scoutos / scout / libscout / src / behaviors / sim_line.h @ ae21730e
History | View | Annotate | Download (1.52 KB)
1 | e7b4f56d | Alex | /**
|
---|---|---|---|
2 | * Copyright (c) 2011 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | */
|
||
25 | |||
26 | #ifndef _SIM_LINE_H_
|
||
27 | #define _SIM_LINE_H_
|
||
28 | |||
29 | #include "../Behavior.h" |
||
30 | |||
31 | 83db6c2c | Priya | #define MOTOR_BASE 50 |
32 | #define SCALE 20 |
||
33 | a3539955 | Alex | |
34 | e7b4f56d | Alex | class sim_line : Behavior |
35 | { |
||
36 | public:
|
||
37 | sim_line(std::string scoutname) : Behavior(scoutname, "sim_line") {};
|
||
38 | |||
39 | /** Actually executes the behavior. */
|
||
40 | void run();
|
||
41 | a3539955 | Alex | |
42 | private:
|
||
43 | ae21730e | Priya | void turn_left();
|
44 | void turn_right();
|
||
45 | void follow_line();
|
||
46 | void halt();
|
||
47 | e7b4f56d | Alex | }; |
48 | |||
49 | #endif |