root / scout / libscout / src / test_behaviors / ParkScout.cpp @ 68845e8e
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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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#include "ParkScout.h" |
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#define LEFT_EMITTER_ID 1 |
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#define RIGHT_EMITTER_ID 0 |
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#define LEFT 1 |
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#define RIGHT 2 |
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#define NEITHER 0 |
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using namespace std; |
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ParkScout::ParkScout(string scoutname, Sensors* sensors)
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: Behavior(scoutname, "Park Scout", sensors) {
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name = scoutname; |
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scout_pos = new pos;
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} |
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void ParkScout::run() {
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update_readings(); |
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start_side = get_side(); |
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while (ok() && ((start_side == LEFT && checkBOM(3, RIGHT_EMITTER_ID)) || |
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(start_side == RIGHT && checkBOM(6, LEFT_EMITTER_ID)))) {
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motors->set_sides(25, 25, MOTOR_PERCENT); |
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update_readings(); |
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} |
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motors->set_sides(0, 0, MOTOR_PERCENT); |
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while(ok()) {
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update_readings(); |
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reverse_park(); |
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} |
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} |
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bool ParkScout::reverse_park() {
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if(checkBOM(5, LEFT_EMITTER_ID) || |
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checkBOM(4, RIGHT_EMITTER_ID)) { //move forward |
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motors->set_sides(10, 10, MOTOR_PERCENT); |
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} |
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else if(checkBOM(4, LEFT_EMITTER_ID) && |
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checkBOM(5, RIGHT_EMITTER_ID)) {
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motors->set_sides(-20, -20, MOTOR_PERCENT); |
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return true; |
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} |
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else {
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if (start_side == RIGHT) { //reverseright |
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motors->set_sides(-40, -10, MOTOR_PERCENT); |
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} |
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else { //reverseleft |
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motors->set_sides(-10, -40, MOTOR_PERCENT); |
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} |
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} |
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return false; |
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} |
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int ParkScout::get_side() {
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if ((readings[1] > 0 || readings[2] > 0|| readings[3] > 0) && |
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(readings[6] == 0 && readings[7] == 0 && readings[8] == 0)) { |
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return LEFT;
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} |
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else if ((readings[6] > 0 || readings[7] > 0|| readings[8] > 0) && |
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(readings[1] == 0 && readings[2] == 0 && readings[3] == 0)) { |
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return RIGHT;
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} |
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else {
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return NEITHER;
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} |
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} |
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bool ParkScout::checkBOM(int bNum, unsigned int ID) { |
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if(readings[bNum] == true) { |
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//ROS_INFO("Emitter ID: %d", senders[bNum]);
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return senders[bNum] == ID;
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} |
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return false; |
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} |
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void ParkScout::update_readings() {
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BomReadings bomR = bom->query(); |
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readings = bomR.readings; |
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senders = bomR.senders; |
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} |