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scout/libscout/src/Behavior.cpp
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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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/**
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 * @file Behavior.cpp
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 * @brief Contains basic functions for the structure of all behaviours.
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 * 
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 * Contains function implementations needed for all behavior.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 **/
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#include "Behavior.h"
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Behavior::init(int argc, char** argv)
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{
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    ros::init(argc, argv, "libscout");
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    motors(node);
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    //buttons(node);
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    //sonar(node);
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    ros::Rate loop_rate(10);
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}
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Behavior::ok()
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{
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    return ros::ok()
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}
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Behavior::spin()
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{
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    ros::spin();
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    return;
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}
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Behavior::spinOnce()
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{
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    ros::SpinOnce();
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    return;
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}
scout/libscout/src/Behavior.h
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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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/**
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 * @file Behavior.h
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 * @brief Contains declarations for the structure of all behaviours.
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 * 
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 * Contains functions and definitions for a generic behavior.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 **/
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#ifdef _BEHAVIOR_H_
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#define _BEHAVIOR_H_
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#include "libscout.h"
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class Behavior
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{
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    public:
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	ros::NodeHandle node;
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	ros::Rate loop_rate;
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	//Declare all used library controls
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	MotorControl motors;
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	//ButtonControl buttons;
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	//SonarControl sonar;
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	//Initializes ROS for behavior
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	void init(int argc, char** argv);
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	//User implemented behavior
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	virtual int main(int argc, char** argv) = 0;
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	//Wrappers for ROS functions
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	bool ok();
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	void spin();
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	void spinOnce();
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};
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#endif
scout/libscout/src/priya_behavior.cpp
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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
7
 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * 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:
12
 * 
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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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/**
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 * @file priya_behavior.cpp
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 * @brief A simple robot behavior, smart-runaround style, that uses
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 * the behavior class
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 * 
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 * @author Colony Project, CMU Robotics Club
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 * @author Alex Zirbel
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 * @author Priyanka Deo
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 */
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#include "Behavior.h"
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/**
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 * @brief Priya_Behavior A simple robot behavior.
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 *
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 * Inherits Behavior class which contains all basic behavior
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 * functionality.
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 */
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class Priya_Behavior:Behavior
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{
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	/**
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	 * @brief Main. The main function for the behavior.
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	 *
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	 * Defined in Behavior class as a virtual. Must be
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	 * implemented in functional behaviors.
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	 */
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	int main(int argc, char **argv)
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	{
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		init(argc, argv);
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		while(ok())
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		{
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			motors.set_sides(20, 80, MOTOR_ABSOLUTE);
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			spinOnce();
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			loop_rate.sleep();
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		}
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		return 0;
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	}
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};

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