joydriveActionExample.cpp

Example ArAction object that uses ArJoyHandler to get joystick input.

This program just drives the robot around with a joystick, by way of an ArAction class which reads data fram an ArJoyHandler. Its a practical example of actions.

#include "Aria.h"

// the action which will drive the robot
class JoydriveAction : public ArAction
{
public:
  // constructor
  JoydriveAction(void);
  // empty destructor
  virtual ~JoydriveAction(void);
  //the fire which will actually tell the resolver what to do
  virtual ArActionDesired *fire(ArActionDesired currentDesired);
  // whether the joystick is initalized or not
  bool joystickInited(void);
protected:
  // action desired
  ArActionDesired myDesired;
  // joystick handler
  ArJoyHandler myJoyHandler;
};

/*
  Note the use of constructor chaining with ArAction.
*/  
JoydriveAction::JoydriveAction(void) :
  ArAction("Joydrive Action", "This action reads the joystick and sets the translational and rotational velocity based on this.")
{
  // initialize the joystick
  myJoyHandler.init();
  // set up the speed parameters on the joystick
  myJoyHandler.setSpeeds(50, 700);
}

JoydriveAction::~JoydriveAction(void)
{
}

// whether the joystick is there or not
bool JoydriveAction::joystickInited(void)
{
  return myJoyHandler.haveJoystick();
}

// the guts of the thing
ArActionDesired *JoydriveAction::fire(ArActionDesired currentDesired)
{
  int rot, trans;

  // print out some info about hte 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 one of the buttons is pushed, if so drive
  if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
                    myJoyHandler.getButton(2)))
  {
    // get the readings from the joystick
    myJoyHandler.getAdjusted(&rot, &trans);
    // set what we want to do
    myDesired.setVel(trans);
    myDesired.setDeltaHeading(-rot);
    // return the actionDesired
    return &myDesired;
  }
  else
  {
    // set what we want to do
    myDesired.setVel(0);
    myDesired.setDeltaHeading(0);
    // return the actionDesired
    return &myDesired;
  }
}


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::shutdown();
    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 shutdown and exit
  Aria::shutdown();
  return 0;
}

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