Colony » Colony Scout » Colony Scout OS

Revision 144137a1

Got motor control working with scoutsim

Behaviors can now use the MotorControl class to change the speed of the motors in the simulator. The simulator correctly handles the command.
At the moment, the set_motors command is limited to 'scout1'. We should look into prefixes to specify which scout (scout1, scout2, etc) each behavior should command.
Also changed alex_behavior to be a good demonstration of the motors.

class ScoutApp : public wxApp

{

public:

  char** local_argv_;

  ros::NodeHandlePtr nh_;

  char** local_argv;

  ros::NodeHandlePtr nh;

  ScoutApp()

  {

#endif

    // create our own copy of argv, with regular char*s.

    local_argv_ =  new char*[ argc ];

    local_argv =  new char*[ argc ];

    for ( int i = 0; i < argc; ++i )

    {

      local_argv_[ i ] = strdup( wxString( argv[ i ] ).mb_str() );

      local_argv[ i ] = strdup( wxString( argv[ i ] ).mb_str() );

    }

    ros::init(argc, local_argv_, "scoutsim");

    nh_.reset(new ros::NodeHandle);

    ros::init(argc, local_argv, "scoutsim");

    nh.reset(new ros::NodeHandle);

    wxInitAllImageHandlers();

  {

    for ( int i = 0; i < argc; ++i )

    {

      free( local_argv_[ i ] );

      free( local_argv[ i ] );

    }

    delete [] local_argv_;

    delete [] local_argv;

    return 0;

  }

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