Revision d140fd71
| ID | d140fd71ddd19ef38a0124cbbea1165874a5474d |
Added Sensors class that abstracts away sensors from behaviors. Stops creating
duplicated sensors for each scout.
| scout/libscout/src/Behavior.cpp | ||
|---|---|---|
| 48 | 48 |
* @param scoutname If nonempty, specifies which scout in the simulator |
| 49 | 49 |
* will be controlled by this behavior. |
| 50 | 50 |
*/ |
| 51 |
Behavior::Behavior(string scoutname, string my_name) |
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| 51 |
Behavior::Behavior(string scoutname, string my_name, Sensors * sensors)
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|
| 52 | 52 |
{
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| 53 |
name = my_name; |
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| 54 |
|
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motors = new MotorControl(node, scoutname); |
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| 56 |
buttons = new ButtonControl(node, scoutname); |
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| 57 |
sonar = new SonarControl(node, scoutname); |
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| 58 |
//cliffsensor = new CliffsensorControl(node, scoutname); |
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encoders = new EncodersControl(node, scoutname); |
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| 60 |
linesensor = new LinesensorControl(node, scoutname); |
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wl_sender = new WirelessSender(node); |
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wl_receiver = new WirelessReceiver(node); |
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| 63 | 53 |
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name = my_name; |
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sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
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&wl_sender, &wl_receiver); |
|
| 64 | 57 |
loop_rate = new ros::Rate(10); |
| 65 | 58 |
} |
| 66 | 59 |
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