Revision 4dcab71d
Added danger_marking_blind for even dumber runaround.
If sonar doesn't work for the demo, we can use this. It drives in a circle.
scout/libscout/src/test_behaviors/danger_marking_blind.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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#include "danger_marking_blind.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_blind::run() |
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{ |
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ROS_INFO("Starting Danger Marking (Blind Mode)."); |
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motors->set_sides(30, 50); |
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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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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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} |
scout/libscout/src/test_behaviors/danger_marking_blind.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 |
|
6 |
* 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 |
|
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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 |
|
18 |
* 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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#ifndef _DANGER_MARKING_BLIND_H_ |
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#define _DANGER_MARKING_BLIND_H_ |
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#include <stdio.h> |
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#include "../behaviors/Odometry.h" |
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/** |
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* A very simple maze solver that always turns right. |
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*/ |
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class danger_marking_blind : public Odometry |
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{ |
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public: |
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danger_marking_blind(std::string scoutname, Sensors* sensors): |
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Odometry(scoutname, "danger_marking_blind", sensors) {}; |
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void run(); |
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}; |
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#endif |
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