root / scout / libscout / src / test_behaviors / danger_marking.cpp @ 751d4f4f
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1 | 5da15275 | Alex | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | #include "danger_marking.h" |
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27 | |||
28 | #define THRESH 200 |
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29 | 3a73516c | Alex | #define min(x,y) ((x < y) ? x : y)
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30 | 5da15275 | Alex | |
31 | using namespace std; |
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32 | |||
33 | void danger_marking::run()
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34 | { |
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35 | ROS_INFO("Starting Danger Marking.");
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36 | |||
37 | // Turn the sonar on.
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38 | sonar->set_on(); |
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39 | wait(1.5); |
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40 | 751d4f4f | Alex | sonar->set_range(35, 37); |
41 | 5da15275 | Alex | |
42 | motors->set_sides(-20, -20); |
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43 | |||
44 | int dist;
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45 | |||
46 | while (true) |
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47 | { |
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48 | 751d4f4f | Alex | get_position(); |
49 | ROS_INFO("Position: (%f, %f, %f).",
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50 | scout_pos->x, scout_pos->y, scout_pos->theta); |
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51 | |||
52 | 5da15275 | Alex | int *readings = sonar->get_sonar_readings();
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53 | 3a73516c | Alex | dist = min(readings[35], min(readings[36], readings[37])); |
54 | 5da15275 | Alex | |
55 | ROS_INFO("Dist: %d.", dist);
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56 | |||
57 | if (dist < THRESH)
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58 | { |
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59 | ROS_INFO("UH-OH! Get back!");
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60 | motors->set_sides(30, 30); |
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61 | wait(0.5); |
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62 | motors->set_sides(30, -30); |
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63 | wait(1.0); |
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64 | } |
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65 | else
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66 | { |
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67 | motors->set_sides(-20, -20); |
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68 | if (metal_detector->query()) //FOUND SOME METAL! |
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69 | { |
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70 | paintboard->set(DISPENSE_PAINT); |
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71 | } |
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72 | else
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73 | { |
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74 | if(paintboard->query()) //No metal, but dispensing paint; |
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75 | { |
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76 | paintboard->set(STOP_PAINT); |
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77 | } |
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78 | } |
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79 | } |
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80 | } |
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81 | } |