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ROSBuzz_MISTLab
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added buzz script editor to webcontrol

This commit is contained in:
dave 2018-06-05 17:22:25 -04:00
parent 845742767b
commit 6aa43f20bc
1 changed files with 4 additions and 5 deletions
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9
buzz_scripts/include/act/states.bzz
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@ -51,7 +51,6 @@ function goinghome() {
if(gohomeT > 0) { # TODO: Make a real check if home is reached if(gohomeT > 0) { # TODO: Make a real check if home is reached
gohome() gohome()
gohomeT = gohomeT - 1 gohomeT = gohomeT - 1
neighbors.broadcast("cmd", 20)
} else } else
BVMSTATE = AUTO_LAUNCH_STATE BVMSTATE = AUTO_LAUNCH_STATE
} }
@ -151,7 +150,6 @@ TARGET = 8.0
EPSILON = 30.0 EPSILON = 30.0
function lj_magnitude(dist, target, epsilon) { function lj_magnitude(dist, target, epsilon) {
lj = -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2) lj = -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
log(target, dist, epsilon, lj)
return lj return lj
} }
@ -184,16 +182,17 @@ function rc_cmd_listen() {
BVMSTATE = "LAUNCH" BVMSTATE = "LAUNCH"
neighbors.broadcast("cmd", 22) neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) { } else if(flight.rc_cmd==21) {
log("cmd 21")
flight.rc_cmd=0 flight.rc_cmd=0
AUTO_LAUNCH_STATE = "STOP" AUTO_LAUNCH_STATE = "STOP"
barrier_set(ROBOTS, "GOHOME", BVMSTATE, 21)
barrier_ready(21)
BVMSTATE = "GOHOME" BVMSTATE = "GOHOME"
neighbors.broadcast("cmd", 21) neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==20) { } else if(flight.rc_cmd==20) {
log("cmd 20")
flight.rc_cmd=0 flight.rc_cmd=0
AUTO_LAUNCH_STATE = "IDLE" AUTO_LAUNCH_STATE = "IDLE"
BVMSTATE = "GOHOME" barrier_set(ROBOTS, "GOHOME", BVMSTATE, 20)
barrier_ready(20)
neighbors.broadcast("cmd", 20) neighbors.broadcast("cmd", 20)
} else if(flight.rc_cmd==16) { } else if(flight.rc_cmd==16) {
flight.rc_cmd=0 flight.rc_cmd=0