Revision 4026134b

View differences:

scout/libscout/src/Behavior.cpp
106 106
    ros::spinOnce();
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    return;
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}
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/**
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 * Calls ros::spinOnce() in a loop until the duration is up.
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 */
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void Behavior::wait(float duration)
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{
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    ros::Rate r(WAIT_HZ);
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    int ticks = int(duration * 100);
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    for (int i = 0; i < ticks; i++)
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    {
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        spinOnce();
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        r.sleep();
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    }
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}
scout/libscout/src/Behavior.h
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typedef ros::Time Time;
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typedef ros::Duration Duration;
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#define WAIT_HZ 100     // Frequency of spinOnce() calls in wait()
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class Behavior
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{
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    public:
......
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        static bool ok();
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        static void spin();
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        static void spinOnce();
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        static void wait(float duration);
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};
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#endif
scout/libscout/src/BehaviorList.cpp
27 27
  behavior_list.push_back(behavior<line_follow>);
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  behavior_list.push_back(behavior<navigationMap>);
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  behavior_list.push_back(behavior<wl_test>);
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  behavior_list.push_back(behavior<Odometry_new>);
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  behavior_list.push_back(behavior<Scheduler>);
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  behavior_list.push_back(behavior<WH_Robot>);
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  behavior_list.push_back(behavior<maze_solve>);
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  behavior_list.push_back(behavior<maze_solve_simple>);
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  behavior_list.push_back(behavior<smart_runaround>);
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  return;
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}
scout/libscout/src/BehaviorList.h
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#include "behaviors/line_follow.h"
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#include "behaviors/navigationMap.h"
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#include "behaviors/wl_test.h"
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#include "test_behaviors/Odometry_new.h"
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#include "test_behaviors/Scheduler.h"
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#include "test_behaviors/WH_Robot.h"
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#include "test_behaviors/maze_solve.h"
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#include "test_behaviors/maze_solve_simple.h"
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#include "test_behaviors/smart_runaround.h"
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template<typename T> Behavior* behavior(std::string scoutname, Sensors* sensors){ return (Behavior*)new T(scoutname, sensors); } 
scout/libscout/src/test_behaviors/maze_solve_simple.cpp
1
/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
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 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
24
 */
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#include "maze_solve_simple.h"
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#define D_THRESH 600
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#define max(x,y) ((x > y) ? x : y)
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using namespace std;
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void maze_solve_simple::run()
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{    
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    ROS_INFO("Starting to solve the maze");
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    // Go up to the first line.
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    follow_line();
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    // Turn the sonar on.
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    sonar->set_on();
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    sonar->set_range(0, 23);
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    while (!at_destination())
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    {
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        // Wait for sonar to update.
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        wait(1.5);
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        int* readings = sonar->get_sonar_readings();
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        // Wait until the sonar gives us real values.
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        bool readings_ok = true;
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        for (int i = 0; i < 48; i++)
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        {
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            if (readings[i] == 0)
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            {
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                readings_ok = false;
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                break;
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            }
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        }
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        if (!readings_ok)
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        {
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            continue;
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        }
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        int r_read = max(readings[23], max(readings[24], readings[25]));
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        int s_read = max(readings[35], max(readings[36], readings[37]));
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        int l_read = max(readings[47], max(readings[0],  readings[1]));
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        if (r_read > D_THRESH)      // Right
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        {
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            ROS_INFO("Right.");
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            turn_right();
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        }
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        else if (s_read > D_THRESH) // Straight
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        {
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            ROS_INFO("Straight.");
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            turn_straight();
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        }
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        else if (l_read > D_THRESH)   // Left
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        {
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            ROS_INFO("Left.");
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            turn_left();
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        }
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        else                                                        // Deadend
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        {
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            ROS_INFO("Dead end.");
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            spot_turn();
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        }
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        follow_line();
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    }
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    ROS_INFO("I have solved the maze!");
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}
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bool maze_solve_simple::at_destination() 
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{
98
    vector<uint32_t> readings = linesensor->query();
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    if ( readings[0] > 200 &&
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         readings[1] < 55 &&
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         readings[2] < 55 &&
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         readings[3] > 200 &&
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         readings[4] > 200 &&
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         readings[5] < 55 &&
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         readings[6] < 55 &&
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         readings[7] > 200 )
107
    {
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        return true;
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    }
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    return false;
111
}
scout/libscout/src/test_behaviors/maze_solve_simple.h
1
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 */
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#ifndef _MAZE_SOLVE_SIMPLE_H_
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#define _MAZE_SOLVE_SIMPLE_H_
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#include <stdio.h>
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#include "../behaviors/line_follow.h"
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/**
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 * A very simple maze solver that always turns right.
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 */
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class maze_solve_simple: public line_follow
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{
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    public:
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        maze_solve_simple(std::string scoutname, Sensors* sensors):
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            line_follow(scoutname, "maze_solve_simple", sensors) {};
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        void run();
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    private:
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        bool at_destination();
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};
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#endif
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