Revision 1504
Updated comments to correctly reflect the meaning of the x and y
coordinates.
| trunk/code/behaviors/formation_control/push_pull/main.c | ||
|---|---|---|
| 65 | 65 |
/* Store current BOM readings and use them as a weighting factor */ |
| 66 | 66 |
int intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
| 67 | 67 |
|
| 68 |
/* Arrays for storing the weighted x ("Forwardness") and y ("Rightedness")
|
|
| 68 |
/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")
|
|
| 69 | 69 |
* components. Calculated by multiplying the intensity by the x and y |
| 70 |
* component respectively (stored in the tables above). */ |
|
| 70 |
* component respectively (x and y components are stored in the tables |
|
| 71 |
* above). */ |
|
| 71 | 72 |
int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
| 72 | 73 |
int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
| 73 | 74 |
|
| 74 |
/* Accumulators to sum up the net x ("Forwardness") and y ("Rightedness")
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|
| 75 |
/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")
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|
| 75 | 76 |
* components for the entire robot. */ |
| 76 | 77 |
long net_x_comp = 0; |
| 77 | 78 |
long net_y_comp = 0; |
| ... | ... | |
| 102 | 103 |
|
| 103 | 104 |
bom_refresh(BOM_ALL); |
| 104 | 105 |
for (i = 0; i < 16; i++) {
|
| 106 |
/* BOM intensity is actually measured as more intense = closer to 0 */ |
|
| 105 | 107 |
intensity[i] = 255 - bom_get(i); |
| 106 | 108 |
weighted_x_comp[i] = intensity[i] * x_comp[i]; |
| 107 | 109 |
weighted_y_comp[i] = intensity[i] * y_comp[i]; |
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