scoutos / scout / libscout / src / behaviors / line_follow.cpp @ af7e0f94
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1 | 9143e077 | Lalitha Ganesan | /**
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2 | 58371433 | Priya | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | 9143e077 | Lalitha Ganesan | */
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25 | |||
26 | 60b98383 | Priya | #include "line_follow.h" |
27 | 9143e077 | Lalitha Ganesan | |
28 | 58371433 | Priya | using namespace std; |
29 | 9143e077 | Lalitha Ganesan | |
30 | 58371433 | Priya | static int motor_l; |
31 | static int motor_r; |
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32 | 9143e077 | Lalitha Ganesan | |
33 | 6ee555a3 | Priya | Duration init_turn_time(0.4); |
34 | afa9104d | Priya | |
35 | 58371433 | Priya | void line_follow::follow_line()
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36 | { |
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37 | af7e0f94 | Alex | vector<uint32_t> readings; |
38 | afa9104d | Priya | do
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39 | 58371433 | Priya | { |
40 | double line_loc = linesensor->readline();
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41 | af7e0f94 | Alex | ROS_INFO("Line loc: %lf", line_loc);
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42 | 9143e077 | Lalitha Ganesan | |
43 | 6ee555a3 | Priya | if (line_loc == 0.0) |
44 | { |
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45 | motors->set_sides(-60, -60, MOTOR_ABSOLUTE); |
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46 | continue;
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47 | } |
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48 | |||
49 | motor_l = min(max((int) (-MOTOR_BASE + KP * line_loc), -128), 127); |
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50 | motor_r = min(max((int) (-MOTOR_BASE - KP * line_loc), -128), 127); |
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51 | 9143e077 | Lalitha Ganesan | |
52 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
53 | af7e0f94 | Alex | readings = linesensor->query(); |
54 | 58371433 | Priya | } |
55 | af7e0f94 | Alex | while(!linesensor->fullline(readings) &&
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56 | !linesensor->destination(readings) && |
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57 | ok()); |
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58 | 58371433 | Priya | halt(); |
59 | } |
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60 | 9143e077 | Lalitha Ganesan | |
61 | afa9104d | Priya | void line_follow::turn_straight()
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62 | { |
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63 | af7e0f94 | Alex | vector<uint32_t> readings; |
64 | afa9104d | Priya | do
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65 | { |
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66 | motor_l = -MOTOR_BASE; |
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67 | motor_r = -MOTOR_BASE; |
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68 | |||
69 | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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70 | af7e0f94 | Alex | readings = linesensor->query(); |
71 | afa9104d | Priya | } |
72 | af7e0f94 | Alex | while(!linesensor->fullline(readings) &&
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73 | !linesensor->destination(readings) && |
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74 | ok()); |
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75 | afa9104d | Priya | } |
76 | |||
77 | 58371433 | Priya | void line_follow::turn_left()
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78 | 60b98383 | Priya | { |
79 | 58371433 | Priya | bool first = true; |
80 | afa9104d | Priya | float line_loc;
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81 | 58371433 | Priya | do
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82 | { |
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83 | motor_l = -MOTOR_BASE; |
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84 | 6ee555a3 | Priya | motor_r = 2*MOTOR_BASE/5; |
85 | 60b98383 | Priya | |
86 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
87 | 60b98383 | Priya | |
88 | 58371433 | Priya | if(first)
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89 | 9143e077 | Lalitha Ganesan | { |
90 | afa9104d | Priya | init_turn_time.sleep(); |
91 | 58371433 | Priya | first = false;
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92 | 9143e077 | Lalitha Ganesan | } |
93 | afa9104d | Priya | |
94 | line_loc = linesensor->readline(); |
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95 | 60b98383 | Priya | } |
96 | af7e0f94 | Alex | while(!(-1 < line_loc && line_loc < 1) && ok()); |
97 | 9143e077 | Lalitha Ganesan | } |
98 | |||
99 | 58371433 | Priya | void line_follow::halt()
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100 | 9143e077 | Lalitha Ganesan | { |
101 | 58371433 | Priya | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
102 | 9143e077 | Lalitha Ganesan | } |
103 | |||
104 | afa9104d | Priya | void line_follow::spot_turn()
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105 | { |
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106 | bool first = true; |
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107 | float line_loc;
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108 | do
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109 | { |
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110 | motor_l = MOTOR_BASE; |
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111 | motor_r = -MOTOR_BASE; |
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112 | |||
113 | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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114 | |||
115 | if(first)
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116 | { |
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117 | c840fbe6 | Priya | do
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118 | { |
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119 | afa9104d | Priya | line_loc = linesensor->readline(); |
120 | c840fbe6 | Priya | } |
121 | af7e0f94 | Alex | while(line_loc < 2 && line_loc > -2 && ok()); |
122 | afa9104d | Priya | |
123 | first = false;
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124 | } |
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125 | line_loc = linesensor->readline(); |
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126 | } |
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127 | af7e0f94 | Alex | while(!(-1 < line_loc && line_loc < 1) && ok()); |
128 | afa9104d | Priya | } |
129 | |||
130 | 58371433 | Priya | void line_follow::turn_right()
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131 | 9143e077 | Lalitha Ganesan | { |
132 | 58371433 | Priya | bool first = true; |
133 | afa9104d | Priya | float line_loc;
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134 | 58371433 | Priya | do
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135 | { |
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136 | 6ee555a3 | Priya | motor_l = 2*MOTOR_BASE/5; |
137 | 58371433 | Priya | motor_r = -MOTOR_BASE; |
138 | 60b98383 | Priya | |
139 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
140 | 60b98383 | Priya | |
141 | 58371433 | Priya | if(first)
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142 | 60b98383 | Priya | { |
143 | afa9104d | Priya | init_turn_time.sleep(); |
144 | 58371433 | Priya | first = false;
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145 | 60b98383 | Priya | } |
146 | afa9104d | Priya | |
147 | line_loc = linesensor->readline(); |
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148 | 60b98383 | Priya | } |
149 | af7e0f94 | Alex | while(!(-1 < line_loc && line_loc < 1) && ok()); |
150 | 9143e077 | Lalitha Ganesan | } |
151 | |||
152 | 1905324e | Priya | void line_follow::u_turn()
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153 | 9143e077 | Lalitha Ganesan | { |
154 | 1905324e | Priya | turn_right(); |
155 | 58371433 | Priya | follow_line(); |
156 | turn_right(); |
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157 | 1905324e | Priya | } |
158 | |||
159 | void line_follow::run()
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160 | { |
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161 | 25694a03 | Priya | while(ok())
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162 | { |
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163 | follow_line(); |
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164 | } |
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165 | 9143e077 | Lalitha Ganesan | } |