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ArRatioInputJoydrive.cpp
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ArRatioInputJoydrive.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArRatioInputJoydrive.h"
#include "ArRobot.h"
#include "ariaInternal.h"
/**
@param robot robot
@param input Action to attach to and use to drive the robot.
@param priority Priority of this joystick input handler with respect to other input
objects attached to the @a input action object.
@param stopIfNoButtonPressed if this is true and there is a
joystick and no button is pressed, we cause the action to stop the robot.
.. otherwise it'll do nothing (letting lower priority actions
fire)
@param useOSCalForJoystick if this is true we'll use the OS
calibration, if false we'll do our own. See also ArJoyHandler::setUseOSCal()
**/
AREXPORT ArRatioInputJoydrive::ArRatioInputJoydrive(
ArRobot *robot,
ArActionRatioInput *input,
int priority,
bool stopIfNoButtonPressed,
bool useOSCalForJoystick) :
myFireCB(this, &ArRatioInputJoydrive::fireCallback)
{
myRobot = robot;
myInput = input;
myInput->addFireCallback(priority, &myFireCB);
myFireCB.setName("Joydrive");
if ((myJoyHandler = Aria::getJoyHandler()) == NULL)
{
myJoyHandler = new ArJoyHandler;
myJoyHandler->init();
Aria::setJoyHandler(myJoyHandler);
}
myUseOSCal = useOSCalForJoystick;
myPreviousUseOSCal = myUseOSCal;
myStopIfNoButtonPressed = stopIfNoButtonPressed;
myFiredLast = false;
myPrinting = false;
}
AREXPORT ArRatioInputJoydrive::~ArRatioInputJoydrive()
{
myInput->remFireCallback(&myFireCB);
}
AREXPORT void ArRatioInputJoydrive::setStopIfNoButtonPressed(
bool stopIfNoButtonPressed)
{
myStopIfNoButtonPressed = stopIfNoButtonPressed;
}
AREXPORT bool ArRatioInputJoydrive::getStopIfNoButtonPressed(void)
{
return myStopIfNoButtonPressed;
}
AREXPORT bool ArRatioInputJoydrive::joystickInited(void)
{
return myJoyHandler->haveJoystick();
}
/**
@see ArJoyHandler::setUseOSCal
**/
AREXPORT void ArRatioInputJoydrive::setUseOSCal(bool useOSCal)
{
myUseOSCal = useOSCal;
myPreviousUseOSCal = useOSCal;
myJoyHandler->setUseOSCal(useOSCal);
}
/**
@see ArJoyHandler::getUseOSCal
**/
AREXPORT bool ArRatioInputJoydrive::getUseOSCal(void)
{
return myUseOSCal;
}
void ArRatioInputJoydrive::fireCallback(void)
{
double rot, trans, throttle;
if (myPreviousUseOSCal != myUseOSCal)
{
myJoyHandler->setUseOSCal(myUseOSCal);
myPreviousUseOSCal = myUseOSCal;
}
if (myJoyHandler->haveJoystick() && myJoyHandler->getButton(1))
{
// get the readings from the joystick
myJoyHandler->getDoubles(&rot, &trans);
if (!myJoyHandler->haveZAxis())
{
throttle = 1;
}
// if we are using the throttle, interpolate its position between
// low and high throttle values
else
{
throttle = myJoyHandler->getAxis(3);
throttle += 1.0;
throttle /= 2.0;
}
myInput->setRatios(trans * 100, -rot * 100, throttle * 100);
myFiredLast = true;
if (myPrinting)
printf("joy %g %g %g\n", trans * 100, -rot * 100, throttle * 100);
}
else if (myJoyHandler->haveJoystick() && (myStopIfNoButtonPressed ||
myFiredLast))
{
if (myPrinting)
printf("joy nothing\n");
myFiredLast = false;
myInput->setRatios(0, 0, myInput->getThrottleRatio());
}
}