Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "line_follow.h"

using namespace std;

static int motor_l;

static int motor_r;

Duration init_turn_time(0.4);

void line_follow::follow_line()

{

    vector<uint32_t> readings;

    do

    {

        double line_loc = linesensor->readline();

        ROS_INFO("Line loc: %lf", line_loc);

        if (line_loc == 0.0)

        {

            motors->set_sides(-60, -60, MOTOR_ABSOLUTE);

            continue;

        }

        motor_l = min(max((int) (-MOTOR_BASE + KP * line_loc), -128), 127);

        motor_r = min(max((int) (-MOTOR_BASE - KP * line_loc), -128), 127);

        motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);

        readings = linesensor->query();

    }

    while(!linesensor->fullline(readings) &&

          !linesensor->destination(readings) &&

          ok());

    halt();

}

void line_follow::turn_straight()

{

  vector<uint32_t> readings;

  do

  {

    motor_l = -MOTOR_BASE;

    motor_r = -MOTOR_BASE;

    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);

    readings = linesensor->query();

  }

  while(!linesensor->fullline(readings) &&

        !linesensor->destination(readings) &&

        ok());

}

void line_follow::turn_left()

{

  bool first = true;

  float line_loc;

  do

  {

    motor_l = -MOTOR_BASE;

    motor_r = 2*MOTOR_BASE/5;

    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);

    if(first)

    {

        init_turn_time.sleep();

        first = false;

    }

    line_loc = linesensor->readline();

  }

  while(!(-1 < line_loc && line_loc < 1) && ok());

}

void line_follow::halt()

{

    motors->set_sides(0, 0, MOTOR_ABSOLUTE);

}

void line_follow::spot_turn()

{

  bool first = true;

  float line_loc;

  do

  {

    motor_l = MOTOR_BASE;

    motor_r = -MOTOR_BASE;

    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);

    if(first)

    {

        do

        {

          line_loc = linesensor->readline();

        }

        while(line_loc < 2 && line_loc > -2 && ok());

        first = false;

    }

    line_loc = linesensor->readline();

  }

  while(!(-1 < line_loc && line_loc < 1) && ok());

}

void line_follow::turn_right()

{

  bool first = true;

  float line_loc;

  do

  {

    motor_l = 2*MOTOR_BASE/5;

    motor_r = -MOTOR_BASE;

    motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);

    if(first)

    {

        init_turn_time.sleep();

        first = false;

    }

    line_loc = linesensor->readline();

  }

  while(!(-1 < line_loc && line_loc < 1) && ok());

}

void line_follow::u_turn()

{

  turn_right();

  follow_line();

  turn_right();

}

void line_follow::run()

{

  while(ok())

  {

    follow_line();

  }

}