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Revision 60b98383

ID60b98383db2ff491312e634ed125fd32cea188c7
Parent 112bf9db
Child 31be19a6

Added by Priya about 12 years ago

Committing some clean ups done in the linefollowing behaviours

View differences:

scout/libscout/src/behaviors/lineDrive.cpp
1 1 
/**
2 
 * @file lineDrive.cpp
2 
 * @file line_drive.cpp
3 3 
 *
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 * Provides functions to implement line driving behavior.  This program extends
5 5 
 * the behavior of the line-following program by following lines automatically
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 * and implementing behaviors to deal with commands passed to lineDrive.
6 
 * and implementing behaviors to deal with commands passed to line_drive.
7 7 
 *
8 8 
 * Specific implementation for the colony scout robots in a warehouse behaviour
9 9 
 * setting.
......
13 13 
 * @date 2-6-2012
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 */
15 15 

  		




  16
  
  
    
#include "lineDrive.h"


  		




  17
  
  
    

  		




  18
  
  
    
int state[5];       //! Stores a queue of sub-commands to be executed


  		




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int stateCounter;


  		




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int stateLength;


  		




  21
  
  
    

  		




  22
  
  
    
//! Whether lineDrive is currently paused. Set to 0 on initialization.


  		




  23
  
  
    
int stopped=1;


  		




  
  16
  
    
#include "line_drive.h"


  		




  24
  17
  
    

  		




  
  18
  
    
line_drive::line_drive(String scoutname): Behavior(scoutname)


  		




  
  19
  
    
{


  		




  
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  line_drive_init();


  		




  
  21
  
    
  line_follow_init();


  		




  
  22
  
    
  return;


  		




  
  23
  
    
};


  		




  25
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/**


  		




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 * Starts the line following procedure. Must be called before other


  		




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 * line-following functions will work.  This function essentially resets the


  		




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 * state of line-following.


  		




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 */


  		




  31
  
  
    
void lineDrive_init()


  		




  
  30
  
    
void line_drive_init()


  		




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{


  		




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	lineFollow_init();


  		




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	for(int i=0; i<5; i++)state[i]=0;


  		












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