root / scout / libscout / src / LinesensorControl.cpp @ d140fd71
History | View | Annotate | Download (2.68 KB)
| 1 | 1034f829 | Alex | /**
|
|---|---|---|---|
| 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 | /**
|
||
| 27 | * @file LinesensorControl.cpp
|
||
| 28 | * @brief Contains line following function implementation
|
||
| 29 | *
|
||
| 30 | * @author Colony Project, CMU Robotics Club
|
||
| 31 | * @author Alex Zirbel
|
||
| 32 | */
|
||
| 33 | |||
| 34 | #include "LinesensorControl.h" |
||
| 35 | |||
| 36 | using namespace std; |
||
| 37 | |||
| 38 | 5d0687a9 | Priya | static double last_ret; |
| 39 | |||
| 40 | 1034f829 | Alex | /**
|
| 41 | * @brief Initialize the line following module of libscout.
|
||
| 42 | */
|
||
| 43 | LinesensorControl::LinesensorControl(const ros::NodeHandle& libscout_node,
|
||
| 44 | string scoutname)
|
||
| 45 | : node(libscout_node) |
||
| 46 | {
|
||
| 47 | query_client = |
||
| 48 | node.serviceClient<linesensor::query_linesensor>(scoutname+"/query_linesensor");
|
||
| 49 | } |
||
| 50 | |||
| 51 | /**
|
||
| 52 | * @brief Returns the current readings of the line follwing sensor.
|
||
| 53 | */
|
||
| 54 | 5866cb38 | Alex | vector<uint32_t> LinesensorControl::query() |
| 55 | 1034f829 | Alex | {
|
| 56 | // Set scan range
|
||
| 57 | linesensor::query_linesensor srv; |
||
| 58 | |||
| 59 | if (!query_client.call(srv))
|
||
| 60 | {
|
||
| 61 | ROS_ERROR("LinesensorControl query failed.");
|
||
| 62 | } |
||
| 63 | |||
| 64 | 5866cb38 | Alex | return srv.response.readings;
|
| 65 | 1034f829 | Alex | } |
| 66 | |||
| 67 | 5d0687a9 | Priya | /**
|
| 68 | * @brief Returns the average readings of the line following sensors.
|
||
| 69 | */
|
||
| 70 | double LinesensorControl::readline()
|
||
| 71 | {
|
||
| 72 | unsigned int total_read = 0; |
||
| 73 | unsigned int weighted_total = 0; |
||
| 74 | |||
| 75 | vector<uint32_t> readings = query(); |
||
| 76 | |||
| 77 | for (int i = 0; i < 8; i++) |
||
| 78 | {
|
||
| 79 | total_read += readings[i]; |
||
| 80 | weighted_total += i * readings[i]; |
||
| 81 | } |
||
| 82 | |||
| 83 | if (total_read == 0) |
||
| 84 | {
|
||
| 85 | return last_ret;
|
||
| 86 | } |
||
| 87 | |||
| 88 | double ret_val = last_ret = ((double) weighted_total / total_read) - 4; |
||
| 89 | return ret_val;
|
||
| 90 | } |
||
| 91 | |||
| 92 | bool LinesensorControl::fullline()
|
||
| 93 | {
|
||
| 94 | vector<uint32_t> readings = query(); |
||
| 95 | ae21730e | Priya | for(int i=0; i<8; i++) |
| 96 | {
|
||
| 97 | if(readings[i] < 200) |
||
| 98 | return false; |
||
| 99 | } |
||
| 100 | return true; |
||
| 101 | 5d0687a9 | Priya | } |