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Revision 26258aeb

ID26258aebc0e783286f73bece89dd32798c915af4
Parent 2f025967
Child dee6320c

Added by Alex Zirbel about 12 years ago

Added linesensor to the behavior class.

View differences:

scout/libscout/CMakeLists.txt
30 30 
#target_link_libraries(example ${PROJECT_NAME})
31 31 

  		




  32
  32
  
    
set(MAIN_FILES src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp)


  		




  33
  
  
    
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/behaviors/navigationMap.cpp src/behaviors/Scheduler.cpp src/behaviors/WH_Robot.cpp)


  		




  34
  
  
    
set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/EncodersControl.cpp)


  		




  
  33
  
    
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/behaviors/navigationMap.cpp)


  		




  
  34
  
    
set(TEST_BEHAVIOR_FILES src/behaviors/Scheduler.cpp src/behaviors/WH_Robot.cpp)


  		




  
  35
  
    
set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/EncodersControl.cpp src/LinesensorControl.cpp)


  		




  35
  36
  
    

  		




  36
  37
  
    
rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${CONTROL_CLASSES})


  		




  37
  38
  
    
rosbuild_add_executable(test_encoders src/test_encoders.cpp)


  		












  

    
      scout/libscout/manifest.xml
    
  





  16
  16
  
    
  <depend package="headlights"/>


  		




  17
  17
  
    
  <depend package="buttons"/>


  		




  18
  18
  
    
  <depend package="sonar"/>


  		




  
  19
  
    
  <depend package="linesensor"/>


  		




  19
  20
  
    
<!--  <depend package="cliffsensor"/> -->


  		




  20
  21
  
    

  		




  21
  22
  
    
</package>


  		












  

    
      scout/libscout/src/Behavior.cpp
    
  





  57
  57
  
    
    sonar = new SonarControl(node, scoutname);


  		




  58
  58
  
    
    //cliffsensor = new CliffsensorControl(node, scoutname);


  		




  59
  59
  
    
    encoders = new EncodersControl(node, scoutname);


  		




  
  60
  
    
    linesensor = new LinesensorControl(node, scoutname);


  		




  60
  61
  
    

  		




  61
  62
  
    
    loop_rate = new ros::Rate(10);


  		




  62
  63
  
    
}


  		












  

    
      scout/libscout/src/Behavior.h
    
  





  45
  45
  
    
#include "SonarControl.h"


  		




  46
  46
  
    
//#include "CliffsensorControl.h"


  		




  47
  47
  
    
#include "EncodersControl.h"


  		




  
  48
  
    
#include "LinesensorControl.h"


  		




  48
  49
  
    
#include "constants.h"


  		




  49
  50
  
    

  		




  50
  51
  
    
typedef ros::Time Time;


  		




  ......




  74
  75
  
    
        SonarControl * sonar;


  		




  75
  76
  
    
        //CliffsensorControl * cliffsensor;


  		




  76
  77
  
    
        EncodersControl * encoders;


  		




  
  78
  
    
        LinesensorControl * linesensor;


  		




  77
  79
  
    

  		




  78
  80
  
    
        // Wrappers for ROS functions


  		




  79
  81
  
    
        bool ok();


  		












  

    
      scout/libscout/src/BehaviorList.cpp
    
  





  6
  6
  
    
  behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname));


  		




  7
  7
  
    
  behavior_list.push_back((Behavior*)new Odometry(scoutname));


  		




  8
  8
  
    
  behavior_list.push_back((Behavior*)new navigationMap(scoutname));


  		




  9
  
  
    
  behavior_list.push_back((Behavior*)new Scheduler(scoutname));


  		




  
  9
  
    
//  behavior_list.push_back((Behavior*)new Scheduler(scoutname));


  		




  10
  10
  
    
  return;


  		




  11
  11
  
    
}


  		




  12
  12
  
    

  		












  

    
      scout/libscout/src/BehaviorProcess.cpp
    
  





  43
  43
  
    

  		




  44
  44
  
    
    // Running with no arguments only supports one scout. Check in case


  		




  45
  45
  
    
    // the user meant to specify a scout in the arguments.


  		




  46
  
  
    
    if (argc != 4)


  		




  
  46
  
    
    if (argc != 3)


  		




  47
  47
  
    
    {


  		




  48
  48
  
    
        cout << "You have started this behavior in hardware mode." << endl


  		




  49
  49
  
    
             << "To start in software mode, use: " << argv[0]


  		




  50
  
  
    
             << " <scoutname> <behavior#> <behaviorname>" << endl;


  		




  
  50
  
    
             << " <scoutname> <behavior#> " << endl;


  		




  51
  51
  
    
    }


  		




  52
  52
  
    
    else


  		




  53
  53
  
    
    {


  		




  54
  54
  
    
        // Use the provided scoutname for simulator messages


  		




  55
  55
  
    
        scoutname = argv[1];


  		




  56
  56
  
    
        behavior_num = atoi(argv[2]);


  		




  57
  
  
    
        behavior_name = argv[3];


  		




  58
  57
  
    

  		




  59
  
  
    
        ros::init(argc, argv, behavior_name);


  		




  
  58
  
    
        ros::init(argc, argv, scoutname + "_behavior");


  		




  60
  59
  
    

  		




  61
  60
  
    
        BehaviorList* list = new BehaviorList(scoutname);


  		




  62
  61
  
    
        vector<Behavior*> behavior_list = list->behavior_list;


  		












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