Colony » Colony Scout

#ifndef _LINE_DRIVE_H_

#define _LINE_DRIVE_H_

#include "../Behavior.h"

#include "lineFollow.h"

/*

 * Defines whether your making a turn from the main two-way road

 * or from a one-way sub road.

*/

#define ON_ROAD                0

#define OFF_ROAD        0

/*

 * The type of turn you are making from the road you are on.

*/

#define ISTRAIGHT        0

#define ILEFT                1

#define IRIGHT                2

#define IUTURN                3

#define NORMAL                -1

#define FINISHED        -2

#define LOST                -3

#define ERROR                -4

class line_drive : Behavior{

        line_drive(String scoutname);

        run();

        void line_drive_init(void);

        int doDrive(int speed);

        void start(void);

        void stop(void);

        int turn(int type, iint dir);

  private:

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

  int stateCounter;

  int stateLength;

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

  int stopped=1;

};

#endif