ArActionJoydrive Class Reference

This action will use the joystick for input to drive the robot. More...

#include <ArActionJoydrive.h>

Inheritance diagram for ArActionJoydrive:

List of all members.

Public Member Functions
	ArActionJoydrive (const char *name="joydrive", double transVelMax=400, double turnAmountMax=15, bool stopIfNoButtonPressed=true, bool useOSCalForJoystick=true)
	Constructor.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fires the action, returning what the action wants to do.
virtual ArActionDesired *	getDesired (void)
	Gets what this action wants to do (for display purposes).
ArJoyHandler *	getJoyHandler (void)
	Gets the joyHandler.
bool	getStopIfNoButtonPressed (void)
	Get if we'll stop if no button is pressed, otherwise just do nothing.
bool	getUseOSCal (void)
	Gets whether OSCalibration is being used for the joystick or not.
bool	joystickInited (void)
	Whether the joystick is initalized or not.
void	setSpeeds (double transVelMax, double turnAmountMax)
	Set Speeds.
void	setStopIfNoButtonPressed (bool stopIfNoButtonPressed)
	Set if we'll stop if no button is pressed, otherwise just do nothing.
void	setThrottleParams (double lowSpeed, double highSpeed)
	Sets the params on the throttle (throttle unused unless you call this).
void	setUseOSCal (bool useOSCal)
	Sets whether to use OSCalibration the joystick or not.
virtual	~ArActionJoydrive ()
	Destructor.
Protected Attributes
ArActionDesired	myDesired
double	myHighThrottle
ArJoyHandler *	myJoyHandler
double	myLowThrottle
bool	myPreviousUseOSCal
bool	myStopIfNoButtonPressed
double	myTransVelMax
double	myTurnAmountMax
bool	myUseOSCal
bool	myUseThrottle

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Detailed Description

This action will use the joystick for input to drive the robot.

This class creates its own ArJoyHandler to get input from the joystick. Then it will scale the speed between 0 and the given max for velocity and turning, up and down on the joystick go forwards/backwards while right and left go right and left. You must press in one of the two joystick buttons for the class to pay attention to the joystick.

NOTE: The joystick does not save calibration information, so you must calibrate the joystick before each time you use it. To do this, press the button for at least a half a second while the joystick is in the middle. Then let go of the button and hold the joystick in the upper left for at least a half second and then in the lower right corner for at least a half second.

Definition at line 50 of file ArActionJoydrive.h.

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Constructor & Destructor Documentation

ArActionJoydrive::ArActionJoydrive (  const char *  name = "joydrive", double  transVelMax = 400, double  turnAmountMax = 15, bool  stopIfNoButtonPressed = true, bool  useOSCalForJoystick = true )

Constructor. This action is for driving around the robot with a joystick, you must hold in a button on the joystick and then lean the joytsick over to have it drive. You may need to calibrate the joystick for it to work right, for details about this see ArJoyHandler. If the Aria static class already has a joyhandler this class will use that otherwise it'll make and initialize one and use that (setting it in the Aria class) Parameters: name  the name of this action transVelMax  the maximum velocity the joydrive action will go, it reachs this when the joystick is all the way forwards turnAmountMax  the maximum amount the joydrive action will turn, it reachs this when the joystick is all the way forwards stopIfNoButtonPressed  if this is true and there is a joystick and no button is pressed, the action will have the robot stop... otherwise it'll do nothing (letting lower priority actions fire) See also: ArJoyHandler::setUseOSCal Definition at line 59 of file ArActionJoydrive.cpp. References ArJoyHandler::init(), Aria::setJoyHandler(), ArAction::setNextArgument(), and setSpeeds().

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Member Function Documentation

ArActionDesired * ArActionJoydrive::fire (  ArActionDesired  currentDesired  )  [virtual]

Fires the action, returning what the action wants to do. Parameters: currentDesired  this is what the current resolver has for its desired, this is SOLELY for the purpose of giving information to the action Returns: pointer to what this action wants to do, NULL if it wants to do nothing Implements ArAction. Definition at line 142 of file ArActionJoydrive.cpp. References ArJoyHandler::getAxis(), ArJoyHandler::getButton(), ArJoyHandler::getDoubles(), ArJoyHandler::haveJoystick(), ArJoyHandler::haveZAxis(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), ArJoyHandler::setUseOSCal(), and ArActionDesired::setVel().

bool ArActionJoydrive::getUseOSCal (  void   )

Gets whether OSCalibration is being used for the joystick or not. See also: ArJoyHandler::getUseOSCal Definition at line 123 of file ArActionJoydrive.cpp.

void ArActionJoydrive::setUseOSCal (  bool  useOSCal  )

Sets whether to use OSCalibration the joystick or not. See also: ArJoyHandler::setUseOSCal Definition at line 113 of file ArActionJoydrive.cpp. References ArJoyHandler::setUseOSCal().

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The documentation for this class was generated from the following files:

• ArActionJoydrive.h
• ArActionJoydrive.cpp

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