root / scout / libscout / src / test_behaviors / ParkScout.cpp @ 7b94db2c
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1 | 7b94db2c | Hui Jun Tay | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | #include "ParkScout.h" |
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27 | #define LEFT_EMITTER_ID 110 |
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28 | #define RIGHT_EMITTER_ID 111 |
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29 | |||
30 | |||
31 | #define LEFT 0 |
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32 | #define RIGHT 1 |
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33 | |||
34 | using namespace std; |
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35 | |||
36 | ParkScout::ParkScout(string scoutname, Sensors* sensors)
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37 | : Behavior(scoutname, "Park Scout", sensors) {
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38 | name = scoutname; |
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39 | scout_pos = new pos;
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40 | } |
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41 | |||
42 | void ParkScout::run() {
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43 | |||
44 | /* update_readings();
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45 | start_side = get_side(readings);
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46 | |||
47 | while ((start_side == LEFT && checkBOM(3, RIGHT_EMITTER_ID)) ||
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48 | (start_side == RIGHT && checkBOM(6, RIGHT_EMITTER_ID))) {
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49 | motors->set_sides(100, 100, MOTOR_PERCENT);
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50 | bomR = bom->query();
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51 | update_readings();
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52 | }
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53 | |||
54 | motors->set_sides(0, 0, MOTOR_PERCENT);
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55 |
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56 |
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57 | while(ok) {
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58 | reverse_park();
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59 | } */
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60 | |||
61 | |||
62 | } |
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63 | /*
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64 | void reverse_park() {
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65 | if(checkBOM(5, LEFT_EMITTER_ID) ||
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66 | checkBOM(4, RIGHT_EMITTER_ID)) { //move forward
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67 | motors->set_sides(10, 10, MOTOR_PERCENT);
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68 | }
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69 | else if(checkBOM(4, LEFT_EMITTER_ID) &&
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70 | checkBOM(5, RIGHT_EMITTER_ID)) {
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71 | motors->set_sides(-20, -20, MOTOR_PERCENT);
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72 | }
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73 | else {
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74 | if (start_side == RIGHT) { //reverseright
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75 | motors->set_sides(100, 20, MOTOR_PERCENT);
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76 | }
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77 | else { //reverseleft
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78 | motors->set_sides(20, 100, MOTOR_PERCENT);
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79 |
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80 | }
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81 | }
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82 |
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83 | }
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84 | |||
85 | int get_side() {
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86 |
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87 | return RIGHT;
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88 | }
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89 | |||
90 | bool checkBOM(int bNum, int ID) {
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91 | if(readings[bNum] == true) {
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92 | ROS_INFO("Emitter ID: %d", senders[bNum]);
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93 | return senders[bNum] == ID;
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94 | }
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95 | return false;
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96 |
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97 | }
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98 | |||
99 | void update_readings() {
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100 | BomReadings bomR = bom->query();
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101 | readings = bomR.readings;
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102 | senders = bomR.senders;
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103 | |||
104 | }*/ |