Revision 4026134b
Added Behavior::wait() to spinOnce for a duration.
Also added maze_solve_simple which always turns right.
scout/libscout/src/Behavior.cpp | ||
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106 | 106 |
ros::spinOnce(); |
107 | 107 |
return; |
108 | 108 |
} |
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/** |
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* Calls ros::spinOnce() in a loop until the duration is up. |
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*/ |
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void Behavior::wait(float duration) |
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{ |
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ros::Rate r(WAIT_HZ); |
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int ticks = int(duration * 100); |
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for (int i = 0; i < ticks; i++) |
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{ |
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spinOnce(); |
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r.sleep(); |
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} |
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} |
scout/libscout/src/Behavior.h | ||
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56 | 56 |
typedef ros::Time Time; |
57 | 57 |
typedef ros::Duration Duration; |
58 | 58 |
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#define WAIT_HZ 100 // Frequency of spinOnce() calls in wait() |
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59 | 61 |
class Behavior |
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{ |
61 | 63 |
public: |
... | ... | |
98 | 100 |
static bool ok(); |
99 | 101 |
static void spin(); |
100 | 102 |
static void spinOnce(); |
103 |
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static void wait(float duration); |
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101 | 105 |
}; |
102 | 106 |
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103 | 107 |
#endif |
scout/libscout/src/BehaviorList.cpp | ||
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27 | 27 |
behavior_list.push_back(behavior<line_follow>); |
28 | 28 |
behavior_list.push_back(behavior<navigationMap>); |
29 | 29 |
behavior_list.push_back(behavior<wl_test>); |
30 |
behavior_list.push_back(behavior<Odometry_new>); |
|
30 | 31 |
behavior_list.push_back(behavior<Scheduler>); |
31 | 32 |
behavior_list.push_back(behavior<WH_Robot>); |
32 | 33 |
behavior_list.push_back(behavior<maze_solve>); |
34 |
behavior_list.push_back(behavior<maze_solve_simple>); |
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33 | 35 |
behavior_list.push_back(behavior<smart_runaround>); |
34 | 36 |
return; |
35 | 37 |
} |
scout/libscout/src/BehaviorList.h | ||
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28 | 28 |
#include "behaviors/line_follow.h" |
29 | 29 |
#include "behaviors/navigationMap.h" |
30 | 30 |
#include "behaviors/wl_test.h" |
31 |
#include "test_behaviors/Odometry_new.h" |
|
31 | 32 |
#include "test_behaviors/Scheduler.h" |
32 | 33 |
#include "test_behaviors/WH_Robot.h" |
33 | 34 |
#include "test_behaviors/maze_solve.h" |
35 |
#include "test_behaviors/maze_solve_simple.h" |
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34 | 36 |
#include "test_behaviors/smart_runaround.h" |
35 | 37 |
|
36 | 38 |
template<typename T> Behavior* behavior(std::string scoutname, Sensors* sensors){ return (Behavior*)new T(scoutname, sensors); } |
scout/libscout/src/test_behaviors/maze_solve_simple.cpp | ||
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1 |
/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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|
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#include "maze_solve_simple.h" |
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#define D_THRESH 600 |
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#define max(x,y) ((x > y) ? x : y) |
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using namespace std; |
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void maze_solve_simple::run() |
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{ |
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ROS_INFO("Starting to solve the maze"); |
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// Go up to the first line. |
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follow_line(); |
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// Turn the sonar on. |
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sonar->set_on(); |
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sonar->set_range(0, 23); |
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while (!at_destination()) |
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{ |
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// Wait for sonar to update. |
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wait(1.5); |
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int* readings = sonar->get_sonar_readings(); |
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// Wait until the sonar gives us real values. |
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bool readings_ok = true; |
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for (int i = 0; i < 48; i++) |
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{ |
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if (readings[i] == 0) |
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{ |
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readings_ok = false; |
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break; |
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} |
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} |
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if (!readings_ok) |
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{ |
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continue; |
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} |
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int r_read = max(readings[23], max(readings[24], readings[25])); |
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int s_read = max(readings[35], max(readings[36], readings[37])); |
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int l_read = max(readings[47], max(readings[0], readings[1])); |
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if (r_read > D_THRESH) // Right |
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{ |
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ROS_INFO("Right."); |
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turn_right(); |
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} |
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else if (s_read > D_THRESH) // Straight |
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{ |
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ROS_INFO("Straight."); |
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turn_straight(); |
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} |
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else if (l_read > D_THRESH) // Left |
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{ |
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ROS_INFO("Left."); |
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turn_left(); |
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} |
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else // Deadend |
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{ |
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ROS_INFO("Dead end."); |
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spot_turn(); |
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} |
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follow_line(); |
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} |
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ROS_INFO("I have solved the maze!"); |
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} |
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bool maze_solve_simple::at_destination() |
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{ |
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vector<uint32_t> readings = linesensor->query(); |
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if ( readings[0] > 200 && |
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readings[1] < 55 && |
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readings[2] < 55 && |
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readings[3] > 200 && |
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readings[4] > 200 && |
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readings[5] < 55 && |
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readings[6] < 55 && |
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readings[7] > 200 ) |
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{ |
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return true; |
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} |
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return false; |
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} |
scout/libscout/src/test_behaviors/maze_solve_simple.h | ||
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1 |
/** |
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2 |
* Copyright (c) 2011 Colony Project |
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3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
*/ |
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|
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#ifndef _MAZE_SOLVE_SIMPLE_H_ |
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#define _MAZE_SOLVE_SIMPLE_H_ |
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#include <stdio.h> |
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#include "../behaviors/line_follow.h" |
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|
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/** |
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* A very simple maze solver that always turns right. |
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*/ |
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class maze_solve_simple: public line_follow |
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{ |
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public: |
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maze_solve_simple(std::string scoutname, Sensors* sensors): |
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line_follow(scoutname, "maze_solve_simple", sensors) {}; |
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void run(); |
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private: |
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bool at_destination(); |
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}; |
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#endif |
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|
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