"Applicazione di un laser range scanner a un robot mobile", 2010
"Applicazione di un laser range scanner a un robot mobile", 2010
"Applicazione di un laser range scanner a un robot mobile", 2010
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}<br />
tobor.comStrN(ArCommands::SAY,t<strong>un</strong>e,2);<br />
if ((tobor.getDigIn()&64)&&pinzagiu){<br />
pinza.gripOpen(); //che invece la chiude<br />
// prova a fare beep<br />
}<br />
char t<strong>un</strong>e[6]={100,30,25,62,25,64};<br />
tobor.comStrN(ArCommands::SAY,t<strong>un</strong>e,2);<br />
pinzagiu=false;<br />
// list in<strong>di</strong>ces of bumpers flaged in stallval<br />
// skip the last bit which is a motor stall flag<br />
ArTypes::UByte2 bumpmask = ArUtil::BIT15;<br />
int bump = 0;<br />
for(int bit = 16; bit > 0; bit--)<br />
{<br />
if(bit == 9) // this is also a motor stall bit<br />
{<br />
}<br />
bumpmask = bumpmask >> 1;<br />
bit--;<br />
continue;<br />
63