本文整理汇总了C++中ArGripper::isLiftMaxed方法的典型用法代码示例。如果您正苦于以下问题：C++ ArGripper::isLiftMaxed方法的具体用法？C++ ArGripper::isLiftMaxed怎么用？C++ ArGripper::isLiftMaxed使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ArGripper的用法示例。
在下文中一共展示了ArGripper::isLiftMaxed方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: if
ArActionDesired *Acquire::fire(ArActionDesired currentDesired)
{
myDesired.reset();
myDesired.setVel(0);
switch (myState) {
case STATE_START_LOOKING:
myFirstTurn.clear();
mySecondTurn.clear();
myState = STATE_LOOKING;
myGripper->liftUp();
myGripper->gripClose();
printf("Acquire: Raising lift\n");
myStartUp.setToNow();
myTryingGripper = true;
case STATE_LOOKING:
if (myTryingGripper && (myStartUp.mSecSince() < 600 ||
((!myGripper->isLiftMaxed() ||
myGripper->getGripState() != 2) &&
myStartUp.mSecSince() < 5000)))
{
myGripper->liftUp();
myGripper->gripClose();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
else if (myTryingGripper)
{
printf("Acquire: Done raising lift %ld after started.\n",
myStartUp.mSecSince());
myTryingGripper = false;
}
if (myActs->getNumBlobs(myChannel) > 0)
{
myDesired.setDeltaHeading(0);
myState = STATE_SUCCEEDED;
printf("Acquire: Succeeded!\n");
}
else if (myFirstTurn.didAll() && mySecondTurn.didAll())
{
myDesired.setDeltaHeading(0);
myState = STATE_FAILED;
printf("Acquire: Did two revolutions, didn't see the blob, Failed!\n");
}
else
{
myFirstTurn.update(myRobot->getTh());
if (myFirstTurn.didAll())
mySecondTurn.update(myRobot->getTh());
myDesired.setDeltaHeading(8);
}
return &myDesired;
default:
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
}示例2: if
ArActionDesired *DropOff::fire(ArActionDesired currentDesired)
{
ArPose pose;
ArACTSBlob blob;
bool blobSeen = false;
double xRel, yRel;
double dist;
myDesired.reset();
if (myState == STATE_SUCCEEDED)
{
printf("DropOff: Succeeded\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
else if (myState == STATE_FAILED)
{
printf("DropOff: Failed\n");
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
return &myDesired;
}
if (myActs->getNumBlobs(myChannel) > 0 &&
(blobSeen = myActs->getBlob(myChannel, 1, &blob)))
{
myLastSeen.setToNow();
}
// this if the stuff we want to do if we're not going to just drive forward
// and home in on the color, ie the pickup-specific stuff
if (myState == STATE_START_LOOKING)
{
mySentGripper.setToNow();
myPointedDown = false;
myState = STATE_LOOKING;
myLastSeen.setToNow();
myTried = false;
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
//myWaitingOnGripper = true;
myWaitingOnLower = false;
myLowered = false;
myWaitingOnRaised = false;
myStartRaised = false;
printf("@@@@@ DropOff: Starting\n");
}
// we want to sit still until the lift is down or for a second and a half
/*
if (myWaitingOnGripper)
{
if (mySentGripper.mSecSince() < 500 ||
(myGripper->getGripState() != 1
&& mySentGripper.mSecSince() < 4000))
{
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
return &myDesired;
}
else
{
myWaitingOnGripper = false;
}
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
}
*/
//printf("sensors %d %d stall %d %d\n",!(myRobot->getDigIn() & ArUtil::BIT2),
//!(myRobot->getDigIn() & ArUtil::BIT3),
//myRobot->isLeftMotorStalled(), myRobot->isRightMotorStalled());
if ((myRobot->isLeftBreakBeamTriggered() &&
myRobot->isRightBreakBeamTriggered()) ||
myRobot->isLeftMotorStalled() || myRobot->isRightMotorStalled())
{
if (!myWaitingOnLower && !myLowered && !myWaitingOnRaised)
{
myWaitingOnLower = true;
printf("DropOff: Lowering gripper\n");
mySentGripper.setToNow();
}
}
if (myWaitingOnLower)
{
/// TODO
if (mySentGripper.mSecSince() < 600 ||
(!myGripper->isLiftMaxed() && mySentGripper.mSecSince() < 20000))
{
myGripper->liftDown();
myDesired.setVel(0);
myDesired.setDeltaHeading(0);
myLastMoved.setToNow();
myLastPose = myRobot->getPose();
return &myDesired;
}
else
//.........这里部分代码省略.........
示例3: handler
//.........这里部分代码省略.........
return;
}
if (myDriveTo->getState() == DriveTo::STATE_FAILED)
{
printf("###### DriveToDropWall: failed\n");
setState(STATE_FAILED);
//handler();
return;
}
else if (myDriveTo->getState() == DriveTo::STATE_SUCCEEDED)
{
printf("###### DriveToDropWall: succesful\n");
setState(STATE_DROP);
//handler();
return;
}
break;
case STATE_DROP:
if (myNewState)
{
printf("!! Drop\n");
printf("@@@@@ Drop lowering lift\n");
myGripper->liftDown();
myNewState = false;
myAcquire->deactivate();
myPickUp->deactivate();
myDriveTo->deactivate();
myBackup->deactivate();
myGripOpenSent = false;
}
myGripper->liftDown();
if ((myStateStart.mSecSince() > 500 &&
myGripper->isLiftMaxed() && myStateStart.mSecSince() < 5000) ||
myStateStart.mSecSince() > 5000)
{
myGripper->gripOpen();
/*if (!myGripOpenSent)
{
ArUtil::sleep(3);
myGripper->gripOpen();
}
myGripOpenSent = true;
*/
}
if (myGripper->getGripState() == 1 || myStateStart.mSecSince() > 6000)
{
printf("###### Drop: success\n");
setState(STATE_DROP_BACKUP);
//handler();
return;
}
break;
case STATE_DROP_BACKUP:
if (myNewState)
{
printf("!! Drop backup\n");
myAcquire->deactivate();
myPickUp->deactivate();
myDriveTo->deactivate();
myBackup->activate();
myNewState = false;
}
if (myStateStart.mSecSince() > 2000)
{
printf("###### Drop_Backup: done\n");