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root / scout / libscout / src / test_behaviors / danger_marking.cpp @ 751d4f4f

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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#include "danger_marking.h"
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#define THRESH 200
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#define min(x,y) ((x < y) ? x : y)
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using namespace std;
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void danger_marking::run()
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{    
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    ROS_INFO("Starting Danger Marking.");
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    // Turn the sonar on.
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    sonar->set_on();
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    wait(1.5);
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    sonar->set_range(35, 37);
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    motors->set_sides(-20, -20);
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    int dist;
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    while (true)
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    {
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        get_position();
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        ROS_INFO("Position: (%f, %f, %f).",
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            scout_pos->x, scout_pos->y, scout_pos->theta);
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        int *readings = sonar->get_sonar_readings();
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        dist = min(readings[35], min(readings[36], readings[37]));
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        ROS_INFO("Dist: %d.", dist);
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        if (dist < THRESH)
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        {
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            ROS_INFO("UH-OH! Get back!");
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            motors->set_sides(30, 30);
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            wait(0.5);
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            motors->set_sides(30, -30);
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            wait(1.0);
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        }
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        else
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        {
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            motors->set_sides(-20, -20);
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            if (metal_detector->query()) //FOUND SOME METAL!
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            {
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                paintboard->set(DISPENSE_PAINT);
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            }
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            else
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            {
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                if(paintboard->query()) //No metal, but dispensing paint;
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                {
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                    paintboard->set(STOP_PAINT);
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                }
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            }
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        }
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    }
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}