Statistics
| Branch: | Revision:

root / scout / libscout / src / test_behaviors / ParkScout.cpp @ 7b94db2c

History | View | Annotate | Download (2.75 KB)

1
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 */
25

    
26
#include "ParkScout.h"
27
#define LEFT_EMITTER_ID 110
28
#define RIGHT_EMITTER_ID 111
29

    
30

    
31
#define LEFT 0
32
#define RIGHT 1
33

    
34
using namespace std;
35

    
36
ParkScout::ParkScout(string scoutname, Sensors* sensors) 
37
    : Behavior(scoutname, "Park Scout", sensors) {
38
    name = scoutname;
39
    scout_pos = new pos;
40
}
41

    
42
void ParkScout::run() {
43
    
44
   /* update_readings();
45
    start_side = get_side(readings);
46

47
    while ((start_side == LEFT && checkBOM(3, RIGHT_EMITTER_ID)) ||
48
           (start_side == RIGHT && checkBOM(6, RIGHT_EMITTER_ID))) {
49
       motors->set_sides(100, 100, MOTOR_PERCENT);
50
       bomR = bom->query();
51
       update_readings();
52
    }
53

54
    motors->set_sides(0, 0, MOTOR_PERCENT);
55
           
56
    
57
    while(ok) {   
58
        reverse_park();  
59
    }  */
60

    
61

    
62
}
63
/*
64
void reverse_park() {
65
    if(checkBOM(5, LEFT_EMITTER_ID) || 
66
       checkBOM(4, RIGHT_EMITTER_ID)) { //move forward
67
        motors->set_sides(10, 10, MOTOR_PERCENT);
68
    }
69
    else if(checkBOM(4, LEFT_EMITTER_ID) && 
70
            checkBOM(5, RIGHT_EMITTER_ID)) {
71
        motors->set_sides(-20, -20, MOTOR_PERCENT);
72
    }
73
    else {   
74
        if (start_side == RIGHT) { //reverseright
75
            motors->set_sides(100, 20, MOTOR_PERCENT);
76
        }
77
        else { //reverseleft
78
            motors->set_sides(20, 100, MOTOR_PERCENT);
79
        
80
        }
81
    }
82
    
83
}
84

85
int get_side() {
86
    
87
    return RIGHT;
88
}
89

90
bool checkBOM(int bNum, int ID) {    
91
    if(readings[bNum] == true) {
92
        ROS_INFO("Emitter ID: %d", senders[bNum]);
93
        return senders[bNum] == ID;
94
    }    
95
    return false;
96
    
97
}
98

99
void update_readings() {
100
    BomReadings bomR = bom->query();
101
    readings = bomR.readings;
102
    senders = bomR.senders;
103

104
}*/