Revision 1905324e
| ID | 1905324ede544b0057161ba7a6ff8f31be9ebc45 |
Trying to make the warehouse robot drive around
| scout/libscout/src/behaviors/line_follow.cpp | ||
|---|---|---|
| 36 | 36 |
{
|
| 37 | 37 |
double line_loc = linesensor->readline(); |
| 38 | 38 |
|
| 39 |
cout << "line_loc: " << line_loc << endl; |
|
| 40 |
|
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| 41 | 39 |
motor_l = -MOTOR_BASE + SCALE * line_loc; |
| 42 | 40 |
motor_r = -MOTOR_BASE - SCALE * line_loc; |
| 43 | 41 |
|
| 44 | 42 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 45 | 43 |
} |
| 46 | 44 |
halt(); |
| 45 |
ROS_INFO("Intersection reached!");
|
|
| 47 | 46 |
} |
| 48 | 47 |
|
| 49 | 48 |
void line_follow::turn_left() |
| ... | ... | |
| 56 | 55 |
|
| 57 | 56 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 58 | 57 |
|
| 59 |
double line_loc = linesensor->readline(); |
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| 60 |
cout << "line_loc: " << line_loc << endl; |
|
| 61 | 58 |
if(first) |
| 62 | 59 |
{
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| 63 | 60 |
loop_rate->sleep(); |
| ... | ... | |
| 84 | 81 |
|
| 85 | 82 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 86 | 83 |
|
| 87 |
double line_loc = linesensor->readline(); |
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cout << "line_loc: " << line_loc << endl; |
|
| 89 | 84 |
if(first) |
| 90 | 85 |
{
|
| 91 | 86 |
loop_rate->sleep(); |
| ... | ... | |
| 97 | 92 |
while(linesensor->readline()); |
| 98 | 93 |
} |
| 99 | 94 |
|
| 100 |
void line_follow::run()
|
|
| 95 |
void line_follow::u_turn()
|
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| 101 | 96 |
{
|
| 97 |
turn_right(); |
|
| 102 | 98 |
follow_line(); |
| 103 | 99 |
turn_right(); |
| 100 |
} |
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| 101 |
|
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void line_follow::run() |
|
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{
|
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| 104 | 104 |
follow_line(); |
| 105 |
turn_left(); |
|
| 106 | 105 |
follow_line(); |
| 107 |
turn_right(); |
|
| 106 |
/* |
|
| 107 |
follow_line(); |
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u_turn(); |
|
| 109 |
follow_line(); |
|
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u_turn(); |
|
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follow_line(); |
|
| 112 |
follow_line(); |
|
| 113 |
u_turn(); |
|
| 108 | 114 |
follow_line(); |
| 115 |
*/ |
|
| 109 | 116 |
} |
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