Revision 5d0687a9
Small changes to wireless, and starting turning with line following.
| scout/libscout/src/LinesensorControl.cpp | ||
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using namespace std; |
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static double last_ret; |
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/** |
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* @brief Initialize the line following module of libscout. |
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*/ |
| ... | ... | |
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return srv.response.readings; |
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} |
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/** |
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* @brief Returns the average readings of the line following sensors. |
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*/ |
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double LinesensorControl::readline() |
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{
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unsigned int total_read = 0; |
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unsigned int weighted_total = 0; |
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vector<uint32_t> readings = query(); |
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for (int i = 0; i < 8; i++) |
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{
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total_read += readings[i]; |
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weighted_total += i * readings[i]; |
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} |
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if (total_read == 0) |
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{
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return last_ret; |
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} |
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double ret_val = last_ret = ((double) weighted_total / total_read) - 4; |
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return ret_val; |
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} |
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bool LinesensorControl::fullline() |
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{
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return false; |
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} |
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void LinesensorControl::turnLeft() |
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{
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vector<uint32_t> readings = query(); |
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} |
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void LinesensorControl::turnRight() |
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{
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vector<uint32_t> readings = query(); |
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} |
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