ArActionRobotJoydrive Class Reference

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

#include <ArActionRobotJoydrive.h>

Inheritance diagram for ArActionRobotJoydrive:

List of all members.

Public Member Functions
	ArActionRobotJoydrive (const char *name="robotJoyDrive", bool requireDeadmanPushed=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).
virtual void	setRobot (ArRobot *robot)
	Sets the robot this action is driving.
virtual	~ArActionRobotJoydrive ()
	Destructor.
Protected Member Functions
void	connectCallback (void)
bool	handleJoystickPacket (ArRobotPacket *packet)
Protected Attributes
int	myButton1
int	myButton2
ArFunctorC< ArActionRobotJoydrive >	myConnectCB
bool	myDeadZoneLast
ArActionDesired	myDesired
ArRetFunctor1C< bool, ArActionRobotJoydrive, ArRobotPacket * >	myHandleJoystickPacketCB
int	myJoyX
int	myJoyY
ArTime	myPacketReceivedTime
bool	myRequireDeadmanPushed
int	myThrottle

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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 51 of file ArActionRobotJoydrive.h.

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Constructor & Destructor Documentation

ArActionRobotJoydrive::ArActionRobotJoydrive (  const char *  name = "robotJoyDrive", bool  requireDeadmanPushed = true )

Constructor. Parameters: requireDeadmanPushed  if this is true the deadman must be pushed for us to drive... if this is false we'll follow the joystick input no matter what Definition at line 40 of file ArActionRobotJoydrive.cpp. References ArAction::setNextArgument().

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Member Function Documentation

ArActionDesired * ArActionRobotJoydrive::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 91 of file ArActionRobotJoydrive.cpp. References ArMath::fabs(), ArRobot::getRotDecel(), ArRobot::getRotVel(), ArRobot::getRotVelMax(), ArRobot::getTransDecel(), ArRobot::getTransVelMax(), ArRobot::getVel(), ArTime::mSecSince(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), ArActionDesired::setRotDecel(), ArActionDesired::setRotVel(), ArActionDesired::setTransDecel(), and ArActionDesired::setVel().

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

• ArActionRobotJoydrive.h
• ArActionRobotJoydrive.cpp

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