gripperExample.cpp

Example program demonstrating use of the Pioneer gripper.

Shows how to control the Pioneer 2DOF gripper accessory. In addition to the arrow keys to teleoperate the robot, Use the following keyboard keys to control it: u Lift the gripper up d Lift the gripper down o Open the gripper c Close the gripper s Stop gripper movement.

See also:

ArModeGripper (the gripper control mode used in the "demo" program)

#include "Aria.h"

// Adds robot callback to print gripper status.
class PrintGripStatus
{
  ArGripper* myGripper;
  ArFunctorC<PrintGripStatus> myPrintCB;
public:
  PrintGripStatus(ArGripper* gripper) : 
    myGripper(gripper),
    myPrintCB(this, &PrintGripStatus::printStatus)
  {
  }

  void addRobotTask(ArRobot* robot)
  {
    robot->addUserTask("PrintGripStatus", 10, &myPrintCB);
  }

  void printStatus()
  {
    myGripper->logState();
  }
};

// Adds key handler callbacks for controlling the gripper
class GripperControlHandler
{
  ArGripper* myGripper;
  ArFunctorC<GripperControlHandler> myUpCB;
  ArFunctorC<GripperControlHandler> myDownCB;
  ArFunctorC<GripperControlHandler> myOpenCB;
  ArFunctorC<GripperControlHandler> myCloseCB;
  ArFunctorC<GripperControlHandler> myStopCB;
public:
  GripperControlHandler(ArGripper* gripper) : 
    myGripper(gripper),
    myUpCB(this, &GripperControlHandler::liftUp),
    myDownCB(this, &GripperControlHandler::liftDown),
    myOpenCB(this, &GripperControlHandler::open),
    myCloseCB(this, &GripperControlHandler::close),
    myStopCB(this, &GripperControlHandler::stop)
  {
  }

  void addKeyHandlers(ArRobot *robot)
  {
    ArKeyHandler *keyHandler = Aria::getKeyHandler();
    if(keyHandler == NULL)
    {
      keyHandler = new ArKeyHandler();
      Aria::setKeyHandler(keyHandler);
      robot->attachKeyHandler(keyHandler);
    }
    keyHandler->addKeyHandler(ArKeyHandler::PAGEUP, &myUpCB);
    keyHandler->addKeyHandler('u', &myUpCB);
    keyHandler->addKeyHandler(ArKeyHandler::PAGEDOWN, &myDownCB);
    keyHandler->addKeyHandler('d', &myDownCB);
    keyHandler->addKeyHandler('o', &myOpenCB);
    keyHandler->addKeyHandler('c', &myCloseCB);
    keyHandler->addKeyHandler('s', &myStopCB);
  }

  void liftUp()
  {
    ArLog::log(ArLog::Normal, "Moving gripper lift up...");
    myGripper->liftUp();
  }

  void liftDown()
  {
    ArLog::log(ArLog::Normal, "Moving gripper lift down...");
    myGripper->liftDown();
  }

  void stop()
  {
    ArLog::log(ArLog::Normal, "Stopping gripper...");
    myGripper->gripperHalt(); // stops both lift an grip
    //myGripper->liftStop(); // stops just the lift
    //myGripper->gripStop(); // stops just the gripper
  }

  void close()
  {
    ArLog::log(ArLog::Normal, "Closing gripper...");
    myGripper->gripClose();
  }

  void open()
  {
    ArLog::log(ArLog::Normal, "Opening gripper...");
    myGripper->gripOpen();
  }

};

int main(int argc, char **argv) 
{

  Aria::init();
  ArRobot robot;
  ArArgumentParser argParser(&argc, argv);
  ArSimpleConnector connector(&argParser);
  ArGripper gripper(&robot);
  ArSonarDevice sonar;
  robot.addRangeDevice(&sonar);

  argParser.loadDefaultArguments();

  if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::shutdown();
    return 1;
  }
  
  if (!connector.connectRobot(&robot))
  {
    ArLog::log(ArLog::Terse, "gripperExample: Could not connect to robot... exiting");
    Aria::shutdown();
    return 2;
  }
  ArLog::log(ArLog::Normal, "gripperExample: Connected to robot.");

  ArLog::log(ArLog::Normal, "gripperExample: GripperType=%d", gripper.getType());
  gripper.logState();
  if(gripper.getType() == ArGripper::NOGRIPPER)
  {
    ArLog::log(ArLog::Terse, "gripperExample: Error: Robot does not have a gripper. Exiting.");
    Aria::shutdown();
    return -1;
  }

  // Teleoperation actions with obstacle-collision avoidance
  ArActionLimiterTableSensor tableLimit;
  robot.addAction(&tableLimit, 110);
  ArActionLimiterForwards limitNearAction("near", 300, 600, 250);
  robot.addAction(&limitNearAction, 100);
  ArActionLimiterForwards limitFarAction("far", 300, 1100, 400);
  robot.addAction(&limitFarAction, 90);
  ArActionLimiterBackwards limitBackAction;
  robot.addAction(&limitBackAction, 50);
  ArActionJoydrive joydriveAction("joydrive", 400, 15);
  robot.addAction(&joydriveAction, 40);
  joydriveAction.setStopIfNoButtonPressed(false);
  ArActionKeydrive keydriveAction;
  robot.addAction(&keydriveAction, 30);
  

  // Handlers to control the gripper and print out info (classes defined above)
  PrintGripStatus printStatus(&gripper);
  GripperControlHandler gripControl(&gripper);
  printStatus.addRobotTask(&robot);
  gripControl.addKeyHandlers(&robot);

  // enable motors and run (if we lose connection to the robot, exit)
  ArLog::log(ArLog::Normal, "You may now operate the robot with arrow keys or joystick. Operate the gripper with the u, d, o, c, and page up/page down keys.");
  robot.enableMotors();
  robot.run(true);
  
  Aria::shutdown();
  return 0;
}

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