Revision 5da15275
Added new danger_marking (dumb_run_around) behavior.
This behavior drives until it sees a wall, spins, and keeps going. It lays down the paint if it spies a danger. Yarr.
scout/libscout/src/test_behaviors/danger_marking.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.h" |
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#define THRESH 200 |
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using namespace std; |
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void danger_marking::run() |
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{ |
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ROS_INFO("Starting Danger Marking."); |
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// Turn the sonar on. |
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sonar->set_on(); |
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wait(1.5); |
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sonar->set_single(36); |
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motors->set_sides(-20, -20); |
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int dist; |
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while (true) |
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{ |
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int *readings = sonar->get_sonar_readings(); |
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dist = readings[36]; |
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ROS_INFO("Dist: %d.", dist); |
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if (dist < THRESH) |
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{ |
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ROS_INFO("UH-OH! Get back!"); |
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motors->set_sides(30, 30); |
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wait(0.5); |
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motors->set_sides(30, -30); |
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wait(1.0); |
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} |
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else |
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{ |
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motors->set_sides(-20, -20); |
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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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} |
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} |
scout/libscout/src/test_behaviors/danger_marking.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 |
|
5 |
* 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, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
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* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* 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_H_ |
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#define _DANGER_MARKING_H_ |
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#include <stdio.h> |
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#include "../Behavior.h" |
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#include "../Sensors.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 : public Behavior |
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{ |
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public: |
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danger_marking(std::string scoutname, Sensors* sensors): |
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Behavior(scoutname, "danger_marking", sensors) {}; |
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void run(); |
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}; |
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#endif |
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