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scoutos / scout / libscout / src / test_behaviors / smart_runaround.h @ 4c9fb6ba

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/**
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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
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * 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
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#ifndef _SMART_RUNAROUND_H_
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#define _SMART_RUNAROUND_H_
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#include <math.h>
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#include "../behaviors/line_follow.h"
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/* Details about map:
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 * 1 meter = 200 pixels
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 * 1 block is a 13x13 pixel section
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 * actual meter x meter map has 15 blocks in one row/column
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 * # blocks per robot map row = 2*(block per map's row)-1
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 */
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// number of blocks in one row/column of robot's map
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#define MAP_LENGTH 29
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class smart_runaround: public line_follow
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{
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    public:
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        smart_runaround(std::string scoutname, Sensors* sensors):
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            line_follow(scoutname, "smart_runaround", sensors) {};
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        void run();
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    private:
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        int choose_direc(int row, int col, int info);
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        void turn_from_to(int current_dir, int intended_dir);
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        bool look_around(int row, int col, int dir);
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        bool at_destination();
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        // functions for changing direction or moving
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        void turn_straight(int dir);
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        void turn_right();
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        void spot_turn();
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        void turn_left();
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        /* Initialize map so that boundaries MAP_LENGTH away
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         * from the center. Then car won't go outside of
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         * map even if it starts at a boundary and goes to
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         * the other side.
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         * Rows top to bottom, and columns left to right
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         */
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        int map[MAP_LENGTH][MAP_LENGTH];
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};
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#endif
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