Revision 5d0687a9
Small changes to wireless, and starting turning with line following.
scout/libscout/src/behaviors/WH_Robot.cpp | ||
---|---|---|
24 | 24 |
{ |
25 | 25 |
ROS_INFO("WH_robot: Executing a task"); |
26 | 26 |
assert(curr_task != DEFAULT_TASK); |
27 |
//TODO: do task |
|
27 |
|
|
28 |
Path new_path = nav_map->shortest_path(curr_task->get_dest()); |
|
29 |
curr_task->set_path(new_path); |
|
30 |
for(int i=0; i<new_path.len; i++) |
|
31 |
{ |
|
32 |
Turn t = new_path.path[i]; |
|
33 |
ROS_INFO("making turn %d at state %d", (int)t, (int)nav_map->get_state()); |
|
34 |
nav_map->update_state(t); |
|
35 |
Duration time = nav_map->get_time_remaining(); |
|
36 |
while(time.sec > 0) |
|
37 |
time = nav_map->get_time_remaining(); |
|
38 |
} |
|
39 |
ROS_INFO("Path complete at state %d", (int)nav_map->get_state()); |
|
28 | 40 |
srand(0xDEADBEEF); |
29 | 41 |
int error = rand() % 12; |
30 |
if(error < 9) //Fail with 1/4 probability
|
|
42 |
if(error < 6) //Fail with 1/2 probability
|
|
31 | 43 |
{ |
32 | 44 |
ROS_INFO("WH_robot: TASK COMPLETE!"); |
33 | 45 |
return TASK_COMPLETED; |
Also available in: Unified diff