BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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fixed bug.

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This commit is contained in:
Kayman 2018-09-07 13:16:54 +09:00
parent 879366f23e
commit 169cfefcca
1 changed files with 23 additions and 24 deletions
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47
op3_demo/src/soccer/soccer_demo.cpp
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@ -234,34 +234,33 @@ void SoccerDemo::trackingThread()
while (ros::ok())
{
if(enable_ == false || on_tracking_ball_ == false)
return;
// ball tracking
int tracking_status;
tracking_status = ball_tracker_.processTracking();
// set led
switch(tracking_status)
if(enable_ == true && on_tracking_ball_ == true)
{
case BallTracker::Found:
if(tracking_status_ != tracking_status)
setRGBLED(0x1F, 0x1F, 0x1F);
break;
// ball tracking
int tracking_status;
case BallTracker::NotFound:
if(tracking_status_ != tracking_status)
setRGBLED(0, 0, 0);
break;
tracking_status = ball_tracker_.processTracking();
default:
break;
// set led
switch(tracking_status)
{
case BallTracker::Found:
if(tracking_status_ != tracking_status)
setRGBLED(0x1F, 0x1F, 0x1F);
break;
case BallTracker::NotFound:
if(tracking_status_ != tracking_status)
setRGBLED(0, 0, 0);
break;
default:
break;
}
if(tracking_status != tracking_status_)
tracking_status_ = tracking_status;
}
if(tracking_status != tracking_status_)
tracking_status_ = tracking_status;
//relax to fit output rate
loop_rate.sleep();
}