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ROSBuzz_MISTLab
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test

This commit is contained in:
David 2017-02-22 22:22:12 +00:00
parent 271e4e5004
commit e12bd4e983
1 changed files with 6 additions and 6 deletions
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12
src/testflockfev.bzz
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@ -13,7 +13,7 @@ neighbors.broadcast(updated, update_no)
} }
TARGET_ALTITUDE = 5.0 TARGET_ALTITUDE = 5.0
CURSTATE = TURNEDOFF CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters # Lennard-Jones parameters
TARGET = 10.0 #0.000001001 TARGET = 10.0 #0.000001001
@ -37,7 +37,7 @@ function lj_sum(rid, data, accum) {
# Calculates and actuates the flocking interaction # Calculates and actuates the flocking interaction
function hexagon() { function hexagon() {
statef=hexagon statef=hexagon
CURSTATE=HEXAGON CURSTATE = "HEXAGON"
# Calculate accumulator # Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0)) var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0) if(neighbors.count() > 0)
@ -91,7 +91,7 @@ function barrier_wait(threshold, transf) {
function idle() { function idle() {
statef=idle statef=idle
CURSTATE=IDLE CURSTATE = "IDLE"
neighbors.listen("cmd", neighbors.listen("cmd",
function(vid, value, rid) { function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid) print("Got (", vid, ",", value, ") from robot #", rid)
@ -132,7 +132,7 @@ function land() {
# Executed once at init time. # Executed once at init time.
function init() { function init() {
statef=idle statef=idle
CURSTATE=IDLE CURSTATE = "IDLE"
} }
# Executed at each time step. # Executed at each time step.
@ -142,14 +142,14 @@ function step() {
log("cmd 22") log("cmd 22")
flight.rc_cmd=0 flight.rc_cmd=0
statef = takeoff statef = takeoff
CURSTATE = TAKEOFF CURSTATE = "TAKEOFF"
neighbors.broadcast("cmd", 22) neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) { } else if(flight.rc_cmd==21) {
log("cmd 21") log("cmd 21")
log("To land") log("To land")
flight.rc_cmd=0 flight.rc_cmd=0
statef = land statef = land
CURSTATE = LAND CURSTATE = "LAND"
neighbors.broadcast("cmd", 21) neighbors.broadcast("cmd", 21)
} else if(flight.rc_cmd==16) { } else if(flight.rc_cmd==16) {
flight.rc_cmd=0 flight.rc_cmd=0