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Commit 5b07a503 authored by jad's avatar jad

changes on seq

parent df6f0aab
......@@ -57,7 +57,8 @@ In this project, you can run your own sequence, the sequence is a python list th
The Format is the following
```python
self.new_seq = ["mode_name",[["node_1","node_2"],["cond_1","cond_2"]],...]
new_seq_list = ["mode_name",[["node_1","node_2"],["cond_1","cond_2"]],...]
self.new_seq = Sequencer(new_seq_list)
```
Where ```mode_name``` is the string that when we receive on the ```/mode``` topic , the sequence will run.
......
......@@ -23,8 +23,10 @@ class Sequencer(object):
"""
doors_seq_list = ["doors",[["curveMotion"],["curveMotion"]],[["checkDoors","turnAng"],["checkDoors"]]]
init_seq_list = ["init",[ ["resetCmd"],[] ] ]
hallway_seq_list = ["hallways",[["detectVanish","computeTarX","computeTarY","computeTarZ"], [] ] ]
self.doors_seq = Sequence(doors_seq_list)
self.init_seq = Sequence(init_seq_list)
self.hallways_seq = Sequence(hallway_seq_list)
self.rate = rospy.Rate(20) #10Hz
def read_mode(self,ros_data):
......@@ -40,6 +42,8 @@ class Sequencer(object):
self.doors_seq.seq_fun()
#if(self.mode == self.new_seq.get_mode()):
#self.new_seq.seq_fun()
if(self.mode == self.hallways_seq.get_mode()):
self.hallways_seq.seq_fun()
def main(args):
rospy.init_node('Sequencer', anonymous=True)
sc = Sequencer()
......
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