/// <summary> /// The robot start to follow a human (guide phase). /// </summary> private int FollowHuman(int currentState, object o) { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> FollowHuman state reached."); //start saving the robot's path (hansel & gretel) cmdMan.MVN_PLN_startsavingpath(); cmdMan.HEAD_lookat(SMConfiguration.HeadHomePan, SMConfiguration.HeadHomeTilt, 10000); //Thread.Sleep(500); //cmdMan.HEAD_lookat(SMConfiguration.HeadFollowPan, SMConfiguration.HeadFollowTilt, 10000); //send the arms to a position above the laser cmdMan.ARMS_goto(SMConfiguration.ArmsFollowPosition); brain.SayAsync(SMConfiguration.StartFollowMessage); //start to follow a human cmdMan.MVN_PLN_startfollowhuman(); brain.recognizedSentences.Clear(); TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Waiting for location command"); return((int)States.WaitForLocationCommand); }