scoutos / scout / libscout / src / introlab / draw_someone_name.cppfake @ 73f82b31
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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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#include "draw_<someone>_name.h" |
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|
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/** |
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* In here we define the run function which specifies the behavior |
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* that the scout will run. |
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*/ |
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void draw_<someone>_name::turnRight() { |
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Duration one_second(0.954); |
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motors->set_sides(26, -26, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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} |
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void draw_<someone>_name::run() |
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{ |
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/** |
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* This loop runs as long as ROS is ok. This is necessary to make |
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* sure that our program terminates if something is wrong with ROS. |
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* And if not continues to run. |
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*/ |
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Duration half_second(0.5); |
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Duration one_second(1.0); |
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Duration one_point_five(1.5); |
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Duration three_second(3.0); |
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Duration weird_sleep(1.1); |
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while(ok()){ |
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ROS_INFO("hallo!"); |
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/* WRITE YOUR SCOUT BEHAVIOR HERE */ |
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|
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/** |
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* These two functions cause the world to update its |
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* state (spinOnce) and causes us to wait for incoming |
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* messages (loop_rate->sleep). These are necessary for |
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* ROS to do its job. You can think of this as ROS voodoo magic. |
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*/ |
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|
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spinOnce(); |
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loop_rate->sleep(); |
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motors->set_sides(0,0,MOTOR_ABSOLUTE); |
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break; |
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} |
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} |