scoutos / scout / libscout / src / behaviors / line_follow.cpp @ 1905324e
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| 1 | 9143e077 | Lalitha Ganesan | /**
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| 2 | 58371433 | Priya | * Copyright (c) 2011 Colony Project
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| 3 | *
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| 4 | * Permission is hereby granted, free of charge, to any person
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| 5 | * obtaining a copy of this software and associated documentation
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| 6 | * files (the "Software"), to deal in the Software without
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| 7 | * restriction, including without limitation the rights to use,
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| 8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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| 9 | * copies of the Software, and to permit persons to whom the
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| 10 | * Software is furnished to do so, subject to the following
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| 11 | * conditions:
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| 12 | *
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| 13 | * The above copyright notice and this permission notice shall be
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| 14 | * included in all copies or substantial portions of the Software.
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| 15 | *
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| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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| 23 | * OTHER DEALINGS IN THE SOFTWARE.
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| 24 | 9143e077 | Lalitha Ganesan | */
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| 25 | |||
| 26 | 60b98383 | Priya | #include "line_follow.h" |
| 27 | 9143e077 | Lalitha Ganesan | |
| 28 | 58371433 | Priya | using namespace std; |
| 29 | 9143e077 | Lalitha Ganesan | |
| 30 | 58371433 | Priya | static int motor_l; |
| 31 | static int motor_r; |
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| 32 | 9143e077 | Lalitha Ganesan | |
| 33 | 58371433 | Priya | void line_follow::follow_line()
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| 34 | {
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| 35 | while(!linesensor->fullline())
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| 36 | {
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| 37 | double line_loc = linesensor->readline();
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| 38 | 9143e077 | Lalitha Ganesan | |
| 39 | 58371433 | Priya | motor_l = -MOTOR_BASE + SCALE * line_loc; |
| 40 | motor_r = -MOTOR_BASE - SCALE * line_loc; |
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| 41 | 9143e077 | Lalitha Ganesan | |
| 42 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 43 | } |
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| 44 | halt(); |
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| 45 | 1905324e | Priya | ROS_INFO("Intersection reached!");
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| 46 | 58371433 | Priya | } |
| 47 | 9143e077 | Lalitha Ganesan | |
| 48 | 58371433 | Priya | void line_follow::turn_left()
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| 49 | 60b98383 | Priya | {
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| 50 | 58371433 | Priya | bool first = true; |
| 51 | do
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| 52 | {
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| 53 | motor_l = -MOTOR_BASE; |
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| 54 | motor_r = MOTOR_BASE/8;
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| 55 | 60b98383 | Priya | |
| 56 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 57 | 60b98383 | Priya | |
| 58 | 58371433 | Priya | if(first)
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| 59 | 9143e077 | Lalitha Ganesan | {
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| 60 | 58371433 | Priya | loop_rate->sleep(); |
| 61 | loop_rate->sleep(); |
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| 62 | loop_rate->sleep(); |
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| 63 | first = false;
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| 64 | 9143e077 | Lalitha Ganesan | } |
| 65 | 60b98383 | Priya | } |
| 66 | 58371433 | Priya | while(linesensor->readline());
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| 67 | 9143e077 | Lalitha Ganesan | } |
| 68 | |||
| 69 | 58371433 | Priya | void line_follow::halt()
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| 70 | 9143e077 | Lalitha Ganesan | {
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| 71 | 58371433 | Priya | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
| 72 | 9143e077 | Lalitha Ganesan | } |
| 73 | |||
| 74 | 58371433 | Priya | void line_follow::turn_right()
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| 75 | 9143e077 | Lalitha Ganesan | {
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| 76 | 58371433 | Priya | bool first = true; |
| 77 | do
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| 78 | {
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| 79 | motor_l = MOTOR_BASE/8;
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| 80 | motor_r = -MOTOR_BASE; |
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| 81 | 60b98383 | Priya | |
| 82 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 83 | 60b98383 | Priya | |
| 84 | 58371433 | Priya | if(first)
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| 85 | 60b98383 | Priya | {
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| 86 | 58371433 | Priya | loop_rate->sleep(); |
| 87 | loop_rate->sleep(); |
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| 88 | loop_rate->sleep(); |
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| 89 | first = false;
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| 90 | 60b98383 | Priya | } |
| 91 | } |
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| 92 | 58371433 | Priya | while(linesensor->readline());
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| 93 | 9143e077 | Lalitha Ganesan | } |
| 94 | |||
| 95 | 1905324e | Priya | void line_follow::u_turn()
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| 96 | 9143e077 | Lalitha Ganesan | {
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| 97 | 1905324e | Priya | turn_right(); |
| 98 | 58371433 | Priya | follow_line(); |
| 99 | turn_right(); |
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| 100 | 1905324e | Priya | } |
| 101 | |||
| 102 | void line_follow::run()
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| 103 | {
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| 104 | 58371433 | Priya | follow_line(); |
| 105 | follow_line(); |
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| 106 | 1905324e | Priya | /*
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| 107 | follow_line();
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| 108 | u_turn();
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| 109 | follow_line();
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| 110 | u_turn();
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| 111 | follow_line();
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| 112 | follow_line();
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| 113 | u_turn();
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| 114 | 58371433 | Priya | follow_line();
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| 115 | 1905324e | Priya | */
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| 116 | 9143e077 | Lalitha Ganesan | } |