def bug2main():
rospy.init_node('bug2')
pub=rospy.Publisher('rcout', bug2, queue_size=1)
sub=rospy.Subscriber('collision_detected', Float32, callback)
sub1=rospy.Subscriber('ir_array', ir_array, callback0)
rate=rospy.Rate(10)
msg=bug2()
msg.forward=0
msg.reverse=0
msg.spinright=0
msg.spinleft=0
msg.turnright=0
msg.turnleft=0
while not rospy.is_shutdown():###this is the in main function that will constantly run
#this shit turns it to manuel mode when we hit something
if collision_detected == 1:
set_mode_manual()
for retry in range(10):
test = right_or_left()
if test == "error":
test = "right"
if test == "right":
turn_right_wall_detected()
elif test == "left":
turn_left_wall_detected()
motor_forward()
time.sleep(3)
motor_stop()
main_code(test, 0)
def motor_stop():
pub=rospy.Publisher('rcout', bug2, queue_size=1)
msg=bug2()
msg.forward=0
msg.reverse=0
msg.spinright=0
msg.spinleft=0
msg.turnright=0
msg.turnleft=0
pub.publish(msg)
def motor_turn_left():
pub=rospy.Publisher('rcout', bug2, queue_size=1)
msg=bug2()
msg.turnleft=1
pub.publish(msg)
def motor_spin_right():
pub=rospy.Publisher('rcout', bug2, queue_size=1)
msg=bug2()
msg.spinright=1
pub.publish(msg)
def motor_reverse():
pub=rospy.Publisher('rcout', bug2, queue_size=1)
msg=bug2()
msg.reverse=1()
pub.publish(msg)
def motor_forward():
pub=rospy.Publisher('rcout', bug2, queue_size=1)
msg=bug2()
msg.forward=1
pub.publish(msg)