"Applicazione di un laser range scanner a un robot mobile", 2010

}
tobor.unlock();
tobor.lock();
tobor.setVel(100);
if ((tobor.getDigIn()&128)&&pinzagiu){
// prova a fare beep
}
char tune[6]={5,20,25,62,25,64};
tobor.comStrN(ArCommands::SAY,tune,2);
if ((tobor.getDigIn()&64)&&pinzagiu){
pinza.gripOpen(); //che invece la chiude
// prova a fare beep
}
char tune[6]={100,30,25,62,25,64};
tobor.comStrN(ArCommands::SAY,tune,2);
pinzagiu=false;
// list indices of bumpers flaged in stallval
// skip the last bit which is a motor stall flag
ArTypes::UByte2 bumpmask = ArUtil::BIT15;
int bump = 0;
for(int bit = 16; bit > 0; bit--)
50