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Revision 751d4f4f

ID751d4f4fca7ad338301c065f7b3ad680c3570e6c
Parent ae23d242
Child 5925bbbb

Added by Alex Zirbel almost 11 years ago

Made danger_marking depend on Odometry correctly

View differences:

scout/libscout/src/test_behaviors/danger_marking.cpp
37 37 
    // Turn the sonar on.
38 38 
    sonar->set_on();
39 39 
    wait(1.5);
40 
    sonar->set_single(36);
40 
    sonar->set_range(35, 37);
41 41 

  		




  42
  42
  
    
    motors->set_sides(-20, -20);


  		




  43
  43
  
    

  		




  ......




  45
  45
  
    

  		




  46
  46
  
    
    while (true)


  		




  47
  47
  
    
    {


  		




  
  48
  
    
        get_position();


  		




  
  49
  
    
        ROS_INFO("Position: (%f, %f, %f).",


  		




  
  50
  
    
            scout_pos->x, scout_pos->y, scout_pos->theta);


  		




  
  51
  
    

  		




  48
  52
  
    
        int *readings = sonar->get_sonar_readings();


  		




  49
  53
  
    
        dist = min(readings[35], min(readings[36], readings[37]));


  		




  50
  54
  
    

  		












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