Revision 5d0687a9
| ID | 5d0687a9991d806c94fc7c21405334e6717e3611 |
Small changes to wireless, and starting turning with line following.
| scout/libscout/src/behaviors/WH_Robot.cpp | ||
|---|---|---|
| 24 | 24 |
{
|
| 25 | 25 |
ROS_INFO("WH_robot: Executing a task");
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| 26 | 26 |
assert(curr_task != DEFAULT_TASK); |
| 27 |
//TODO: do task |
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| 27 |
|
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| 28 |
Path new_path = nav_map->shortest_path(curr_task->get_dest()); |
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| 29 |
curr_task->set_path(new_path); |
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| 30 |
for(int i=0; i<new_path.len; i++) |
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| 31 |
{
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| 32 |
Turn t = new_path.path[i]; |
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| 33 |
ROS_INFO("making turn %d at state %d", (int)t, (int)nav_map->get_state());
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| 34 |
nav_map->update_state(t); |
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| 35 |
Duration time = nav_map->get_time_remaining(); |
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| 36 |
while(time.sec > 0) |
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| 37 |
time = nav_map->get_time_remaining(); |
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| 38 |
} |
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| 39 |
ROS_INFO("Path complete at state %d", (int)nav_map->get_state());
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| 28 | 40 |
srand(0xDEADBEEF); |
| 29 | 41 |
int error = rand() % 12; |
| 30 |
if(error < 9) //Fail with 1/4 probability
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| 42 |
if(error < 6) //Fail with 1/2 probability
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| 31 | 43 |
{
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| 32 | 44 |
ROS_INFO("WH_robot: TASK COMPLETE!");
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| 33 | 45 |
return TASK_COMPLETED; |
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