Revision 46daeb86
Added map for testing charging behaviors
scout/libscout/src/test_behaviors/ApproachEmitter.cpp | ||
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*/ |
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#include "ApproachEmitter.h" |
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#define BOM_W1 5 |
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#define BOM_W2 10 |
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#define BOM_W3 15 |
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#define BOM_W4 20 |
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#define BOM_W5 30 |
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using namespace std; |
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... | ... | |
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while (ok()) { |
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r = bom->query(); |
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if (accumulate(r.begin(), r.end(), 0)) { |
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l_weighted = r[0] *5 + r[1]*10 + r[2]*15 + r[3]*20 + r[4]*30;
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r_weighted = r[9] *5 + r[8]*10 + r[7]*15 + r[6]*20 - r[5]*30;
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l_weighted = r[0] *BOM_W1 + r[1]*BOM_W2 + r[2]*BOM_W3 + r[3]*BOM_W4 + r[4]*BOM_W5;
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r_weighted = r[9] *BOM_W1 + r[8]*BOM_W2 + r[7]*BOM_W3 + r[6]*BOM_W4 - r[5]*BOM_W5;
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motors->set_sides(min(r_weighted+speed, 100), |
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min(l_weighted+speed, 100), MOTOR_PERCENT); |
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} |
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