t

tb3.py

@@ -36,7 +36,7 @@ class Tb3(Node):
         cmd_vel_msg = Twist()
         cmd_vel_msg.linear.x = MAX_LIN_VEL * lin_vel_percent / 100
         cmd_vel_msg.angular.z = MAX_ANG_VEL * ang_vel_percent / 100
-
+    
         self.cmd_vel_pub.publish(cmd_vel_msg)
         self.ang_vel_percent = ang_vel_percent
         self.lin_vel_percent = lin_vel_percent
@@ -65,7 +65,20 @@ class Tb3(Node):
             self.walls+=1
             while(time.time() < start+1):
                 print(self.walls)"""
+
+    def challenge0(self, msg):
+        smallest_dist = msg.ranges[0]
+        for elem in msg.ranges:
+            if elem < smallest_dist:
+                smallest_dist = elem
+        print(smallest_dist)
     
+    def challenge1(self,msg):
+        if((msg.intensities[0] == 2.0) and (msg.ranges[0] < 0.42)):
+            self.stop()
+        else:
+            self.vel(100,0)
+
     def world5(self, msg):
         if(self.start == True):
             if(msg.ranges[0]> 0.4):
@@ -88,8 +101,29 @@ class Tb3(Node):
         if((msg.intensities[0] == 2.0) and (msg.ranges[0] < 0.42)):
             self.stop()
 
-        
+    def bonuschallenge(self, msg):
+        left_side = msg.ranges[320:360]
+        right_side = msg.ranges[0:40]
+        front_area = left_side + right_side
+        turn = False
+        for elem in front_area:
+            if(elem < 0.35 and elem != 0.0):
+                turn = True
+        if(turn):        
+            self.turn_left(msg)
+        else:
+            self.vel(70,0)
 
+    def challenge4(self,msg):
+        if((msg.ranges[0] < 0.4) and (msg.ranges[0] != 0.0)):
+            self.vel(0,38)
+            time.sleep(4)
+            self.vel(0,0)
+        elif(msg.intensities[0] == 2.0) and (msg.ranges[0] < 0.42)):
+            self.stop()
+        else: 
+            self.vel(70,0)
+            
     def world2(self, msg):
         left_side = msg.ranges[320:360]
         right_side = msg.ranges[0:40]
@@ -114,16 +148,14 @@ class Tb3(Node):
         self.vel(0,34)
         
             
-    def turn(self,dist):
-        if((dist < 0.5) and (dist != 0.0)):
-            self.vel(0,0)
+    def challenge2(self,dist):
+        if((dist < 0.4) and (dist != 0.0)):
             self.vel(0,38)
             time.sleep(4)
             self.vel(0,0)
-            self.turns+=1
         else: 
-            self.vel(50,0)
-        if(self.turns > 5):
+            self.vel(70,0)
+        if(self.turns > 0):
             self.stop()
     
     def color(self, msg):