Revision 414d2b48 scout/libscout/src/LinesensorControl.cpp

View differences:

scout/libscout/src/LinesensorControl.cpp
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/**
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 * We define a destination as two gaps of white between the line and patches
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 * of 15-shade color (light grey) on either side.
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 * I use 15-shade color in an attempt to not throw off the line localization.
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 * of 95-shade color (dark grey) on either side.
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 * I use 95-shade color in an attempt to not throw off the line localization.
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 */
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bool LinesensorControl::destination(vector<uint32_t> readings)
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{
......
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        return false;
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    }
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    ROS_INFO("Destination call. Readings: %d %d %d %d %d %d %d %d",
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            readings[0], readings[1], readings[2], readings[3],
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            readings[4], readings[5], readings[6], readings[7]);
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    // Try to match this pattern to what we see
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    int expected_pattern[] = {15, 0, 255, 0, 15};
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    int expected_pattern[] = {95, 0, 255, 0, 95};
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    int pat_idx = 0;
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    for (int i = 0; i < 8; i++)
......
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        // The whole pattern was found
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        if (pat_idx > 4)
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        {
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            ROS_INFO("FOUND DESTINATION");
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            return true;
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        }
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    }

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