def main(): velocities = (0.3, 0.3, 0.3) # m/s max_alt = 3000 # mm tag_timeout = 15 # seconds prev_state_timeout = 5 # seconds reacquisition = Reacquisition(velocities, max_alt, tag_timeout, prev_state_timeout) rate = rospy.Rate(10) # 10 Hz rospy.loginfo("Started Reacquisition Mode") while not rospy.is_shutdown(): # print reacquisition.transition_in if(state == 'reacquisition'): reacquisition.move() # if(reacquisition.timer() > reacquisition.max_time): # reacquisition.land() rate.sleep()
takeoff = Takeoff(takeoff_speed, takeoff_max_alt, takeoff_timeout) # Takeoff Mode Instantiation emergency = Emergency() # Take Picture Mode Instantiation takepicture_time = 300 # seconds # takepicture_max_time = 3 # seconds takepicture = TakePicture(takepicture_time) # Reacquisition Mode Instantiation reac_velocities = (0.3, 0.3, 0.3) # m/s reac_max_alt = 3000 # mm reac_tag_timeout = 15 # seconds reac_prev_state_timeout = 5 # seconds reac = Reacquisition(reac_velocities, reac_max_alt, reac_tag_timeout, reac_prev_state_timeout) # follow = Follow() # Create the timers to transition to Reacquisition mode # takeoff_to_reac_timer = rospy.Timer(rospy.Duration(takeoff_to_reac_timeout), goto_reacquisition) # land_to_reac_timer = rospy.Timer(rospy.Duration(land_to_reac_timeout), goto_reacquisition) # follow_to_reac_timer = rospy.Timer(rospy.Duration(follow_to_reac_timeout), goto_reacquisition) smach = Smach() # TODO: Test all of this # The start of it all # def main(): takeoff.turn_off_timer(takeoff.timer, 'Takeoff') land.turn_off_timer(land.timer, 'Land') reac.turn_off_timer(reac.prev_state_timer, 'Reac prev state')