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.

 */

#include "danger_marking.h"

#define THRESH 200

#define min(x,y) ((x < y) ? x : y)

using namespace std;

void danger_marking::run()

{    

    ROS_INFO("Starting Danger Marking.");

    // Turn the sonar on.

    sonar->set_on();

    wait(1.5);

    sonar->set_range(35, 37);

    motors->set_sides(-20, -20);

    int dist;

    while (true)

    {

        get_position();

        ROS_INFO("Position: (%f, %f, %f).",

            scout_pos->x, scout_pos->y, scout_pos->theta);

        int *readings = sonar->get_sonar_readings();

        dist = min(readings[35], min(readings[36], readings[37]));

        ROS_INFO("Dist: %d.", dist);

        if (dist < THRESH)

        {

            ROS_INFO("UH-OH! Get back!");

            motors->set_sides(30, 30);

            wait(0.5);

            motors->set_sides(30, -30);

            wait(1.0);

        }

        else

        {

            motors->set_sides(-20, -20);

            if (metal_detector->query()) //FOUND SOME METAL!

            {

                paintboard->set(DISPENSE_PAINT);

            }

            else

            {

                if(paintboard->query()) //No metal, but dispensing paint;

                {

                    paintboard->set(STOP_PAINT);

                }

            }

        }

    }

}