root / scout / libscout / src / behaviors / draw_cw_circle.cpp @ c33e5aa4
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1 | c239584b | Priya | /**
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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 "draw_cw_circle.h" |
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27 | |||
28 | void draw_cw_circle::run()
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29 | { |
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30 | while(ok())
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31 | { |
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32 | c33e5aa4 | Alex | motors->set_sides(80, 20, MOTOR_ABSOLUTE); |
33 | c239584b | Priya | |
34 | a739cdbd | Alex Zirbel | encoder_readings readings = encoders->query(); |
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36 | ROS_INFO("Encoders: %d %d %d %d", readings.fl_ticks, readings.fr_ticks, readings.bl_ticks, readings.br_ticks);
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37 | |||
38 | c239584b | Priya | spinOnce(); |
39 | loop_rate->sleep(); |
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40 | } |
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41 | } |