Update of /cvsroot/playerstage/code/player/utils/playerjoy
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14234/utils/playerjoy
Modified Files:
Tag: release-2-0-patches
playerjoy.cc
Log Message:
merged car-like command and set/reset odom support for obot driver from HEAD;
added -dev jsdev arg to playerjoy
Index: playerjoy.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerjoy/playerjoy.cc,v
retrieving revision 1.35
retrieving revision 1.35.2.1
diff -C2 -d -r1.35 -r1.35.2.1
*** playerjoy.cc 28 Feb 2006 07:07:18 -0000 1.35
--- playerjoy.cc 21 Sep 2006 03:51:36 -0000 1.35.2.1
***************
*** 42,45 ****
--- 42,46 ----
- -speed : maximum linear speed (m/sec)
- -turnspeed : maximum angular speed (deg/sec)
+ - -dev <dev> : Joystick device file (default /dev/js0)
- <host:port> : connect to a Player on this host and port
***************
*** 111,114 ****
--- 112,116 ----
" -speed : maximum linear speed (m/sec)\n" \
" -turnspeed : maximum angular speed (deg/sec)\n" \
+ " -dev <dev> : joystick device file (default /dev/js0)\n" \
" <host:port> : connect to a Player on this host and port\n"
***************
*** 163,166 ****
--- 165,169 ----
bool use_gripper = false;
GripperProxy *gp = NULL;
+ ActArrayProxy *lp = NULL;
// joystick fd
***************
*** 207,210 ****
--- 210,216 ----
double max_speed = 0.500; // m/second
double max_turn = DTOR(60); // rad/second
+ char jsdev[PATH_MAX]; // joystick device file
+
+ #define DEFAULT_DEV "/dev/js0"
// this is the speed that the camera will pan when you press the
***************
*** 328,332 ****
{
puts("r/v : gripper open/close");
! puts("t/b : gripper up/down");
}
puts("");
--- 334,338 ----
{
puts("r/v : gripper open/close");
! puts("t/b : lift up/down");
}
puts("");
***************
*** 476,482 ****
--- 482,493 ----
gp = new GripperProxy(player,0);
assert(gp);
+ lp = new ActArrayProxy(player,0);
+ assert(lp);
}
else
+ {
gp = NULL;
+ lp = NULL;
+ }
// try a few reads
***************
*** 625,628 ****
--- 636,649 ----
}
}
+ else if( strcmp( argv[i], "-dev" ) == 0 )
+ {
+ if(i++ < argc)
+ strncpy(jsdev,argv[i],PATH_MAX);
+ else
+ {
+ puts(USAGE);
+ exit(-1);
+ }
+ }
/* else if( strcmp( argv[i], "-udp" ) == 0 )
protocol = PLAYER_TRANSPORT_UDP;*/
***************
*** 647,651 ****
{
#if JOYSTICK_SUPPORT
! jfd = open ("/dev/js0", O_RDONLY);
if(jfd < 1)
--- 668,675 ----
{
#if JOYSTICK_SUPPORT
! if(!strlen(jsdev))
! jfd = open (DEFAULT_DEV, O_RDONLY);
! else
! jfd = open (jsdev, O_RDONLY);
if(jfd < 1)
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