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C++ ArGripper类代码示例

本文整理汇总了C++中ArGripper类的典型用法代码示例。如果您正苦于以下问题：C++ ArGripper类的具体用法？C++ ArGripper怎么用？C++ ArGripper使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。


在下文中一共展示了ArGripper类的12个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: stop

 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
 }
开发者ID:eilo，项目名称:Evolucion-Artificial-y-Robotica-Autonoma-en-Robots-Pioneer-P3-DX，代码行数:7，代码来源:gripper.cpp

示例2: if

ArActionDesired *Acquire::fire(ArActionDesired currentDesired)
{
  myDesired.reset();
  myDesired.setVel(0);
  switch (myState) {
  case STATE_START_LOOKING:
    myFirstTurn.clear();
    mySecondTurn.clear();
    myState = STATE_LOOKING;
    myGripper->liftUp();
    myGripper->gripClose();
    printf("Acquire: Raising lift\n");
    myStartUp.setToNow();
    myTryingGripper = true;
  case STATE_LOOKING:
    if (myTryingGripper && (myStartUp.mSecSince() < 600 ||
			    ((!myGripper->isLiftMaxed() ||
			      myGripper->getGripState() != 2) && 
			     myStartUp.mSecSince() < 5000)))
    {
      myGripper->liftUp();
      myGripper->gripClose();
      myDesired.setVel(0);
      myDesired.setDeltaHeading(0);
      return &myDesired;
    } 
    else if (myTryingGripper)
    {
      printf("Acquire: Done raising lift %ld after started.\n", 
	     myStartUp.mSecSince());
      myTryingGripper = false;
    }
    if (myActs->getNumBlobs(myChannel) > 0)
    {
      myDesired.setDeltaHeading(0);
      myState = STATE_SUCCEEDED;
      printf("Acquire: Succeeded!\n");
    }
    else if (myFirstTurn.didAll() && mySecondTurn.didAll())
    {
      myDesired.setDeltaHeading(0);
      myState = STATE_FAILED;
      printf("Acquire: Did two revolutions, didn't see the blob, Failed!\n");
    } 
    else
    {
      myFirstTurn.update(myRobot->getTh());
      if (myFirstTurn.didAll())
	mySecondTurn.update(myRobot->getTh());
      myDesired.setDeltaHeading(8);
    }
    return &myDesired;
  default:
    myDesired.setVel(0);
    myDesired.setDeltaHeading(0);
    return &myDesired;
  }
}
开发者ID:sauver，项目名称:sauver_sys，代码行数:58，代码来源:actsDemo.cpp

示例3: if

ArActionDesired *DropOff::fire(ArActionDesired currentDesired)
{
  ArPose pose;
  ArACTSBlob blob;
  bool blobSeen = false;
  double xRel, yRel;
  double dist;


  myDesired.reset();
  if (myState == STATE_SUCCEEDED)
  {
    printf("DropOff: Succeeded\n");
    myDesired.setVel(0);
    myDesired.setDeltaHeading(0);
    return &myDesired;
  }
  else if (myState == STATE_FAILED)
  {
    printf("DropOff: Failed\n");
    myDesired.setVel(0);
    myDesired.setDeltaHeading(0);
    return &myDesired;
  }

  if (myActs->getNumBlobs(myChannel) > 0 &&
      (blobSeen = myActs->getBlob(myChannel, 1, &blob)))
  {
    myLastSeen.setToNow();
  }

  // this if the stuff we want to do if we're not going to just drive forward
  // and home in on the color, ie the pickup-specific stuff
  if (myState == STATE_START_LOOKING)
  {
    mySentGripper.setToNow();
    myPointedDown = false;
    myState = STATE_LOOKING;
    myLastSeen.setToNow();
    myTried = false;
    myLastMoved.setToNow();
    myLastPose = myRobot->getPose();
    //myWaitingOnGripper = true;
    myWaitingOnLower = false;
    myLowered = false;
    myWaitingOnRaised = false;
    myStartRaised = false;
    printf("@@@@@ DropOff: Starting\n");
  }

  // we want to sit still until the lift is down or for a second and a half
  /*
  if (myWaitingOnGripper) 
  {
    if (mySentGripper.mSecSince() < 500 || 
	(myGripper->getGripState() != 1
	 && mySentGripper.mSecSince() < 4000))
    {
      myDesired.setVel(0);
      myDesired.setDeltaHeading(0);
      myLastMoved.setToNow();
      myLastPose = myRobot->getPose();
      return &myDesired;
    }
    else
    {
      myWaitingOnGripper = false;
    }
    myLastMoved.setToNow();
    myLastPose = myRobot->getPose();
  } 
  */
  //printf("sensors %d %d stall %d %d\n",!(myRobot->getDigIn() & ArUtil::BIT2),
  //!(myRobot->getDigIn() & ArUtil::BIT3),
  //myRobot->isLeftMotorStalled(), myRobot->isRightMotorStalled());
  if ((myRobot->isLeftBreakBeamTriggered() &&
       myRobot->isRightBreakBeamTriggered()) ||
       myRobot->isLeftMotorStalled() || myRobot->isRightMotorStalled())
  {
    if (!myWaitingOnLower && !myLowered && !myWaitingOnRaised)
    {
      myWaitingOnLower = true;
      printf("DropOff: Lowering gripper\n");
      mySentGripper.setToNow();
    }
  }
  if (myWaitingOnLower)
  {
    /// TODO
    if (mySentGripper.mSecSince() < 600 || 
	(!myGripper->isLiftMaxed() && mySentGripper.mSecSince() < 20000))
    {
      myGripper->liftDown();
      myDesired.setVel(0);
      myDesired.setDeltaHeading(0);
      myLastMoved.setToNow();
      myLastPose = myRobot->getPose();
      return &myDesired;
    }
    else
//.........这里部分代码省略.........
开发者ID:PipFall2015，项目名称:Ottos-Cloud，代码行数:101，代码来源:peoplebotDemo.cpp

示例4: handler

void TakeBlockToWall::handler(void)
{
  Color tempColor;

  switch (myState) 
  {
  case STATE_START:
    setState(STATE_ACQUIRE_BLOCK);
    myDropWall = COLOR_FIRST_WALL;
    myLapWall = COLOR_SECOND_WALL;
    printf("!! Started state handling!\n");
    //handler();
    return;
    break;
  case STATE_ACQUIRE_BLOCK:
    if (myNewState)
    {
      printf("!! Acquire block\n");
      myNewState = false;
      myAMPTU->panTilt(0, -40);
      myAcquire->activate();
      myAcquire->setChannel(COLOR_BLOCK);
      myPickUp->deactivate();
      myDriveTo->deactivate();
      myDropOff->deactivate();
      myTableLimiter->deactivate();
    }
    if (myGripper->getGripState() == 2 &&
	myGripper->getBreakBeamState() != 0)
    {
      printf("###### AcquireBlock: Successful (have cube?)\n");
      setState(STATE_PICKUP_BACKUP);
      //handler();
      return;
    } 
    else if (myGripper->getBreakBeamState() != 0)
    {
      printf("###### AcquireBlock: Successful (cube in gripper?)\n");
      setState(STATE_PICKUP_BLOCK);
      //handler();
      return;
    }
    if (myAcquire->getState() == Acquire::STATE_FAILED || 
	myStateStartTime.mSecSince() > 35000)
    {
      printf("###### AcqiureBlock: failed\n");
      setState(STATE_BACKUP);
      //handler();
      return;
    }
    else if (myAcquire->getState() == Acquire::STATE_SUCCEEDED)
    {
      printf("###### AcquireBlock: successful\n");
      setState(STATE_PICKUP_BLOCK);
      //handler();
      return;
    }
    break;
  case STATE_PICKUP_BLOCK:
    if (myNewState)
    {
      printf("!! Pickup block\n");
      myNewState = false;
      myAMPTU->panTilt(0, -35);
      myAcquire->deactivate();
      myPickUp->activate();
      myPickUp->setChannel(COLOR_BLOCK);
      myDriveTo->deactivate();
      myDropOff->deactivate();
      myTableLimiter->deactivate();
    }
    if (myPickUp->getState() == PickUp::STATE_FAILED)
    {
      printf("###### PickUpBlock: failed\n");
      setState(STATE_BACKUP);
      //handler();
      return;
    }
    else if (myPickUp->getState() == PickUp::STATE_SUCCEEDED)
    {
      printf("###### PickUpBlock: successful\n");
      setState(STATE_PICKUP_BACKUP);
      //handler();
      return;
    }
    break;
  case STATE_BACKUP:
    if (myNewState)
    {
      myNewState = false;
      myRobot->move(BACKUP_DIST * .75);
      myAcquire->deactivate();
      myPickUp->deactivate();
      myDriveTo->deactivate();
      myDropOff->deactivate();
      myTableLimiter->deactivate();
    }
    if (myRobot->isLeftMotorStalled() || myRobot->isRightMotorStalled())
    {
      printf("###### Backup: Failed, going forwards\n");
//.........这里部分代码省略.........
开发者ID:PipFall2015，项目名称:Ottos-Cloud，代码行数:101，代码来源:peoplebotDemo.cpp

示例5: handler

void TakeBlockToWall::handler(void)
{
  Color tempColor;

  switch (myState) 
  {
  case STATE_START:
    setState(STATE_ACQUIRE_BLOCK);
    myDropWall = COLOR_FIRST_WALL;
    myLapWall = COLOR_SECOND_WALL;
    printf("!! Started state handling!\n");
    //handler();
    return;
    break;
  case STATE_ACQUIRE_BLOCK:
    if (myNewState)
    {
      printf("!! Acquire block\n");
      myNewState = false;
      mySony->panTilt(0, -10);
      myAcquire->activate();
      myAcquire->setChannel(COLOR_BLOCK);
      myPickUp->deactivate();
      myDriveTo->deactivate();
      myBackup->deactivate();
    }
    if (myGripper->getGripState() == 2 &&
	myGripper->getBreakBeamState() != 0)
    {
      printf("###### AcquireBlock: Successful (have cube?)\n");
      setState(STATE_ACQUIRE_DROP_WALL);
      //handler();
      return;
    } 
    else if (myGripper->getBreakBeamState() != 0)
    {
      printf("###### AcquireBlock: Successful (cube in gripper?)\n");
      setState(STATE_PICKUP_BLOCK);
      //handler();
      return;
    }
    if (myAcquire->getState() == Acquire::STATE_FAILED || 
	myStateStart.mSecSince() > 35000)
    {
      printf("###### AcqiureBlock: failed\n");
      setState(STATE_BACKUP);
      //handler();
      return;
    }
    else if (myAcquire->getState() == Acquire::STATE_SUCCEEDED)
    {
      printf("###### AcquireBlock: successful\n");
      setState(STATE_PICKUP_BLOCK);
      //handler();
      return;
    }
    break;
  case STATE_PICKUP_BLOCK:
    if (myNewState)
    {
      printf("!! Pickup block\n");
      myNewState = false;
      mySony->panTilt(0, -15);
      myAcquire->deactivate();
      myPickUp->activate();
      myPickUp->setChannel(COLOR_BLOCK);
      myDriveTo->deactivate();
      myBackup->deactivate();
    }
    if (myPickUp->getState() == PickUp::STATE_FAILED)
    {
      printf("###### PickUpBlock: failed\n");
      setState(STATE_BACKUP);
      //handler();
      return;
    }
    else if (myPickUp->getState() == PickUp::STATE_SUCCEEDED)
    {
      printf("###### PickUpBlock: successful\n");
      setState(STATE_ACQUIRE_DROP_WALL);
      //handler();
      return;
    }
    break;
  case STATE_BACKUP:
    if (myNewState)
    {
      printf("!! Backup\n");
      myAcquire->deactivate();
      myPickUp->deactivate();
      myDriveTo->deactivate();
      myBackup->activate();
      myNewState = false;
    }
    if (myStateStart.mSecSince() > 2000)
    {
      printf("###### Backup: done\n");
      setState(STATE_ACQUIRE_BLOCK2);
      //handler();
      return;
//.........这里部分代码省略.........
开发者ID:sauver，项目名称:sauver_sys，代码行数:101，代码来源:actsDemo.cpp

示例6: printf

ArActionDesired *DriveTo::fire(ArActionDesired currentDesired)
{
  ArACTSBlob blob;
  double xRel, yRel;

  if (myState == STATE_START_LOOKING)
  {
    myGripper->gripClose();
    myGripper->liftUp();
    mySony->panTilt(0, -5);
    myState = STATE_LOOKING;
    myLastSeen.setToNow();
  }

  if (myActs->getNumBlobs(myChannel) == 0 || 
      !myActs->getBlob(myChannel, 1, &blob))
  {
    if (myLastSeen.mSecSince() > 1000)
    {
      printf("DriveTo:  Lost the blob, failed.\n");
      myState = STATE_FAILED;
      return NULL;
    }
  }
  else
  {
    myLastSeen.setToNow();
  }

  if (myState == STATE_SUCCEEDED || myState == STATE_FAILED)
  {
    return NULL;
  }

  xRel = (double)(blob.getXCG() - WIDTH/2.0) / (double)WIDTH;
  yRel = (double)(blob.getYCG() - HEIGHT/2.0) / (double)HEIGHT;
  
  //printf("xRel %.3f yRel %.3f\n", xRel, yRel);

  myDesired.reset();
  // this if the stuff we want to do if we're not going to just drive forward
  // and home in on the color, ie the pickup-specific stuff
  if (currentDesired.getMaxVelStrength() > 0 &&
      currentDesired.getMaxVel() < 50)
  {
    printf("DriveTo:  Close to a wall of some sort, succeeded.\n");
    myState = STATE_SUCCEEDED;
    myDesired.setVel(0);
    myDesired.setDeltaHeading(0);
    return &myDesired;
  }
  
  if (ArMath::fabs(xRel) < .10)
  {
    //printf("Going straight ahead\n");
    myDesired.setDeltaHeading(0);
  }
  else
  {
    //printf("Turning %.2f\n", -xRel * 10);
    myDesired.setDeltaHeading(-xRel * 10);
  }
  myDesired.setVel(300);
  return &myDesired;
}
开发者ID:PipFall2015，项目名称:Ottos-Cloud，代码行数:65，代码来源:actsDemoSimple.cpp

示例7: handler

void TakeBlockToWall::handler(void)
{
  switch (myState) 
  {
  case STATE_START:
    setState(STATE_ACQUIRE_BLOCK);
    printf("Started state handling!\n");
    handler();
    return;
    break;
  case STATE_ACQUIRE_BLOCK:
    if (myNewState)
    {
      myNewState = false;
      mySony->panTilt(0, -10);
      myAcquire->activate();
      myAcquire->setChannel(COLOR_BLOCK);
      myPickUp->deactivate();
      myDriveTo->deactivate();
      myBackup->deactivate();
    }
    if (myAcquire->getState() == Acquire::STATE_FAILED)
    {
      printf("## AcqiureBlock: failed\n");
      setState(STATE_FAILED);
      handler();
      return;
    }
    else if (myAcquire->getState() == Acquire::STATE_SUCCEEDED)
    {
      printf("## AcquireBlock: successful\n");
      setState(STATE_PICKUP_BLOCK);
      handler();
      return;
    }
    break;
  case STATE_PICKUP_BLOCK:
    if (myNewState)
    {
      myNewState = false;
      myAcquire->deactivate();
      myPickUp->activate();
      myPickUp->setChannel(COLOR_BLOCK);
      myDriveTo->deactivate();
      myBackup->deactivate();
    }
    if (myPickUp->getState() == PickUp::STATE_FAILED)
    {
      printf("## PickUpBlock: failed\n");
      setState(STATE_BACKUP);
      handler();
      return;
    }
    else if (myPickUp->getState() == PickUp::STATE_SUCCEEDED)
    {
      printf("## PickUpBlock: successful\n");
      setState(STATE_ACQUIRE_WALL);
      myGripper->liftUp();
      handler();
      return;
    }
    break;
  case STATE_BACKUP:
    if (myNewState)
    {
      myAcquire->deactivate();
      myPickUp->deactivate();
      myDriveTo->deactivate();
      myBackup->activate();
    }
    if (myStateStart.mSecSince() > 2000)
    {
      printf("## Backup: done\n");
      setState(STATE_PICKUP_BLOCK2);
      handler();
      return;
    }
    break;
  case STATE_PICKUP_BLOCK2:
    if (myNewState)
    {
      myNewState = false;
      myAcquire->deactivate();
      myPickUp->activate();
      myPickUp->setChannel(COLOR_BLOCK);
      myDriveTo->deactivate();
      myBackup->deactivate();
    }
    if (myPickUp->getState() == PickUp::STATE_FAILED)
    {
      printf("## PickUpBlock2: failed\n");
      setState(STATE_FAILED);
      handler();
      return;
    }
    else if (myPickUp->getState() == PickUp::STATE_SUCCEEDED)
    {
      printf("## PickUpBlock2: successful\n");
      setState(STATE_ACQUIRE_WALL);
      myGripper->liftUp();
//.........这里部分代码省略.........
开发者ID:PipFall2015，项目名称:Ottos-Cloud，代码行数:101，代码来源:actsDemoSimple.cpp

示例8: liftDown

 void liftDown()
 {
   ArLog::log(ArLog::Normal, "Moving gripper lift down...");
   myGripper->liftDown();
 }
开发者ID:eilo，项目名称:Evolucion-Artificial-y-Robotica-Autonoma-en-Robots-Pioneer-P3-DX，代码行数:5，代码来源:gripper.cpp

示例9: liftUp

 void liftUp()
 {
   ArLog::log(ArLog::Normal, "Moving gripper lift up...");
   myGripper->liftUp();
 }
开发者ID:eilo，项目名称:Evolucion-Artificial-y-Robotica-Autonoma-en-Robots-Pioneer-P3-DX，代码行数:5，代码来源:gripper.cpp

示例10: printStatus

 void printStatus()
 {
   myGripper->logState();
 }
开发者ID:eilo，项目名称:Evolucion-Artificial-y-Robotica-Autonoma-en-Robots-Pioneer-P3-DX，代码行数:4，代码来源:gripper.cpp

示例11: open

 void open()
 {
   ArLog::log(ArLog::Normal, "Opening gripper...");
   myGripper->gripOpen();
 }
开发者ID:eilo，项目名称:Evolucion-Artificial-y-Robotica-Autonoma-en-Robots-Pioneer-P3-DX，代码行数:5，代码来源:gripper.cpp

示例12: close

 void close()
 {
   ArLog::log(ArLog::Normal, "Closing gripper...");
   myGripper->gripClose();
 }
开发者ID:eilo，项目名称:Evolucion-Artificial-y-Robotica-Autonoma-en-Robots-Pioneer-P3-DX，代码行数:5，代码来源:gripper.cpp


注：本文中的ArGripper类示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。