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Revision ee42f84a

IDee42f84a285e914d510ee9b66e5aa3b0571d390a
Parent 1bcf31aa
Child 34279134

Added by Yuyang Guo over 9 years ago

add explore starter file

View differences:

scout/libscout/src/test_behaviors/explore.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 "explore.h"
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using namespace std;
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void explore::run()
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{
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    ROS_INFO("Starting to explore region");
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    sonar->set_on();
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    sonar->set_range(0, 23);
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    Duration sleeptime(1);
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    while (ok()) {
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        int *readings = sonar->get_sonar_readings();
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        // Look to the left.
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        int left_distance = readings[0];
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        // Look to the front.
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        int front_distance = readings[12];
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        // Look to the right.
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        int right_distance = readings[24];
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        // Look to the back
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        int back_distance = readings[36];
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        ROS_INFO("front: %d  left: %d  back: %d  right: %d ", front_distance, left_distance, back_distance, right_distance);
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        sleeptime.sleep();
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        spinOnce();
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    }
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}
scout/libscout/src/test_behaviors/explore.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
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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
7
 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * 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:
12
 * 
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 * The above copyright notice and this permission notice shall be
14
 * 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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#ifndef _EXPLORE_H_
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#define _EXPLORE_H_
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#include "../Behavior.h"
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#include "../Sensors.h"
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class explore: public Behavior
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{
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    public:
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        explore(std::string scoutname, Sensors* sensors):
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                Behavior(scoutname, "explore", sensors) {};
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        void run();
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};
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#endif
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