scoutos / scout / libscout / src / SonarControl.cpp @ 7b5ea072
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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 SonarControl.cpp
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* @brief Contains sonar function implementation
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*
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* Contains functions for the use of sonar control.
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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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* @author Alex Zirbel
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**/
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#include "SonarControl.h" |
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#define MAX_ATTEMPTS 10 |
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using namespace std; |
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/**
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* @brief Initialize the sonar module of libscout.
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*
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* Initialize the libscout node as a publisher of sonar_set_scan and
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* sonar_toggle and a client of query_sonar.
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*/
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SonarControl::SonarControl(const ros::NodeHandle& libscout_node,
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string scoutname)
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: node(libscout_node) |
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{ |
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sonar_set_scan_client = |
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node.serviceClient< ::messages::sonar_set_scan>(scoutname+"/set_sonar_scan");
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sonar_toggle_client = |
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node.serviceClient< ::messages::sonar_toggle>(scoutname + "/toggle_sonar");
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sonar_distance_sub = node.subscribe(scoutname + "/sonar_distance",
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QUEUE_SIZE, |
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&SonarControl::distance_callback, |
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this);
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// Initialize all the sonar readings to 0 and timestamps to undefined
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for (int i = 0; i < 48; i++) |
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{ |
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readings[i] = 0;
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timestamps[i] = ros::Time::now(); // A common shortcut for no reading
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} |
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ROS_INFO("Readings at 0, ready to go.");
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/// @todo Test, and replace 10 with a const int
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num_attempts = MAX_ATTEMPTS; |
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} |
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/**
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* Update the array of sonar values, and the last read timestamps,
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* to reflect the new reading received.
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*/
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void SonarControl::distance_callback(const ::messages::sonar_distance::ConstPtr& msg) |
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{ |
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// Error checking so that the array doesn't cause a segfault
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if (msg->pos < 0 || msg-> pos > 23) |
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{ |
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ROS_ERROR("SonarControl received an invalid sonar position.");
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return;
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} |
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readings[msg->pos] = msg->distance0; |
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readings[msg->pos + 24] = msg->distance1;
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timestamps[msg->pos] = msg->stamp; |
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timestamps[msg->pos + 24] = msg->stamp;
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} |
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/**
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* @brief Sets the sonar to a position.
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*
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* @param position Value between 0-180 of degree position to set sonar
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*/
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void SonarControl::set_single(int position) |
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{ |
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set_range(position, position); |
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} |
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/**
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* @brief Sets the sonar to scan between two positions
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*
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* @param start_pos The leftmost (smallest) value that the sonar can take
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* @param end_pos The rightmost (largest) value that the sonar can take
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*/
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void SonarControl::set_range(int start_pos, int end_pos) |
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{ |
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// Check that the range is valid
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if (start_pos < 0 || end_pos < 0 || start_pos > 23 || end_pos > 23) |
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{ |
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ROS_ERROR("Commanded SonarControl::set_range to a bad value.");
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return;
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} |
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// Sort the start and end positions into increasing order
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if (start_pos > end_pos)
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{ |
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int temp = start_pos;
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start_pos = end_pos; |
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end_pos = temp; |
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} |
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// Make sure sonar is on
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set_on(); |
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// Set scan range
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::messages::sonar_set_scan srv; |
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srv.request.stop_l = start_pos; |
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srv.request.stop_r = end_pos; |
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// Check if the service call failed or if the response was false
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if (!sonar_set_scan_client.call(srv) || srv.response.ack == false) |
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{ |
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if (--num_attempts == 0) |
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{ |
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ROS_ERROR("SonarControl::set_range() failed permanently.");
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} |
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ROS_WARN("SonarControl::set_range() failed once.");
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} |
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} |
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/**
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* @brief Turn on sonar readings
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*
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* (Re)starts sonar panning and taking readings.
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*/
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void SonarControl::set_on()
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{ |
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set_power(true);
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} |
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/**
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* @brief Turn off sonar readings
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*
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* Stops sonar from panning and taking readings.
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*/
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void SonarControl::set_off()
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{ |
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set_power(false);
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} |
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/**
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* @brief Turn sonar readings either off or on.
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*
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* Attempts to turn the readings off or on, num_attempts times.
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*
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* @param is_on True if power should be set on, false if should be off.
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*/
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void SonarControl::set_power(bool is_on) |
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{ |
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::messages::sonar_toggle srv; |
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srv.request.set_on = is_on; |
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// Check if the service call failed or if the response was false
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if (!sonar_toggle_client.call(srv) || srv.response.ack == false) |
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{ |
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if (--num_attempts == 0) |
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{ |
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ROS_ERROR("SonarControl::set_power() failed permanently.");
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} |
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ROS_WARN("SonarControl::set_power() failed once.");
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} |
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ROS_INFO("SonarControl::set_power() succeeded.");
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// Reset num_attempts
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num_attempts = MAX_ATTEMPTS; |
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} |
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int* SonarControl::get_sonar_readings()
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{ |
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return readings;
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} |
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/**
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* @brief Converts value returne by sonar to physical distances.
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*
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* @param sonar_value The returned value of the sonar
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* @return The physical distance measured by the sonar.
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**/
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//float sonar_to_dist(float sonar_value)
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//{
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//TODO impelement later based on sonar readings
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// return sonar_value;
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//}
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/**
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* @brief Converts values from physical distances to values read by sonar
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*
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* @param distance The physical distance as measured.
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* @return The value read by the sonar that corresponds to the given distance
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**/
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//float dist_to_sonar(float distance)
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//{
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//TODO implement later based on sonar readings
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// return distance;
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//}
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