root / scout / libscout / src / behaviors / line_follow.h @ 2fd5122a
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1 | 58371433 | Priya | /**
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2 | * 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 | */
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25 | 60b98383 | Priya | |
26 | #ifndef _LINE_FOLLOW_H_
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27 | #define _LINE_FOLLOW_H_
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28 | |||
29 | #include "../Behavior.h" |
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30 | d140fd71 | Yuyang | #include "../Sensors.h" |
31 | 60b98383 | Priya | |
32 | c840fbe6 | Priya | #define MOTOR_BASE 40.0f |
33 | 6ee555a3 | Priya | #define KP 20.0f |
34 | 60b98383 | Priya | |
35 | 1905324e | Priya | class line_follow : public Behavior |
36 | 60b98383 | Priya | { |
37 | 58371433 | Priya | public:
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38 | 754da79f | Priya | line_follow(std::string scoutname, std::string behavior_name, Sensors* sensors) : |
39 | Behavior(scoutname, behavior_name, sensors) {}; |
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40 | |||
41 | d140fd71 | Yuyang | line_follow(std::string scoutname, Sensors* sensors) : |
42 | Behavior(scoutname, "line_follow", sensors) {};
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43 | 60b98383 | Priya | |
44 | 58371433 | Priya | /** Actually executes the behavior. */
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45 | void run();
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46 | 60b98383 | Priya | |
47 | 1905324e | Priya | protected:
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48 | 58371433 | Priya | void turn_left();
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49 | void turn_right();
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50 | afa9104d | Priya | void turn_straight();
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51 | void spot_turn();
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52 | 1905324e | Priya | void u_turn();
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53 | 58371433 | Priya | void follow_line();
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54 | void halt();
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55 | 60b98383 | Priya | }; |
56 | 58371433 | Priya | |
57 | 60b98383 | Priya | #endif |