Example #1
0
def full_obj_rec_test(u):
    coords = test_forward_until_scanned_both(u)
    if coords[1]:
        rospy.loginfo("precached sample detected")
        nav.turn_to_sample(u, coords, True)
        nav.move_til_sample(u, True)
        test_pickup_precached(u)
    else:
        rospy.loginfo("easy sample detected")
        nav.turn_to_sample(u, coords, False)
        nav.move_til_sample(u, False)
        test_pickup_easy(u)
Example #2
0
def full_obj_rec_test(u):
    coords = test_forward_until_scanned_both(u)
    if coords[1]:
        rospy.loginfo("precached sample detected")
        nav.turn_to_sample(u, coords, True)
        nav.move_til_sample(u, True)
        test_pickup_precached(u)
    else:
        rospy.loginfo("easy sample detected")
        nav.turn_to_sample(u, coords, False)
        nav.move_til_sample(u, False)
        test_pickup_easy(u)
Example #3
0
def test_scan_and_grab_easy(u):

    # move forward until scan cam sees sample
    coords = test_forward_until_scanned(u, False)

    # turn so that the sample is in front of the rover
    nav.turn_to_sample(u, coords, False)

    # move forward until the sample is seen by the pit cam, and park over it
    nav.move_til_sample(u, False)

    # pick up sample
    test_pickup_easy(u)
Example #4
0
def test_scan_and_grab_easy(u):
   
    # move forward until scan cam sees sample 
    coords = test_forward_until_scanned(u, False)

    # turn so that the sample is in front of the rover
    nav.turn_to_sample(u, coords, False)

    # move forward until the sample is seen by the pit cam, and park over it
    nav.move_til_sample(u, False)

    # pick up sample
    test_pickup_easy(u)
Example #5
0
def test_scan_and_grab_precached(u):
    coords = test_forward_until_scanned(u, True)
    nav.turn_to_sample(u, coords, True)
    nav.move_til_sample(u, True)
    test_pickup_precached(u)
Example #6
0
def test_scan_and_grab_precached(u):
    coords = test_forward_until_scanned(u, True)
    nav.turn_to_sample(u, coords, True)
    nav.move_til_sample(u, True)
    test_pickup_precached(u)