Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file alex_behavior.cpp

 * @brief A simple robot behavior, smart-runaround style.

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 */

#include "libscout.h"

/**

 * @brief Main. The main function for the behavior.

 * 

 * This is the main function for libscout. It calls init() which initializes

 * the clients and publishers/subscribers for the other parts of the library.

 */

int main(int argc, char **argv)

{

    ros::init(argc, argv, "libscout");

    ros::NodeHandle node;

    MotorControl motors(node);

    //ButtonControl buttons(node);

    ros::Rate loop_rate(10);

    while(ros::ok())

    {

        motors.set_sides(20, 80, MOTOR_ABSOLUTE);

        ros::spinOnce();

        loop_rate.sleep();

    }

    return 0;

}