Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "ParkScout.h"

#define LEFT_EMITTER_ID 1

#define RIGHT_EMITTER_ID 0

#define LEFT 1

#define RIGHT 2

#define NEITHER 0

using namespace std;

ParkScout::ParkScout(string scoutname, Sensors* sensors) 

    : Behavior(scoutname, "Park Scout", sensors) {

    name = scoutname;

    scout_pos = new pos;

}

void ParkScout::run() {

    update_readings();

    start_side = get_side();

    while (ok() && ((start_side == LEFT && checkBOM(3, RIGHT_EMITTER_ID)) ||

           (start_side == RIGHT && checkBOM(6, LEFT_EMITTER_ID)))) {

       motors->set_sides(25, 25, MOTOR_PERCENT);

       update_readings();

     }

    motors->set_sides(0, 0, MOTOR_PERCENT);

    while(ok()) {  

        update_readings(); 

        reverse_park(); 

    }

}

bool ParkScout::reverse_park() {

    if(checkBOM(5, LEFT_EMITTER_ID) ||

       checkBOM(4, RIGHT_EMITTER_ID)) { //move forward

        motors->set_sides(10, 10, MOTOR_PERCENT);

    }

    else if(checkBOM(4, LEFT_EMITTER_ID) && 

            checkBOM(5, RIGHT_EMITTER_ID)) {

        motors->set_sides(-20, -20, MOTOR_PERCENT);

        return true;

    }

    else {   

        if (start_side == RIGHT) { //reverseright

            motors->set_sides(-40, -10, MOTOR_PERCENT);

        }

        else { //reverseleft

            motors->set_sides(-10, -40, MOTOR_PERCENT);

        }

    }

    return false;    

}

int ParkScout::get_side() {

    if ((readings[1] > 0 || readings[2] > 0|| readings[3] > 0) &&

        (readings[6] == 0 && readings[7] == 0 && readings[8] == 0)) {

        return LEFT;

    }

    else if ((readings[6] > 0 || readings[7] > 0|| readings[8] > 0) &&

        (readings[1] == 0 && readings[2] == 0 && readings[3] == 0)) {

        return RIGHT;

    }

    else {

            return NEITHER;

    }

}

bool ParkScout::checkBOM(int bNum, unsigned int ID) {    

    if(readings[bNum] == true) {

        //ROS_INFO("Emitter ID: %d", senders[bNum]);

        return senders[bNum] == ID;

    }    

    return false;

}

void ParkScout::update_readings() {

    BomReadings bomR = bom->query();

    readings = bomR.readings;

    senders = bomR.senders;

}