Colony

Revision 1094

simulating rangefinder and smart run around

changed the position of IR sensors defined in libsim
libsim and libdragonfly use different numbering for IRs (#418, #419)
added smart_run_around to template, right now it just hits wall, backs
up then segfaults

#include "world.h"

//TODO: These need to be measured...

double rf_thetas[5] = {0.0, 2*M_PI/5, 4*M_PI/5, 6*M_PI/5, 8*M_PI/5};

double rf_thetas[5] = {8*M_PI/5, 0.0, 2*M_PI/5, 4*M_PI/5, 6*M_PI/5};

//double rf_thetas[5] = {0.0, 0.0, M_PI/2, M_PI, 3*M_PI/2};

void update_rangefinders(Robot *bot)

    {

	rf.d = theta + rf_thetas[ir];

	x = collide_world(&rf);

	//printf("@(%g) - [%d] = %g --> %d\n",rf.d, ir, x, (short)x);

	// printf("@(%g) - [%d] = %g --> %d\n",rf.d, ir, x, (short)x);

	bot->shared->ranges.d[ir] = x;

    }

}

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