Revision 414d2b48

View differences:

scout/libscout/src/Behavior.cpp
66 66
Behavior::~Behavior()
67 67
{
68 68
  motors->set_sides(0, 0, MOTOR_ABSOLUTE);
69
  ROS_INFO("I get called");
70 69
  spinOnce();
71 70
  loop_rate->sleep();
72 71
  delete wl_receiver;
scout/libscout/src/LinesensorControl.cpp
117 117

  
118 118
/**
119 119
 * We define a destination as two gaps of white between the line and patches
120
 * of 15-shade color (light grey) on either side.
121
 * I use 15-shade color in an attempt to not throw off the line localization.
120
 * of 95-shade color (dark grey) on either side.
121
 * I use 95-shade color in an attempt to not throw off the line localization.
122 122
 */
123 123
bool LinesensorControl::destination(vector<uint32_t> readings)
124 124
{
......
127 127
        return false;
128 128
    }
129 129

  
130
    ROS_INFO("Destination call. Readings: %d %d %d %d %d %d %d %d",
131
            readings[0], readings[1], readings[2], readings[3],
132
            readings[4], readings[5], readings[6], readings[7]);
133

  
134 130
    // Try to match this pattern to what we see
135
    int expected_pattern[] = {15, 0, 255, 0, 15};
131
    int expected_pattern[] = {95, 0, 255, 0, 95};
136 132
    int pat_idx = 0;
137 133

  
138 134
    for (int i = 0; i < 8; i++)
......
147 143
        // The whole pattern was found
148 144
        if (pat_idx > 4)
149 145
        {
150
            ROS_INFO("FOUND DESTINATION");
151 146
            return true;
152 147
        }
153 148
    }
scout/libscout/src/behaviors/line_follow.cpp
30 30
static int motor_l;
31 31
static int motor_r;
32 32

  
33
Duration init_turn_time(0.4);
33
Duration init_turn_time(0.8);
34 34

  
35 35
void line_follow::follow_line()
36 36
{
......
38 38
    do
39 39
    {
40 40
        double line_loc = linesensor->readline();
41
        ROS_INFO("Line loc: %lf", line_loc);
42 41

  
43 42
        if (line_loc == 0.0)
44 43
        {
45 44
            motors->set_sides(-60, -60, MOTOR_ABSOLUTE);
46
            continue;
47 45
        }
46
        else
47
        {
48
            motor_l = min(max((int) (-MOTOR_BASE + KP * line_loc), -128), 127);
49
            motor_r = min(max((int) (-MOTOR_BASE - KP * line_loc), -128), 127);
48 50

  
49
        motor_l = min(max((int) (-MOTOR_BASE + KP * line_loc), -128), 127);
50
        motor_r = min(max((int) (-MOTOR_BASE - KP * line_loc), -128), 127);
51

  
52
        motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);
51
            motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);
52
        }
53 53
        readings = linesensor->query();
54 54
    }
55 55
    while(!linesensor->fullline(readings) &&
......
63 63
  vector<uint32_t> readings;
64 64
  do
65 65
  {
66
    motor_l = -MOTOR_BASE;
67
    motor_r = -MOTOR_BASE;
68

  
69
    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);
66
    motors->set_sides(-MOTOR_BASE, -MOTOR_BASE, MOTOR_ABSOLUTE);
70 67
    readings = linesensor->query();
71 68
  }
72 69
  while(!linesensor->fullline(readings) &&
......
81 78
  do
82 79
  {
83 80
    motor_l = -MOTOR_BASE;
84
    motor_r = 2*MOTOR_BASE/5;
81
    motor_r = 0;
85 82

  
86 83
    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);
87 84

  
......
133 130
  float line_loc;
134 131
  do
135 132
  {
136
    motor_l = 2*MOTOR_BASE/5;
133
    motor_l = 0;
137 134
    motor_r = -MOTOR_BASE;
138 135

  
139 136
    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);

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