Colony » Colony Scout » Colony Scout OS

rosbuild_add_executable(priya_behavior src/priya_behavior_process.cpp src/PriyaBehavior.cpp src/Behavior.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp)

//draw_cw_circle* behavior1 = new draw_cw_circle(scoutname)

#define NUM_BEHAVIORS 2

#define NUM_SCOUTS 1

/**

 * 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 PriyaBehavior.cpp

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

 * the behavior class

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 * @author Priyanka Deo

 */

#include "PriyaBehavior.h"

void PriyaBehavior::run()

{

    while(ok())

    {

        motors->set_sides(20, 80, MOTOR_ABSOLUTE);

        spinOnce();

        loop_rate->sleep();

    }

}

/**

 * 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 PriyaBehavior.h

 * @brief A simple behavior which drives the scout in a circle.

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Alex Zirbel

 **/

#ifndef _PRIYA_BEHAVIOR_H_

#define _PRIYA_BEHAVIOR_H_

#include "Behavior.h"

/**

 * @brief PriyaBehavior A simple robot behavior.

 *

 * Inherits Behavior class which contains all basic behavior

 * functionality.

 */

class PriyaBehavior : Behavior

{

    public:

        /// @todo Is this the best way to inherit the Behavior constructor?

        PriyaBehavior(std::string scoutname) : Behavior(scoutname) {};

        /** Actually executes the behavior. */

        void run();

};

#endif

/**

 * 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 Behavior.cpp

 * @brief A wrapper that executes PriyaBehavior as an executable.

 *

 * Should be auto-generated in the future.

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 */

#include <ros/ros.h>

#include "PriyaBehavior.h"

using namespace std;

int main (int argc, char **argv)

{

    string scoutname = "";

    // Running with no arguments only supports one scout. Check in case

    // the user meant to specify a scout in the arguments.

    if (argc != 2)

    {

        cout << "You have started this behavior in hardware mode." << endl

             << "To start in software mode, use: " << argv[0]

             << " <scoutname>" << endl;

    }

    else

    {

        // Use the provided scoutname for simulator messages

        scoutname = argv[1];

    }

    /// @todo Will using argc and argv cause problems? (I don't think so but..)

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

    PriyaBehavior *behavior = new PriyaBehavior(scoutname);

    behavior->run();

    return 0;

}

LIB_ALL	constants.h	47

LIB_CLIFFSENSORS	constants.h	50

LIB_ERROR	constants.h	54

LIB_HEADLIGHTS	constants.h	51

LIB_MOTORS	constants.h	48

LIB_OK	constants.h	55

LIB_SONAR	constants.h	49

MOTOR_BL	libmotors.h	51

MOTOR_BR	libmotors.h	52

MOTOR_FL	libmotors.h	49

MOTOR_FR	libmotors.h	50

Mlibscout.cpp	libscout.cpp	/^int main(int argc, char **argv){$/

_CONSTANTS_H_	constants.h	40

_LIBMOTORS_H_	libmotors.h	41

_LIBSCOUT_H_	libscout.h	41

init	libscout.cpp	/^int init(int modules){$/

libmotors_init	libmotors.cpp	/^void libmotors_init(){$/

node	constants.h	58

motors_query	libmotors.cpp	/^int motors_query(char which){$/

motors_set	libmotors.cpp	/^void motors_set(int speed, char which){$/

motors_speed_set	libmotors.cpp	/^void motors_speed_set(int speed, char which){$/

query_motors_client	libmotors.h	56

set_motors_publisher	libmotors.h	55

#include "scout_constants.h"