scoutos / scout / libscout / src / behaviors / line_follow.h @ 60b98383
History | View | Annotate | Download (2.44 KB)
1 |
|
---|---|
2 |
#ifndef _LINE_FOLLOW_H_
|
3 |
#define _LINE_FOLLOW_H_
|
4 |
|
5 |
#include "../Behavior.h" |
6 |
|
7 |
#define LWHITE 0 |
8 |
#define LGREY 1 |
9 |
#define LBLACK 2 |
10 |
#define BAD_READING 3 |
11 |
#define CENTER 3 |
12 |
#define LINELOST -1 |
13 |
|
14 |
#define INTERSECTION -25 |
15 |
|
16 |
#define NOLINE -50 |
17 |
#define FULL_LINE -51 |
18 |
|
19 |
#define NUM_READINGS 20 |
20 |
|
21 |
#define LEFT_SENSOR 1 |
22 |
#define RIGHT_SENSOR 0 |
23 |
|
24 |
/**
|
25 |
* Helps with debugging.
|
26 |
* 0 - no debug output.
|
27 |
* 1 - print out buckets
|
28 |
* 2 - print out line sensor readings
|
29 |
*/
|
30 |
#define DBG_LINEFOLLOW 2 |
31 |
|
32 |
|
33 |
//! A simple function to return the minimum of two integers.
|
34 |
int min(int x, int y); |
35 |
//! A simple function to return the maximum of two integers.
|
36 |
int max(int x, int y); |
37 |
|
38 |
|
39 |
class line_follow |
40 |
{ |
41 |
public:
|
42 |
/** Actually executes the behavior. */
|
43 |
void init();
|
44 |
|
45 |
/** line_follow
|
46 |
* Must call line_follow_init first
|
47 |
* Must be called inside a loop
|
48 |
*/
|
49 |
int follow_line(int speed); |
50 |
|
51 |
/** turnLeft turnRight
|
52 |
* Must be called inside a loop
|
53 |
* returns 0 when complete
|
54 |
*/
|
55 |
int turnLeft(void); |
56 |
int turnRight(void); |
57 |
|
58 |
/**
|
59 |
* @brief Updates the values stored in the array to white or black based on
|
60 |
* current sensor readings.
|
61 |
*
|
62 |
* @param values The array of five integers to be updated.
|
63 |
*/
|
64 |
void updateLine(int* values); |
65 |
|
66 |
/**
|
67 |
* @brief Returns an index of the middle of the line based on line readings.
|
68 |
*
|
69 |
* Two special return values are possible:
|
70 |
* NOLINE if none of the sensors holds a black value, and
|
71 |
* FULL_LINE if all of the sensors see black.
|
72 |
*
|
73 |
* Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with
|
74 |
* 0 the line being centered in the middle.
|
75 |
*
|
76 |
* @param colors The array of 5 readings from the line sensor. Must be either
|
77 |
* LWHITE or LBLACK.
|
78 |
* @return Either a special value or an index from -4 to 4.
|
79 |
*
|
80 |
*/
|
81 |
int lineLocate(int* colors); |
82 |
|
83 |
/** @todo Alex: I hate these functions, but I'm keeping them so code will still work. But we should delete them sometime. */
|
84 |
|
85 |
/** motorLeft
|
86 |
* Commands the left motor
|
87 |
* Cannot be used to stop
|
88 |
* 0-126 are backward
|
89 |
* 127-255 are forward
|
90 |
*/
|
91 |
void motorLeft(int speed); |
92 |
|
93 |
/** motorRight
|
94 |
* Commands the right motor
|
95 |
* Cannot be used to stop
|
96 |
* 0-126 are backward
|
97 |
* 127-255 are forward
|
98 |
*/
|
99 |
void motorRight(int speed); |
100 |
|
101 |
private:
|
102 |
/** lost
|
103 |
* Internal counter to detect if the line was lost
|
104 |
*/
|
105 |
int lost;
|
106 |
}; |
107 |
#endif
|