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scoutos / scout / libscout / src / Sensors.cpp @ 93cebb99

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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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/**
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 * @file Behavior.cpp
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 * @brief Contains basic functions for the structure of all behaviors.
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 * 
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 * Contains function implementations needed for all behavior.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 * @author Alex Zirbel
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 **/
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#include "Sensors.h"
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using namespace std;
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Sensors::Sensors(string scoutname)
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{
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    name = scoutname;
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    motors = new MotorControl(node,scoutname);
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    buttons = new ButtonControl(node, scoutname);
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    sonar = new SonarControl(node, scoutname);
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    //cliffsensor = new CliffsensorControl(node, scoutname);
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    encoders = new EncodersControl(node, scoutname);
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    linesensor = new LinesensorControl(node, scoutname);
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    wl_sender = new WirelessSender(node);
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    paintboard = new PaintBoardControl(node, scoutname);
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    metal_detector = new MetalDetectorControl(node, scoutname);
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    bom = new BomControl(node, scoutname);
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}
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// b_stuff stand for behavior control class
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void Sensors::init(MotorControl** b_motors, ButtonControl ** b_buttons,
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                  SonarControl ** b_sonar, EncodersControl ** b_encoders,
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                  LinesensorControl ** b_linesensor,
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                  WirelessSender ** b_wl_sender,
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                  WirelessReceiver ** b_wl_receiver,
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                  PaintBoardControl ** b_paintboard,
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                  MetalDetectorControl ** b_metal_detector,
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                  BomControl ** b_bom)
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{
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    //(MotorControl *)(* b_motors) = motors;
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    *b_motors = motors;
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    *b_buttons = buttons;
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    *b_sonar = sonar;
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    *b_encoders = encoders;
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    *b_linesensor = linesensor;
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    *b_wl_sender = wl_sender;
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    *b_wl_receiver = new WirelessReceiver(node);
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    *b_paintboard = paintboard;
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    *b_metal_detector = metal_detector;
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    *b_bom = bom;
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}