ArLog::Terse, "gpsRobotTaskExample: Error connecting to GPS device. Try -gpsType, -gpsPort, and/or -gpsBaud command-line arguments. Use -help for help. Exiting.");
return -3;
}
// Create an GPSLogTask which will register a task with the robot.
GPSLogTask gpsTask(&robot, gps, joydriveAction.getJoyHandler()->haveJoystick() ? joydriveAction.getJoyHandler() : NULL);
// Add actions
robot.addAction(&nearLimitAction, 100);
robot.addAction(&farLimitAction, 90);
robot.addAction(&limitBackwardsAction, 80);
robot.addAction(&joydriveAction, 50);
robot.addAction(&keydriveAction, 40);
// allow keydrive action to drive robot even if joystick button isn't pressed
joydriveAction.setStopIfNoButtonPressed(false);
// Start the robot running
robot.runAsync(true);
// Connect to the laser
connector.setupLaser(&laser);
laser.runAsync();
if(!laser.blockingConnect())
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Warning, could not connect to SICK laser, will not use it.");
robot.lock();
robot.enableMotors();
robot.comInt(47, 1); // enable joystick driving on some robots
// Add exit callback to reset/unwrap steering wheels on seekur (critical if the robot doesn't have sliprings); does nothing for other robots
Aria::addExitCallback(new ArRetFunctor1C<bool, ArRobot, unsigned char>(&robot, &ArRobot::com, (unsigned char)120));
Aria::addExitCallback(new ArRetFunctor1C<bool, ArRobot, unsigned char>(&robot, &ArRobot::com, (unsigned char)120));
robot.unlock();
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Running... (drive robot with joystick or arrow keys)");
robot.waitForRunExit();
return 0;
}
