while not rospy.is_shutdown():
print state
# NOTE: There are some subtleties here. We want to be able to use more than
# one mode for certain modes which is why follow mode is on it's own
# Check if we're in takeoff mode
if (state == 'takeoff'):
print "Takeoff Mode"
# NOTE: This was copy and pasted from the takeoff node
# To get this guy to take off! For some reason just calling this
# function once does not work. This value (50) was determined
# experimentally
# TODO: Turn on takeoff mode's timer and turn off every other mode's
# timers EXCEPT take picture
takeoff.turn_on_timer(takeoff.timer, 'Takeoff')
land.turn_off_timer(land.timer, 'Land')
reac.turn_off_timer(reac.prev_state_timer, 'Reac prev state')
reac.turn_off_timer(reac.land_timer, 'Reac land')
# print "Turned on Takeoff Timer"
# print "Turned off Land, Previous State, and Land timers"
while takeoff_counter < 50:
takeoff.launch()
takeoff_counter += 1
rate.sleep()
if(takeoff.altitude < takeoff.max_altitude):
rospy.loginfo("Go up!")
takeoff.change_altitude(takeoff_speed)
elif(takeoff.altitude >= takeoff.max_altitude):
takeoff_speed = 0
rospy.loginfo("Stop!")
while not rospy.is_shutdown():
print state
# NOTE: There are some subtleties here. We want to be able to use more than
# one mode for certain modes which is why follow mode is on it's own
# Check if we're in takeoff mode
if (state == 'takeoff'):
print "Takeoff Mode"
# NOTE: This was copy and pasted from the takeoff node
# To get this guy to take off! For some reason just calling this
# function once does not work. This value (50) was determined
# experimentally
# TODO: Turn on takeoff mode's timer and turn off every other mode's
# timers EXCEPT take picture
takeoff.turn_on_timer(takeoff.timer, 'Takeoff')
land.turn_off_timer(land.timer, 'Land')
reac.turn_off_timer(reac.prev_state_timer, 'Reac prev state')
reac.turn_off_timer(reac.land_timer, 'Reac land')
# print "Turned on Takeoff Timer"
# print "Turned off Land, Previous State, and Land timers"
while takeoff_counter < 50:
takeoff.launch()
takeoff_counter += 1
rate.sleep()
if (takeoff.altitude < takeoff.max_altitude):
rospy.loginfo("Go up!")
takeoff.change_altitude(takeoff_speed)
elif (takeoff.altitude >= takeoff.max_altitude):
takeoff_speed = 0
rospy.loginfo("Stop!")
