Aria  2.8.0
ArActionRobotJoydrive Class Reference

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

#include <ArActionRobotJoydrive.h>

Inherits ArAction.

Public Member Functions

 ArActionRobotJoydrive (const char *name="robotJoyDrive", bool requireDeadmanPushed=true)
 Constructor. More...
virtual ArActionDesiredfire (ArActionDesired currentDesired)
virtual ArActionDesiredgetDesired (void)
virtual const ArActionDesiredgetDesired (void) const
virtual void setRobot (ArRobot *robot)
virtual ~ArActionRobotJoydrive ()
- Public Member Functions inherited from ArAction
virtual void activate (void)
 Activate the action.
 ArAction (const char *name, const char *description="")
virtual void deactivate (void)
 Deactivate the action.
virtual const ArArggetArg (int number) const
 Gets the numbered argument. More...
virtual ArArggetArg (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.
ArRobotgetRobot () 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 ~ArAction ()

Protected Member Functions

void connectCallback (void)
bool handleJoystickPacket (ArRobotPacket *packet)
- 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!)

Protected Attributes

int myButton1
int myButton2
ArFunctorC< ArActionRobotJoydrivemyConnectCB
bool myDeadZoneLast
ArActionDesired myDesired
ArRetFunctor1C< bool, ArActionRobotJoydrive, ArRobotPacket * > myHandleJoystickPacketCB
int myJoyX
int myJoyY
ArTime myPacketReceivedTime
bool myRequireDeadmanPushed
int myThrottle
- Protected Attributes inherited from ArAction
std::map< int, ArArgmyArgumentMap
std::string myDescription
bool myIsActive
std::string myName
int myNumArgs
 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.
- 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.

Constructor & Destructor Documentation

◆ ArActionRobotJoydrive()

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


nameName for this action
requireDeadmanPushedif true the button must be pushed to drive, if false we'll follow the joystick input no matter what

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