Commit 66d649c6 authored by Fredrik Bagge Carlson's avatar Fredrik Bagge Carlson
Browse files

update state_machine

parent e01ab7e6
d2r = 180/pi;
th_az = 5; % Degrees
step_distance = 0.1; % meters
% sendPosition.moveRelativePosition('map', moveFront, moveLeft, rotateClockwise);
while(true)
......@@ -12,14 +13,14 @@ while(true)
az = binauloc.Azimuths()*d2r;
if ~abs(az) < th_az
turn(az); % Relative, otherwise get current az and calc rel. value
sendPosition.moveRelativePosition('map', 0, 0, az);
continue
end
% The angle to the source is small enough, take a step forward
if ~there()
step_forward(step_distance);
sendPosition.moveRelativePosition('map', step_distance, 0, 0);
continue
end
......
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