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ROSBuzz_MISTLab
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tweaks for RC demo

This commit is contained in:
dave 2019-02-14 13:18:07 -05:00
parent 6a8ff44ee7
commit 499484778b
3 changed files with 8 additions and 8 deletions
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2
buzz_scripts/include/act/states.bzz
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@ -175,7 +175,7 @@ function goinghome() {
if(math.vec2.length(m_navigation) < GOTODIST_TOL){ # reached destination if(math.vec2.length(m_navigation) < GOTODIST_TOL){ # reached destination
BVMSTATE = AUTO_LAUNCH_STATE BVMSTATE = AUTO_LAUNCH_STATE
} else { } else {
m_navigation = LimitSpeed(m_navigation, 3.0) m_navigation = LimitSpeed(m_navigation, 1.0)
#m_navigation = LCA(m_navigation) #m_navigation = LCA(m_navigation)
goto_abs(m_navigation.x, m_navigation.y, cur_goal.altitude - pose.position.altitude, 0.0) goto_abs(m_navigation.x, m_navigation.y, cur_goal.altitude - pose.position.altitude, 0.0)
} }

10
buzz_scripts/include/utils/takeoff_heights.bzz
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@ -1,11 +1,11 @@
takeoff_heights ={ takeoff_heights ={
.0 = 0.0, .0 = 0.0,
.1 = 32.0, .1 = 8.0,
.2 = 28.0, .2 = 10.0,
.3 = 24.0, .3 = 12.0,
.4 = 20.0, .4 = 14.0,
.5 = 16.0, .5 = 16.0,
.6 = 12.0, .6 = 18.0,
.9 = 8.0, .9 = 8.0,
.11 = 6.0, .11 = 6.0,
.14 = 9.0, .14 = 9.0,

4
buzz_scripts/main.bzz
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@ -12,7 +12,7 @@ include "utils/takeoff_heights.bzz"
#State launched after takeoff #State launched after takeoff
AUTO_LAUNCH_STATE = "YOLO_DEMO" AUTO_LAUNCH_STATE = "IDLE"
LAND_AFTER_BARRIER_EXPIRE = 1 # if set to be 1 , the robots will land after barrier expire; if set to be 0, the robots will carry on to AUTO_LAUNCH_STATE. LAND_AFTER_BARRIER_EXPIRE = 1 # if set to be 1 , the robots will land after barrier expire; if set to be 0, the robots will carry on to AUTO_LAUNCH_STATE.
##### #####
@ -39,7 +39,7 @@ function init() {
nei_cmd_listen() nei_cmd_listen()
# Starting state: TURNEDOFF to wait for user input. # Starting state: TURNEDOFF to wait for user input.
BVMSTATE = "LAUNCH" BVMSTATE = "TURNEDOFF"
} }
# Executed at each time step. # Executed at each time step.