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ROSBuzz_MISTLab
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test lj

This commit is contained in:
David St-Onge 2017-04-02 22:44:47 -04:00
parent c83f50d0d4
commit 71f72e5e59
1 changed files with 15 additions and 15 deletions
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30
src/testflockfev.bzz
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@ -99,22 +99,7 @@ function barrier_wait(threshold, transf) {
function idle() { function idle() {
statef=idle statef=idle
CURSTATE = "IDLE" CURSTATE = "IDLE"
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22) {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400) {
uav_arm()
} else if(value==401){
uav_disarm()
}
}
)
} }
function takeoff() { function takeoff() {
@ -180,6 +165,21 @@ function step() {
uav_disarm() uav_disarm()
neighbors.broadcast("cmd", 401) neighbors.broadcast("cmd", 401)
} }
neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22 and statef==idle) {
statef=takeoff
} else if(value==21) {
statef=land
} else if(value==400 and statef==idle) {
uav_arm()
} else if(value==401 and statef==idle){
uav_disarm()
}
}
)
statef() statef()
log("Current state: ", CURSTATE) log("Current state: ", CURSTATE)
log("Swarm size: ",ROBOTS) log("Swarm size: ",ROBOTS)