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Revision b00761a0

IDb00761a0e88f934a309a939b653d9f441b127ae8
Parent c492be62
Child 4069a378

Added by Alex Zirbel over 12 years ago

Updated ButtonControl and SonarControl.

Finally, the behavior compiles. Had to fix a lot of problems involving misunderstandings with Publisher/Client/ServiceServer/ServiceClient confusion.

We can now run priya_behavior as an executable, though the process for generating behavior executables still needs some work.

View differences:

scout/sonar/src/sonar.cpp
57 57 
 **/
58 58 
void sonar_init(void)
59 59 
{
60 
    ROS_INFO("Sonar_init called [unimplemented].");
60 61 
    sonar_stepper_pos = 0;
61 62 
}
62 63 

  		




  ......




  66
  67
  
    
bool handle_sonar_toggle(sonar::sonar_toggle::Request  &req,


  		




  67
  68
  
    
                         sonar::sonar_toggle::Response &res)


  		




  68
  69
  
    
{


  		




  69
  
  
    
    if (req.set_on)


  		




  
  70
  
    
    if (req.set_on && !is_on)


  		




  
  71
  
    
    {


  		




  70
  72
  
    
        ROS_INFO("Turning on the sonar [unimplemented]");


  		




  71
  
  
    
    else


  		




  
  73
  
    
    }


  		




  
  74
  
    
    else if (req.set_off && is_on)


  		




  
  75
  
    
    {


  		




  72
  76
  
    
        ROS_INFO("Turning off the sonar [unimplemented]");


  		




  
  77
  
    
    }


  		




  73
  78
  
    

  		




  74
  79
  
    
    res.ack = true;


  		




  75
  80
  
    

  		












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