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organize code #6

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14 changes: 7 additions & 7 deletions comandos.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -34,13 +34,13 @@ sudo udevadm control --reload-rules
sudo udevadm trigger

echo -e "${blue} setup commands${NC}"
sudo mv ~/RoboFEI-HT_2022_SOFTWARE/scripts/compile.sh /usr/local/bin/compile
sudo mv ~/RoboFEI-HT_2022_SOFTWARE/scripts/imu.sh /usr/local/bin/imu
sudo mv ~/RoboFEI-HT_2022_SOFTWARE/scripts/control.sh /usr/local/bin/control
sudo mv ~/RoboFEI-HT_2022_SOFTWARE/scripts/vision.sh /usr/local/bin/vision
sudo mv ~/RoboFEI-HT_2022_SOFTWARE/scripts/decision.sh /usr/local/bin/decision
sudo mv ~/RoboFEI-HT_2022_SOFTWARE/scripts/gamecontroller.sh /usr/local/bin/gamecontroller
sudo mv ~/RoboFEI-HT_2022_SOFTWARE/scripts/motors.sh /usr/local/bin/motors
sudo cp ~/RoboFEI-HT_2022_SOFTWARE/scripts/compile.sh /usr/local/bin/compile
sudo cp ~/RoboFEI-HT_2022_SOFTWARE/scripts/imu.sh /usr/local/bin/imu
sudo cp ~/RoboFEI-HT_2022_SOFTWARE/scripts/control.sh /usr/local/bin/control
sudo cp ~/RoboFEI-HT_2022_SOFTWARE/scripts/vision.sh /usr/local/bin/vision
sudo cp ~/RoboFEI-HT_2022_SOFTWARE/scripts/decision.sh /usr/local/bin/decision
sudo cp ~/RoboFEI-HT_2022_SOFTWARE/scripts/gamecontroller.sh /usr/local/bin/gamecontroller
sudo cp ~/RoboFEI-HT_2022_SOFTWARE/scripts/motors.sh /usr/local/bin/motors

sudo chown root: /usr/local/bin/compile /usr/local/bin/imu /usr/local/bin/control /usr/local/bin/vision /usr/local/bin/decision /usr/local/bin/gamecontroller /usr/local/bin/motors
sudo chmod 755 /usr/local/bin/compile /usr/local/bin/imu /usr/local/bin/control /usr/local/bin/vision /usr/local/bin/decision /usr/local/bin/gamecontroller /usr/local/bin/motors
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1 change: 1 addition & 0 deletions scripts/compile.sh
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@@ -1,5 +1,6 @@
#!/bin/bash

cd ~/RoboFEI-HT_2022_SOFTWARE
sudo rm -rf build install log runs
colcon build
source install/setup.bash
6 changes: 3 additions & 3 deletions src/decision_pkg/src/decision_pkg/decision_pkg/decision_node.py
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Expand Up @@ -18,7 +18,7 @@
# ros2 topic pub -1 /neck_position custom_interfaces/msg/NeckPosition "{position19: 2048, position20: 2048}"

TEAM_ROBOFEI = 7
ROBOT_NUMBER = 1 # JOGADOR, PARA GOLEIRO COLOCAR 0
ROBOT_NUMBER = 1 # Goleiro = 1, jogadores != 1
LADO = 0 # 0 vira para o lado DIREITO e 1 para o lado ESQUERDO, depende de que lado o nosso time vai começar


Expand Down Expand Up @@ -112,7 +112,7 @@ def listener_callback(self, msg):

def timer_callback(self):
message = Decision()
if(ROBOT_NUMBER == 1): # JOGADOR
if(ROBOT_NUMBER != 1): # JOGADOR
if(self.gamestate == 0): # Initial state - Robô parado em pé
self.ready_robot = False
self.stand_still(message)
Expand Down Expand Up @@ -278,7 +278,7 @@ def timer_callback(self):
elif(self.gamestate == 4): # Jogo terminou, robô sai do campo
self.stand_still(message)

elif(ROBOT_NUMBER == 0): # GOLEIRO
else: # GOLEIRO
if(self.gamestate == 0): # Initial state - Robô parado em pé
self.stand_still(message)
self.get_logger().info('INITIAL: Initial State')
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