Revision 7db6cf9f scout/libscout/src/test_behaviors/smart_runaround.cpp

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scout/libscout/src/test_behaviors/smart_runaround.cpp
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    return output;
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}
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// TODO This is bad! It's defined globally across all behaviors. Please fix this. -Alex
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// @todo This is bad! It's defined globally across all behaviors. Please fix this. -Alex
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Duration sonar_update_time2(1.5);
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// THIS VERSION MODIFIED BY ZANE
......
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 * and turns the scout to the intended direction
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 */
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void smart_runaround::turn_from_to(int current_dir, int intended_dir) {
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    switch ((4 + intended_dir - current_dir) % 4) // TODO: Try without "4 +" at start
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    switch ((4 + intended_dir - current_dir) % 4) // @todo: Try without "4 +" at start
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    {
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        case 0:
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	    turn_straight(intended_dir);
......
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    return true;
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}
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// TODO: test this function
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// @todo: test this function
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// return true iff the map has been completely explored
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// and only true if it "returned" to home destination after solving
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bool smart_runaround::at_destination() 
......
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    return false;
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}
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// TODO: test these functions to make sure robot moves well
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// @todo: test these functions to make sure robot moves well
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// move forward one block in direction "dir"
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void smart_runaround::turn_straight(int dir)
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{
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    // TODO: try to use motor encoder values to move forward enough
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    // @todo: try to use motor encoder values to move forward enough
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    motors->set_sides(BASESPEED, BASESPEED, MOTOR_ABSOLUTE);
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    spinOnce();
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    Duration moveTime(1.0);

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