Revision 5866cb38
| ID | 5866cb38bf3954babc911a0d0bea69b8dc696cba |
Linesensor tested and done!
| scout/libscout/src/LinesensorControl.cpp | ||
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| 52 | 52 |
* @todo This shouldn't be returning void. These functions, in general, should |
| 53 | 53 |
* be changed to be more useful. |
| 54 | 54 |
*/ |
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void LinesensorControl::query()
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vector<uint32_t> LinesensorControl::query()
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{
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// Set scan range |
| 58 | 58 |
linesensor::query_linesensor srv; |
| ... | ... | |
| 62 | 62 |
ROS_ERROR("LinesensorControl query failed.");
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| 63 | 63 |
} |
| 64 | 64 |
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for (int i = 0; i < 8; i++) |
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{
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cout << "[" << i << "]: " << srv.response.readings[i] << ", "; |
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} |
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cout << endl; |
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return srv.response.readings; |
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} |
| 72 | 67 |
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| scout/libscout/src/LinesensorControl.h | ||
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| 47 | 47 |
std::string scoutname); |
| 48 | 48 |
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| 49 | 49 |
/** Use ROS to get the current readings. */ |
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void query();
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std::vector<uint32_t> query();
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| 51 | 51 |
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private: |
| 53 | 53 |
/* ROS publisher and client declaration */ |
| scout/libscout/src/behaviors/sim_line.cpp | ||
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| 25 | 25 |
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| 26 | 26 |
#include "sim_line.h" |
| 27 | 27 |
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using namespace std; |
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|
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void sim_line::run() |
| 29 | 31 |
{
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while(ok()) |
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{
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motors->set_sides(10, 20, MOTOR_ABSOLUTE); |
| 33 | 35 |
|
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linesensor->query(); |
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vector<uint32_t> readings = linesensor->query(); |
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for (int i = 0; i < 8; i++) |
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{
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cout << "[" << i << "]" << ": " << readings[i] << ", "; |
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} |
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cout << endl; |
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| 35 | 43 |
|
| 36 | 44 |
spinOnce(); |
| 37 | 45 |
loop_rate->sleep(); |
| scout/scoutsim/src/scout.cpp | ||
|---|---|---|
| 200 | 200 |
int sensor_x = (int) (x - LNSNSR_D * cos(theta) - offset * sin(theta)); |
| 201 | 201 |
int sensor_y = (int) (y + LNSNSR_D * sin(theta) - offset * cos(theta)); |
| 202 | 202 |
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/* |
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if (s == 0) |
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{
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cout << "s: " << s << ", offset: " << offset << ", scout: (" << x <<
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", " << y << "), sensor: (" << sensor_x <<
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", " << sensor_y << ")" << endl; |
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} |
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*/ |
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|
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| 212 | 203 |
unsigned char r = lines_image.GetRed(sensor_x, sensor_y); |
| 213 | 204 |
unsigned char g = lines_image.GetGreen(sensor_x, sensor_y); |
| 214 | 205 |
unsigned char b = lines_image.GetBlue(sensor_x, sensor_y); |
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