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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} |