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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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#ifndef _LINE_FOLLOW_H_
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#define _LINE_FOLLOW_H_
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#include "../Behavior.h"
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#include "../Sensors.h"
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#define MOTOR_BASE 50
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#define SCALE 20
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class line_follow : public Behavior
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{
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    public:
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        line_follow(std::string scoutname, Sensors* sensors) : 
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                Behavior(scoutname, "line_follow", sensors) {};
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        /** Actually executes the behavior. */
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        void run();
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    protected:
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        void turn_left();
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        void turn_right();
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        void turn_straight();
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        void spot_turn();
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        void u_turn();
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        void follow_line();
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        void halt();
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};
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#endif