scoutos / scout / libscout / src / behaviors / line_follow.cpp @ 7b5ea072
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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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#include "line_follow.h" |
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using namespace std; |
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static int motor_l; |
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static int motor_r; |
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Duration init_turn_time(0.8); |
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void line_follow::follow_line()
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{ |
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vector<uint32_t> readings; |
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do
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{ |
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double line_loc = linesensor->readline();
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if (line_loc == 0.0) |
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{ |
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motors->set_sides(-60, -60, MOTOR_ABSOLUTE); |
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} |
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else
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{ |
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motor_l = min(max((int) (-MOTOR_BASE + KP * line_loc), -128), 127); |
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motor_r = min(max((int) (-MOTOR_BASE - KP * line_loc), -128), 127); |
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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} |
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readings = linesensor->query(); |
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} |
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while(!linesensor->fullline(readings) &&
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!linesensor->destination(readings) && |
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ok()); |
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halt(); |
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} |
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void line_follow::turn_straight()
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{ |
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vector<uint32_t> readings; |
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do
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{ |
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motors->set_sides(-MOTOR_BASE, -MOTOR_BASE, MOTOR_ABSOLUTE); |
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readings = linesensor->query(); |
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} |
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while(!linesensor->fullline(readings) &&
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!linesensor->destination(readings) && |
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ok()); |
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} |
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void line_follow::turn_left()
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{ |
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bool first = true; |
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float line_loc;
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do
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{ |
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motor_l = -MOTOR_BASE; |
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motor_r = 0;
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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if(first)
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{ |
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init_turn_time.sleep(); |
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first = false;
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} |
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line_loc = linesensor->readline(); |
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} |
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while(!(-1 < line_loc && line_loc < 1) && ok()); |
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} |
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void line_follow::halt()
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{ |
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motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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} |
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void line_follow::spot_turn()
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{ |
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bool first = true; |
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float initial_loc = linesensor->readline();
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float line_loc = initial_loc;
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do
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{ |
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motor_l = MOTOR_BASE; |
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motor_r = -MOTOR_BASE; |
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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if(first)
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{ |
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init_turn_time.sleep(); |
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do
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{ |
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line_loc = linesensor->readline(); |
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} |
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while ((abs(line_loc - initial_loc) < 0.0001 || |
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(line_loc < -2 || line_loc > 2)) && ok()); |
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first = false;
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} |
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line_loc = linesensor->readline(); |
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} |
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while(!(-1 < line_loc && line_loc < 1) && ok()); |
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//keep repeating until line_loc gets a fresh reading
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} |
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void line_follow::turn_right()
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{ |
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bool first = true; |
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float line_loc;
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do
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{ |
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motor_l = 0;
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motor_r = -MOTOR_BASE; |
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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if(first)
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{ |
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init_turn_time.sleep(); |
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first = false;
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} |
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line_loc = linesensor->readline(); |
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} |
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while(!(-1 < line_loc && line_loc < 1) && ok()); |
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} |
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void line_follow::u_turn()
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{ |
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turn_right(); |
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follow_line(); |
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turn_right(); |
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} |
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void line_follow::run()
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{ |
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while(ok())
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{ |
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follow_line(); |
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} |
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} |