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 "ApproachEmitter.h"

#define BOM_W1 5

#define BOM_W2 10

#define BOM_W3 15

#define BOM_W4 20

#define BOM_W5 30

using namespace std;

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

    : Behavior(scoutname, "Approach Emitter", sensors) {

    name = scoutname;

    scout_pos = new pos;

}

void ApproachEmitter::run() {

    BomReadings bomR;

    int r_weighted, l_weighted;

    int speed = 20;

    vector<uint32_t> r;

    vector<uint32_t> s;

    while (ok()) {

        bomR = bom->query();

        r = bomR.readings;

        s = bomR.senders;

        if (accumulate(r.begin(), r.end(), 0)) {

           l_weighted = r[0] *BOM_W1 + r[1]*BOM_W2 + r[2]*BOM_W3 + r[3]*BOM_W4 + r[4]*BOM_W5;

           r_weighted = r[9] *BOM_W1 + r[8]*BOM_W2 + r[7]*BOM_W3 + r[6]*BOM_W4 - r[5]*BOM_W5;

           motors->set_sides(min(r_weighted+speed, 100),

                             min(l_weighted+speed, 102),  MOTOR_PERCENT);

        }

    }

}