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Revision 58371433

ID5837143311f6de5068f1724a2d1dc8377610237d
Parent 351f71d1
Child 1905324e

Added by Priya almost 12 years ago

Renaming to line follow and getting rid of old linefollowing files.

View differences:

scout/libscout/src/behaviors/line_follow.h
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/**
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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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#ifndef _LINE_FOLLOW_H_


  		




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#define _LINE_FOLLOW_H_


  		




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#include "../Behavior.h"


  		




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#define LWHITE			0


  		




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#define LGREY			1


  		




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#define LBLACK	 		2


  		




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#define BAD_READING     3


  		




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#define CENTER			3


  		




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#define LINELOST		-1


  		




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#define INTERSECTION 	-25


  		




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#define NOLINE			-50


  		




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#define FULL_LINE 		-51


  		




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#define NUM_READINGS 20


  		




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#define LEFT_SENSOR     1


  		




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#define RIGHT_SENSOR    0


  		




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/**


  		




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 * Helps with debugging.


  		




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 * 0 - no debug output.


  		




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 * 1 - print out buckets


  		




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 * 2 - print out line sensor readings


  		




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 */


  		




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#define DBG_LINEFOLLOW 2


  		




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#define MOTOR_BASE 50


  		




  
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#define SCALE 20


  		




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//! A simple function to return the minimum of two integers.


  		




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int min(int x, int y);


  		




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//! A simple function to return the maximum of two integers.


  		




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int max(int x, int y);


  		




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class line_follow 


  		




  
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class line_follow : Behavior


  		




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{


  		




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	public:


  		




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    /** Actually executes the behavior. */


  		




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		void init();


  		




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    /**	line_follow


  		




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     *	Must call line_follow_init first


  		




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     *	Must be called inside a loop


  		




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     */


  		




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    int follow_line(int speed);


  		




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    /**	turnLeft turnRight


  		




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     *	Must be called inside a loop


  		




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     *	returns 0 when complete


  		




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     */


  		




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    int turnLeft(void);


  		




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    int turnRight(void);


  		




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    /**


  		




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     * @brief Updates the values stored in the array to white or black based on


  		




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     * current sensor readings.


  		




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     *


  		




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     * @param values The array of five integers to be updated. 


  		




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     */


  		




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    void updateLine(int* values); 


  		




  
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    public:


  		




  
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        line_follow(std::string scoutname) : Behavior(scoutname, "line_follow") {};


  		




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    /**


  		




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     * @brief Returns an index of the middle of the line based on line readings.


  		




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     *


  		




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     * Two special return values are possible:


  		




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     *   NOLINE if none of the sensors holds a black value, and


  		




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     *   FULL_LINE if all of the sensors see black.


  		




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     *


  		




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     * Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with


  		




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     * 0 the line being centered in the middle.


  		




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     *


  		




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     * @param colors The array of 5 readings from the line sensor.  Must be either


  		




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     *    LWHITE or LBLACK.


  		




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     * @return Either a special value or an index from -4 to 4.


  		




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     *


  		




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     */


  		




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    int lineLocate(int* colors);


  		




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    /** @todo Alex: I hate these functions, but I'm keeping them so code will still work. But we should delete them sometime. */


  		




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    /**	motorLeft


  		




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     *	Commands the left motor


  		




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     *	Cannot be used to stop


  		




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     *	0-126 are backward


  		




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     *	127-255 are forward


  		




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     */


  		




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    void motorLeft(int speed);


  		




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    /**	motorRight


  		




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     *	Commands the right motor


  		




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     *	Cannot be used to stop


  		




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     *	0-126 are backward


  		




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     *	127-255 are forward


  		




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     */


  		




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    void motorRight(int speed);


  		




  
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        /** Actually executes the behavior. */


  		




  
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        void run();


  		




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    private:


  		




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    /**	lost


  		




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     *	Internal counter to detect if the line was lost


  		




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     */


  		




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    int lost;


  		




  
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        void turn_left();


  		




  
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        void turn_right();


  		




  
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        void follow_line();


  		




  
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        void halt();


  		




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};


  		




  
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#endif


  		












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