WallyHackenslacker/IAS-SS
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Added sensors to the robot. Correct exit on sigint.

Browse Source
This commit is contained in:
Wally Hackenslacker
2016-06-18 17:08:28 -04:00
parent 38ce92b298
commit 0804a2fc37
8 changed files with 60 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
robot.cpp
View File

@@ -2,11 +2,16 @@
Robot::Robot(std::string hostname, uint32_t port) {
_p_client = new PlayerCc::PlayerClient(hostname, port);
_p_proxy = new PlayerCc::Position2dProxy(_p_client, 0);
_p_proxy = new PlayerCc::Position2dProxy(_p_client, 0);
_r_proxy = new PlayerCc::RangerProxy(_p_client, 0);
_p_proxy->RequestGeom();
_r_proxy->RequestGeom();
}
Robot::~Robot() {
std::cout << "Destroying robot" << std::endl;
delete _p_proxy;
delete _r_proxy;
delete _p_client;
}
@@ -19,5 +24,15 @@ IASSS_Robot::~IASSS_Robot() {
}
void IASSS_Robot::run() {
sleep(10);
_p_client->Read();
if(_r_proxy->GetRange(0) < 0.2) {
_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45));
sleep(1);
} else if(_r_proxy->GetRange(_r_proxy->GetRangeCount()) < 0.2) {
_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45));
sleep(1);
} else {
_p_proxy->SetSpeed(0.3f, 0.0f);
}
}