ArActionJoydrive.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARACTIONJOYDRIVE_H
#define ARACTIONJOYDRIVE_H

#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArJoyHandler.h"


class ArActionJoydrive : public ArAction
{
public:
  AREXPORT ArActionJoydrive(const char * name = "joydrive", 
                double transVelMax = 400, 
                double turnAmountMax = 15, 
                bool stopIfNoButtonPressed = true,
                bool useOSCalForJoystick = true);
  AREXPORT virtual ~ArActionJoydrive();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT bool joystickInited(void);
  AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
  AREXPORT void setStopIfNoButtonPressed(bool stopIfNoButtonPressed);
  AREXPORT bool getStopIfNoButtonPressed(void);
  AREXPORT void setThrottleParams(double lowSpeed, double highSpeed);
  AREXPORT void setUseOSCal(bool useOSCal);
  AREXPORT bool getUseOSCal(void);
  AREXPORT ArJoyHandler *getJoyHandler(void) { return myJoyHandler; }
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const { return &myDesired; }
#endif
protected:
  bool myUseThrottle;
  double myLowThrottle;
  double myHighThrottle;
  // action desired
  ArActionDesired myDesired;
  // joystick handler
  ArJoyHandler *myJoyHandler;
  // full spped
  double myTransVelMax;
  // full amount to turn
  double myTurnAmountMax;
  // if we want to stop when no button is presesd
  bool myStopIfNoButtonPressed;
  // if we're using os cal for the joystick
  bool myUseOSCal;
  bool myPreviousUseOSCal;
};

#endif //ARACTIONJOYDRIVE_H

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