Aria  2.8.0
gripperExample.cpp

Example program demonstrating use of the Pioneer gripper.Shows how to control the Pioneer 2DOF gripper accessory. In addition to the arrow keys to teleoperate the robot, Use the following keyboard keys to control it: u Lift the gripper up d Lift the gripper down o Open the gripper c Close the gripper s Stop gripper movement.

See also
ArModeGripper (the gripper control mode used in the "demo" program)
/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
// Adds robot callback to print gripper status.
class PrintGripStatus
{
ArGripper* myGripper;
public:
PrintGripStatus(ArGripper* gripper) :
myGripper(gripper),
myPrintCB(this, &PrintGripStatus::printStatus)
{
}
void addRobotTask(ArRobot* robot)
{
robot->addUserTask("PrintGripStatus", 10, &myPrintCB);
}
void printStatus()
{
myGripper->logState();
}
};
// Adds key handler callbacks for controlling the gripper
class GripperControlHandler
{
ArGripper* myGripper;
public:
GripperControlHandler(ArGripper* gripper) :
myGripper(gripper),
myUpCB(this, &GripperControlHandler::liftUp),
myDownCB(this, &GripperControlHandler::liftDown),
myOpenCB(this, &GripperControlHandler::open),
myCloseCB(this, &GripperControlHandler::close),
myStopCB(this, &GripperControlHandler::stop)
{
}
void addKeyHandlers(ArRobot *robot)
{
if(keyHandler == NULL)
{
keyHandler = new ArKeyHandler();
Aria::setKeyHandler(keyHandler);
robot->attachKeyHandler(keyHandler);
}
keyHandler->addKeyHandler(ArKeyHandler::PAGEUP, &myUpCB);
keyHandler->addKeyHandler('u', &myUpCB);
keyHandler->addKeyHandler(ArKeyHandler::PAGEDOWN, &myDownCB);
keyHandler->addKeyHandler('d', &myDownCB);
keyHandler->addKeyHandler('o', &myOpenCB);
keyHandler->addKeyHandler('c', &myCloseCB);
keyHandler->addKeyHandler('s', &myStopCB);
}
void liftUp()
{
ArLog::log(ArLog::Normal, "Moving gripper lift up...");
myGripper->liftUp();
}
void liftDown()
{
ArLog::log(ArLog::Normal, "Moving gripper lift down...");
myGripper->liftDown();
}
void stop()
{
ArLog::log(ArLog::Normal, "Stopping gripper...");
myGripper->gripperHalt(); // stops both lift an grip
//myGripper->liftStop(); // stops just the lift
//myGripper->gripStop(); // stops just the gripper
}
void close()
{
ArLog::log(ArLog::Normal, "Closing gripper...");
myGripper->gripClose();
}
void open()
{
ArLog::log(ArLog::Normal, "Opening gripper...");
myGripper->gripOpen();
}
};
int main(int argc, char **argv)
{
ArRobot robot;
ArArgumentParser argParser(&argc, argv);
ArSimpleConnector connector(&argParser);
ArGripper gripper(&robot);
robot.addRangeDevice(&sonar);
argParser.loadDefaultArguments();
if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
return 1;
}
if (!connector.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "gripperExample: Could not connect to robot... exiting");
return 2;
}
ArLog::log(ArLog::Normal, "gripperExample: Connected to robot.");
ArLog::log(ArLog::Normal, "gripperExample: GripperType=%d", gripper.getType());
gripper.logState();
if(gripper.getType() == ArGripper::NOGRIPPER)
{
ArLog::log(ArLog::Terse, "gripperExample: Error: Robot does not have a gripper. Exiting.");
return -1;
}
// Teleoperation actions with obstacle-collision avoidance
robot.addAction(&tableLimit, 110);
ArActionLimiterForwards limitNearAction("near", 300, 600, 250);
robot.addAction(&limitNearAction, 100);
ArActionLimiterForwards limitFarAction("far", 300, 1100, 400);
robot.addAction(&limitFarAction, 90);
ArActionLimiterBackwards limitBackAction;
robot.addAction(&limitBackAction, 50);
ArActionJoydrive joydriveAction("joydrive", 400, 15);
robot.addAction(&joydriveAction, 40);
joydriveAction.setStopIfNoButtonPressed(false);
ArActionKeydrive keydriveAction;
robot.addAction(&keydriveAction, 30);
// Handlers to control the gripper and print out info (classes defined above)
PrintGripStatus printStatus(&gripper);
GripperControlHandler gripControl(&gripper);
printStatus.addRobotTask(&robot);
gripControl.addKeyHandlers(&robot);
// enable motors and run (if we lose connection to the robot, exit)
ArLog::log(ArLog::Normal, "You may now operate the robot with arrow keys or joystick. Operate the gripper with the u, d, o, c, and page up/page down keys.");
robot.enableMotors();
robot.run(true);
return 0;
}
ArGripper
Provides an interface to the Pioneer gripper device.
Definition: ArGripper.h:76
ArGripper::liftDown
bool liftDown(void)
Lowers the lift to the bottom.
Definition: ArGripper.cpp:114
ArKeyHandler::PAGEUP
@ PAGEUP
Page Up (not supported on Windows yet)
Definition: ArKeyHandler.h:103
ArGripper::NOGRIPPER
@ NOGRIPPER
There isn't a gripper.
Definition: ArGripper.h:137
ArFunctorC< PrintGripStatus >
ArKeyHandler
Perform actions when keyboard keys are pressed.
Definition: ArKeyHandler.h:65
ArGripper::liftUp
bool liftUp(void)
Raises the lift to the top.
Definition: ArGripper.cpp:102
Aria::getKeyHandler
static ArKeyHandler * getKeyHandler(void)
Gets a pointer to the global key handler, if one has been set with setKeyHandler()
Definition: Aria.cpp:630
ArActionLimiterTableSensor
Action to limit speed (and stop) based on whether the "table"-sensors see anything.
Definition: ArActionLimiterTableSensor.h:40
ArLog::Terse
@ Terse
Use terse logging.
Definition: ArLog.h:61
ArSimpleConnector
Legacy connector for robot and laser.
Definition: ArSimpleConnector.h:51
ArKeyHandler::PAGEDOWN
@ PAGEDOWN
Page Down (not supported on Windows yet)
Definition: ArKeyHandler.h:104
ArRobot::enableMotors
void enableMotors()
Enables the motors on the robot.
Definition: ArRobot.cpp:6521
Aria::setKeyHandler
static void setKeyHandler(ArKeyHandler *keyHandler)
Sets the key handler, so that other classes can find it using getKeyHandler()
Definition: Aria.cpp:624
ArRobot::addRangeDevice
void addRangeDevice(ArRangeDevice *device)
Adds a rangeDevice to the robot's list of them, and set the ArRangeDevice object's robot pointer to t...
Definition: ArRobot.cpp:5757
Aria::exit
static void exit(int exitCode=0)
Shutdown all Aria processes/threads, call exit callbacks, and exit the program.
Definition: Aria.cpp:367
ArLog::log
static void log(LogLevel level, const char *str,...)
Log a message, with formatting and variable number of arguments.
Definition: ArLog.cpp:93
ArGripper::logState
void logState(void) const
logs the gripper state
Definition: ArGripper.cpp:406
ArKeyHandler::addKeyHandler
bool addKeyHandler(int keyToHandle, ArFunctor *functor)
This adds a keyhandler, when the keyToHandle is hit, functor will fire.
Definition: ArKeyHandler.cpp:144
ArRobot::addUserTask
bool addUserTask(const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL)
Adds a user task to the list of synchronous taskes.
Definition: ArRobot.cpp:3021
Aria::init
static void init(SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...
Definition: Aria.cpp:128
ArRobot
Central class for communicating with and operating the robot.
Definition: ArRobot.h:82
ArArgumentParser
Parse and store program command-line arguments for use by other ARIA classes.
Definition: ArArgumentParser.h:64
Aria::logOptions
static void logOptions(void)
Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB())
Definition: Aria.cpp:794
ArGripper::gripClose
bool gripClose(void)
Closes the gripper paddles.
Definition: ArGripper.cpp:78
ArSonarDevice
Keep track of recent sonar readings from a robot as an ArRangeDevice.
Definition: ArSonarDevice.h:51
ArActionJoydrive
This action will use the joystick for input to drive the robot.
Definition: ArActionJoydrive.h:51
ArGripper::gripOpen
bool gripOpen(void)
Opens the gripper paddles.
Definition: ArGripper.cpp:66
ArRobot::addAction
bool addAction(ArAction *action, int priority)
Adds an action to the list with the given priority.
Definition: ArRobot.cpp:3278
Aria::parseArgs
static bool parseArgs(void)
Parses the arguments for the program (calls all the callbacks added with addParseArgsCB())
Definition: Aria.cpp:759
ArActionKeydrive
This action will use the keyboard arrow keys for input to drive the robot.
Definition: ArActionKeydrive.h:37
ArLog::Normal
@ Normal
Use normal logging.
Definition: ArLog.h:62
ArActionLimiterBackwards
Action to limit the backwards motion of the robot based on range sensor readings.
Definition: ArActionLimiterBackwards.h:40
ArRobot::run
void run(bool stopRunIfNotConnected, bool runNonThreaded=false)
Starts the instance to do processing in this thread.
Definition: ArRobot.cpp:255
ArGripper::gripperHalt
bool gripperHalt(void)
Halts the lift and the gripper paddles.
Definition: ArGripper.cpp:162
ArRobot::attachKeyHandler
void attachKeyHandler(ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true)
Attachs a key handler.
Definition: ArRobot.cpp:6641
ArActionLimiterForwards
Action to limit the forwards motion of the robot based on range sensor readings.
Definition: ArActionLimiterForwards.h:39