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tutorials:beginner:assigning_actions_2 [2019/07/09 18:27] – [Setting up fact groups to select a process module] gkazhoyatutorials:beginner:assigning_actions_2 [2019/07/29 10:36] – Added turtlesim-srv to the dependencies amar
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 (defsystem cram-my-beginner-tutorial (defsystem cram-my-beginner-tutorial
   :depends-on (cram-language roslisp turtlesim-msg geometry_msgs-msg cl-transforms   :depends-on (cram-language roslisp turtlesim-msg geometry_msgs-msg cl-transforms
-                             cram-designators cram-prolog+                             cram-designators cram-prolog turtlesim-srv
                              cram-process-modules cram-language-designator-support                              cram-process-modules cram-language-designator-support
                              cram-executive)                              cram-executive)
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 <code lisp> <code lisp>
-TUT> (defparameter fast-circle (desig:a motion (type driving) (speed 10) (angle 7))) +TUT> (defparameter *fast-circle* (desig:a motion (type driving) (speed 10) (angle 7))) 
-FAST-CIRCLE +*FAST-CIRCLE* 
-TUT> (defparameter goal (desig:a motion (type moving) (goal (1 9 0)))) +TUT> (defparameter *goal* (desig:a motion (type moving) (goal (1 9 0)))) 
-GOAL +*GOAL* 
-TUT> (defparameter pen-off (desig:a motion (type setting-pen) (off 1))) +TUT> (defparameter *pen-off* (desig:a motion (type setting-pen) (off 1))) 
-PEN-OFF+*PEN-OFF*
 </code> </code>
  
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 <code lisp> <code lisp>
-TUT> (perform-some-motion fast-circle)+TUT> (perform-some-motion *fast-circle*)
 [(TURTLE-PROCESS-MODULES) INFO] 1501142699.638: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE [(TURTLE-PROCESS-MODULES) INFO] 1501142699.638: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
                                                                            DRIVING)                                                                            DRIVING)
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 <code lisp> <code lisp>
-(perform-some-motion goal)+(perform-some-motion *goal*)
 [(TURTLE-PROCESS-MODULES) INFO] 1501142702.867: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE [(TURTLE-PROCESS-MODULES) INFO] 1501142702.867: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
                                                                            MOVING)                                                                            MOVING)
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 </code> </code>
  
-You can also perform ''pen-off'' and then one of the others to see that the turtle doesn't leave a trace anymore.+You can also perform ''*pen-off*'' and then one of the others to see that the turtle doesn't leave a trace anymore.
  
 <code lisp> <code lisp>
- (perform-some-motion pen-off)+ (perform-some-motion *pen-off*)
 [(TURTLE-PROCESS-MODULES) INFO] 1504786623.566: TurtleSim pen control invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE [(TURTLE-PROCESS-MODULES) INFO] 1504786623.566: TurtleSim pen control invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
                                                                             SETTING-PEN)                                                                             SETTING-PEN)
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                                                                             1)) {1002BB26A3}>'.                                                                             1)) {1002BB26A3}>'.
 [TURTLESIM-SRV:SETPEN-RESPONSE] [TURTLESIM-SRV:SETPEN-RESPONSE]
-TUT> (perform-some-motion fast-circle)+TUT> (perform-some-motion *fast-circle*)
 [(TURTLE-PROCESS-MODULES) INFO] 1504786630.845: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE [(TURTLE-PROCESS-MODULES) INFO] 1504786630.845: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
                                                                            DRIVING)                                                                            DRIVING)