Revision afa9104d
Ok Scheduler warehouse behaviour working! and linefollowing works better now! Onto better demo.
| scout/libscout/src/behaviors/WH_Robot.cpp | ||
|---|---|---|
| 34 | 34 |
switch(t) |
| 35 | 35 |
{
|
| 36 | 36 |
case ISTRAIGHT: |
| 37 |
turn_straight(); |
|
| 37 | 38 |
follow_line(); |
| 38 | 39 |
break; |
| 39 | 40 |
case ILEFT: |
| scout/libscout/src/behaviors/line_follow.cpp | ||
|---|---|---|
| 30 | 30 |
static int motor_l; |
| 31 | 31 |
static int motor_r; |
| 32 | 32 |
|
| 33 |
Duration init_turn_time(0.5); |
|
| 34 |
|
|
| 33 | 35 |
void line_follow::follow_line() |
| 34 | 36 |
{
|
| 35 |
while(!linesensor->fullline())
|
|
| 37 |
do
|
|
| 36 | 38 |
{
|
| 37 | 39 |
double line_loc = linesensor->readline(); |
| 38 | 40 |
|
| ... | ... | |
| 41 | 43 |
|
| 42 | 44 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 43 | 45 |
} |
| 46 |
while(!linesensor->fullline()); |
|
| 44 | 47 |
halt(); |
| 45 | 48 |
ROS_INFO("Intersection reached!");
|
| 46 | 49 |
} |
| 47 | 50 |
|
| 51 |
void line_follow::turn_straight() |
|
| 52 |
{
|
|
| 53 |
do |
|
| 54 |
{
|
|
| 55 |
motor_l = -MOTOR_BASE; |
|
| 56 |
motor_r = -MOTOR_BASE; |
|
| 57 |
|
|
| 58 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
| 59 |
} |
|
| 60 |
while(linesensor->fullline()); |
|
| 61 |
} |
|
| 62 |
|
|
| 48 | 63 |
void line_follow::turn_left() |
| 49 | 64 |
{
|
| 50 | 65 |
bool first = true; |
| 66 |
float line_loc; |
|
| 51 | 67 |
do |
| 52 | 68 |
{
|
| 53 | 69 |
motor_l = -MOTOR_BASE; |
| ... | ... | |
| 57 | 73 |
|
| 58 | 74 |
if(first) |
| 59 | 75 |
{
|
| 60 |
loop_rate->sleep(); |
|
| 61 |
loop_rate->sleep(); |
|
| 62 |
loop_rate->sleep(); |
|
| 76 |
init_turn_time.sleep(); |
|
| 63 | 77 |
first = false; |
| 64 | 78 |
} |
| 79 |
|
|
| 80 |
line_loc = linesensor->readline(); |
|
| 65 | 81 |
} |
| 66 |
while(linesensor->readline());
|
|
| 82 |
while(!(-.5 < line_loc && line_loc < .5));
|
|
| 67 | 83 |
} |
| 68 | 84 |
|
| 69 | 85 |
void line_follow::halt() |
| ... | ... | |
| 71 | 87 |
motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
| 72 | 88 |
} |
| 73 | 89 |
|
| 90 |
void line_follow::spot_turn() |
|
| 91 |
{
|
|
| 92 |
bool first = true; |
|
| 93 |
float line_loc; |
|
| 94 |
do |
|
| 95 |
{
|
|
| 96 |
motor_l = MOTOR_BASE; |
|
| 97 |
motor_r = -MOTOR_BASE; |
|
| 98 |
|
|
| 99 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
|
| 100 |
|
|
| 101 |
if(first) |
|
| 102 |
{
|
|
| 103 |
while(line_loc < 2 && line_loc > -2) |
|
| 104 |
line_loc = linesensor->readline(); |
|
| 105 |
|
|
| 106 |
first = false; |
|
| 107 |
} |
|
| 108 |
line_loc = linesensor->readline(); |
|
| 109 |
} |
|
| 110 |
while(!(-1 < line_loc && line_loc < 1)); |
|
| 111 |
} |
|
| 112 |
|
|
| 74 | 113 |
void line_follow::turn_right() |
| 75 | 114 |
{
|
| 76 | 115 |
bool first = true; |
| 116 |
float line_loc; |
|
| 77 | 117 |
do |
| 78 | 118 |
{
|
| 79 | 119 |
motor_l = MOTOR_BASE/8; |
| ... | ... | |
| 83 | 123 |
|
| 84 | 124 |
if(first) |
| 85 | 125 |
{
|
| 86 |
loop_rate->sleep(); |
|
| 87 |
loop_rate->sleep(); |
|
| 88 |
loop_rate->sleep(); |
|
| 126 |
init_turn_time.sleep(); |
|
| 89 | 127 |
first = false; |
| 90 | 128 |
} |
| 129 |
|
|
| 130 |
line_loc = linesensor->readline(); |
|
| 91 | 131 |
} |
| 92 |
while(linesensor->readline());
|
|
| 132 |
while(!(-1 < line_loc && line_loc < 1));
|
|
| 93 | 133 |
} |
| 94 | 134 |
|
| 95 | 135 |
void line_follow::u_turn() |
| ... | ... | |
| 102 | 142 |
void line_follow::run() |
| 103 | 143 |
{
|
| 104 | 144 |
follow_line(); |
| 145 |
turn_right(); |
|
| 105 | 146 |
follow_line(); |
| 106 |
/* |
|
| 107 |
follow_line(); |
|
| 108 |
u_turn(); |
|
| 109 |
follow_line(); |
|
| 110 |
u_turn(); |
|
| 111 |
follow_line(); |
|
| 112 |
follow_line(); |
|
| 113 |
u_turn(); |
|
| 147 |
turn_straight(); |
|
| 148 |
motors->set_sides(-MOTOR_BASE, -MOTOR_BASE, MOTOR_ABSOLUTE); |
|
| 149 |
Duration meow(2); |
|
| 150 |
meow.sleep(); |
|
| 151 |
spot_turn(); |
|
| 114 | 152 |
follow_line(); |
| 115 |
*/ |
|
| 116 | 153 |
} |
| scout/libscout/src/behaviors/line_follow.h | ||
|---|---|---|
| 42 | 42 |
protected: |
| 43 | 43 |
void turn_left(); |
| 44 | 44 |
void turn_right(); |
| 45 |
void turn_straight(); |
|
| 46 |
void spot_turn(); |
|
| 45 | 47 |
void u_turn(); |
| 46 | 48 |
void follow_line(); |
| 47 | 49 |
void halt(); |
| scout/libscout/src/behaviors/navigationMap.cpp | ||
|---|---|---|
| 94 | 94 |
Edge* a7 = new Edge[ARRAY_SIZE]; |
| 95 | 95 |
a7[0] = MAKE_EDGE(ISTRAIGHT, 6, 0); |
| 96 | 96 |
a7[1] = MAKE_EDGE(ILEFT, 11, 40); |
| 97 |
a7[2] = MAKE_EDGE(IUTURN, 3, 10);
|
|
| 97 |
a7[2] = MAKE_EDGE(IUTURN, 4, 10);
|
|
| 98 | 98 |
|
| 99 | 99 |
Edge* a8 = new Edge[ARRAY_SIZE]; |
| 100 | 100 |
a8[0] = MAKE_EDGE(ISTRAIGHT, 7, 0); |
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