Revision 414d2b48
| ID | 414d2b48e22681108c656cd57dbf2177efd5bbfc |
Updated line follow code to make turns for Lab 2.
Also upgraded at_destination and LineSensor::destination() for Intro Lab 2.
| 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 |
} |
Also available in: Unified diff