Revision e1a60f89
ID | e1a60f893e98eb57bda8f771dc2684e8905b6c39 |
Fixed problems with running behaviors. Something wrong with Cliffsensor control. Must debug later. Also encoder control not working!
scout/libscout/CMakeLists.txt | ||
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31 | 31 |
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32 | 32 |
set(MAIN_FILES src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp) |
33 | 33 |
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp) |
34 |
set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp src/WirelessSender.cpp src/EncodersControl.cpp)
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34 |
set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/EncodersControl.cpp) |
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35 | 35 |
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36 | 36 |
rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${CONTROL_CLASSES}) |
37 | 37 |
rosbuild_add_executable(test_encoders src/test_encoders.cpp) |
scout/libscout/manifest.xml | ||
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16 | 16 |
<depend package="headlights"/> |
17 | 17 |
<depend package="buttons"/> |
18 | 18 |
<depend package="sonar"/> |
19 |
<depend package="cliffsensor"/>
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19 |
<!-- <depend package="cliffsensor"/> -->
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20 | 20 |
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21 | 21 |
</package> |
22 | 22 |
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scout/libscout/src/Behavior.cpp | ||
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53 | 53 |
motors = new MotorControl(node, scoutname); |
54 | 54 |
buttons = new ButtonControl(node, scoutname); |
55 | 55 |
sonar = new SonarControl(node, scoutname); |
56 |
cliffsensor = new CliffsensorControl(node, scoutname); |
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56 |
//cliffsensor = new CliffsensorControl(node, scoutname);
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57 | 57 |
encoders = new EncodersControl(node, scoutname); |
58 | 58 |
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59 | 59 |
loop_rate = new ros::Rate(10); |
scout/libscout/src/Behavior.h | ||
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43 | 43 |
#include "HeadlightControl.h" |
44 | 44 |
#include "ButtonControl.h" |
45 | 45 |
#include "SonarControl.h" |
46 |
#include "CliffsensorControl.h" |
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//#include "CliffsensorControl.h"
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47 | 47 |
#include "EncodersControl.h" |
48 | 48 |
#include "constants.h" |
49 | 49 |
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... | ... | |
66 | 66 |
MotorControl * motors; |
67 | 67 |
ButtonControl * buttons; |
68 | 68 |
SonarControl * sonar; |
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CliffsensorControl * cliffsensor; |
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//CliffsensorControl * cliffsensor;
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70 | 70 |
EncodersControl * encoders; |
71 | 71 |
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72 | 72 |
// Wrappers for ROS functions |
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