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;
}
}
}
virtual void setRobot(ArRobot *robot) { ArAction::setRobot(robot); mysonar = robot->findRangeDevice("sonar"); }