ArActionJoydrive Class Reference

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

#include <ArActionJoydrive.h>

Inherits ArAction.

Public Member Functions
	ArActionJoydrive (const char *name="joydrive", double transVelMax=400, double turnAmountMax=15, bool stopIfNoButtonPressed=true, bool useOSCalForJoystick=true)
	Constructor. More...
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual ArActionDesired *	getDesired (void)
virtual const ArActionDesired *	getDesired (void) const
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. More...
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. More...
virtual	~ArActionJoydrive ()
	Destructor.
Public Member Functions inherited from ArAction
virtual void	activate (void)
	Activate the action.
	ArAction (const char *name, const char *description="")
	Constructor.
virtual void	deactivate (void)
	Deactivate the action.
virtual const ArArg *	getArg (int number) const
	Gets the numbered argument. More...
virtual ArArg *	getArg (int number)
	Gets the numbered argument.
virtual const char *	getDescription (void) const
	Gets the long description of the action.
virtual const char *	getName (void) const
	Gets the name of the action.
virtual int	getNumArgs (void) const
	Find the number of arguments this action takes.
ArRobot *	getRobot () const
	Get the robot we are controlling, which was set by setRobot()
virtual bool	isActive (void) const
	Returns whether the action is active or not.
virtual void	log (bool verbose=true) const
	Log information about this action using ArLog.
virtual void	setRobot (ArRobot *robot)
	Sets the robot this action is driving. More...
virtual	~ArAction ()
	Desructor.

Protected Attributes
ArActionDesired	myDesired
double	myHighThrottle
ArJoyHandler *	myJoyHandler
double	myLowThrottle
bool	myPreviousUseOSCal
bool	myStopIfNoButtonPressed
double	myTransVelMax
double	myTurnAmountMax
bool	myUseOSCal
bool	myUseThrottle
Protected Attributes inherited from ArAction
std::map< int, ArArg >	myArgumentMap
std::string	myDescription
bool	myIsActive
std::string	myName
int	myNumArgs
ArRobot *	myRobot
	The robot we are controlling, set by the action resolver using setRobot()

Additional Inherited Members
Static Public Member Functions inherited from ArAction
static bool	getDefaultActivationState (void)
	Gets the default activation state for all ArActions.
static void	setDefaultActivationState (bool defaultActivationState)
	Sets the default activation state for all ArActions.
Protected Member Functions inherited from ArAction
void	setNextArgument (ArArg const &arg)
	Sets the argument type for the next argument (must only be used in a constructor!)
Static Protected Attributes inherited from ArAction
static bool	ourDefaultActivationState = true

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.

Examples:

actionGroupExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, and teleopActionsExample.cpp.

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)
useOSCalForJoystick	If true, then the existing OS calibration for the joystick will be used, otherwise our own autocalibration will be used. Default is true.

See Also

ArJoyHandler::setUseOSCal()

Member Function Documentation

bool ArActionJoydrive::getUseOSCal

(

void

)

Gets whether OSCalibration is being used for the joystick or not.

See Also

ArJoyHandler::getUseOSCal

void ArActionJoydrive::setUseOSCal

(

bool

useOSCal)

Sets whether to use OSCalibration the joystick or not.

See Also

ArJoyHandler::setUseOSCal

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

• ArActionJoydrive.h
• ArActionJoydrive.cpp