tut_follower.orogen

name "tut_follower"

using_library 'motor_controller'
# To get the PIDSettings class and export is as property
import_types_from "motor_controller/PID.hpp"
# Get the base types
import_types_from "base"
# And get the debug type
import_types_from "FollowerTypes.hpp"
import_types_from 'tut_sensor'

task_context "Task" do
    # The parameters of the distance controller (which controls speed)
    property "pid_distance", "/motor_controller/PIDSettings"
    # The parameters of the heading controller (which controls direction)
    property "pid_heading", "/motor_controller/PIDSettings"
    # The distance at which we should follow our target
    property "desired_distance", "double", 0

    # Bearing and distance to our target
    input_port "bearing_distance", "/rock_tutorial/BearingDistanceSensor"

    # The command
    output_port "cmd", "/base/commands/Motion2D"

    output_port "debug", "tut_follower/Debug"

    # Update when we get a new position
    port_driven
end