Program Listing for File sti_spattern_rotate_4.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
namespace sm_dance_bot_warehouse
{
namespace s_pattern_states
{
// STATE DECLARATION
struct StiSPatternRotate4 : smacc2::SmaccState<StiSPatternRotate4, SS>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbAbsoluteRotate, OrNavigation>, StiSPatternForward4> ,
Transition<EvCbFailure<CbAbsoluteRotate, OrNavigation>, StiSPatternRotate4>
>reactions;
// STATE FUNCTIONS
static void staticConfigure() {}
void runtimeConfigure()
{
auto & superstate = this->context<SS>();
RCLCPP_INFO(
getLogger(), "[SsrSPatternRotate] SpatternRotate rotate: SS current iteration: %d/%d",
superstate.iteration_count, SS::total_iterations());
float offset = 90;
float angle = 0;
if (superstate.direction() == TDirection::LEFT)
angle = -90 - offset;
else
angle = 90 + offset;
this->configure<OrNavigation, CbAbsoluteRotate>(angle);
this->configure<OrNavigation, CbResumeSlam>();
this->configure<OrLED, CbLEDOff>();
}
};
} // namespace s_pattern_states
} // namespace sm_dance_bot_warehouse