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Revision 31be19a6

ID31be19a6f1dbf2140fc23d0e97e1a5a706cb78b8

Added by Priya about 12 years ago

Behaviours now have names!

View differences:

scout/libscout/src/Behavior.cpp
48 48 
 * @param scoutname If nonempty, specifies which scout in the simulator
49 49 
 *                  will be controlled by this behavior.
50 50 
 */
51 
Behavior::Behavior(string scoutname)
51 
Behavior::Behavior(string scoutname, char* my_name)
52 52 
{
53 
    name = my_name;
54 

  		




  53
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    motors = new MotorControl(node, scoutname);


  		




  54
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    buttons = new ButtonControl(node, scoutname);


  		




  55
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    sonar = new SonarControl(node, scoutname);


  		












  

    
      scout/libscout/src/Behavior.h
    
  





  51
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{


  		




  52
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    public:


  		




  53
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        // Initializes ROS for behavior


  		




  54
  
  
    
        Behavior(std::string scoutname);


  		




  
  54
  
    
        Behavior(std::string scoutname, char* name);


  		




  55
  55
  
    

  		




  56
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        /// Extended by subclasses to actually run the behavior.


  		




  57
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        virtual void run() = 0;


  		




  58
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  59
  
    
        //Name of behaviour


  		




  
  60
  
    
        const char* name;


  		




  
  61
  
    

  		




  59
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    protected:


  		




  60
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        ros::NodeHandle node;


  		




  61
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      scout/libscout/src/BehaviorProcess.cpp
    
  





  39
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{


  		




  40
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    string scoutname = "";


  		




  41
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    int behavior_num;


  		




  
  42
  
    
    string behavior_name = "";


  		




  42
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  43
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    // Running with no arguments only supports one scout. Check in case


  		




  44
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    // the user meant to specify a scout in the arguments.


  		




  45
  
  
    
    if (argc != 3)


  		




  
  46
  
    
    if (argc != 4)


  		




  46
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    {


  		




  47
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        cout << "You have started this behavior in hardware mode." << endl


  		




  48
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             << "To start in software mode, use: " << argv[0]


  		




  ......




  53
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        // Use the provided scoutname for simulator messages


  		




  54
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        scoutname = argv[1];


  		




  55
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        behavior_num = atoi(argv[2]);


  		




  
  57
  
    
        behavior_name = argv[3];


  		




  56
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  57
  
  
    
        ros::init(argc, argv, "priya_behavior");


  		




  
  59
  
    
        ros::init(argc, argv, behavior_name);


  		




  58
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        BehaviorList* list = new BehaviorList(scoutname);


  		




  60
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        vector<Behavior*> behavior_list = list->behavior_list;


  		












  

    
      scout/libscout/src/behaviors/Odometry.cpp
    
  





  4
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using namespace std;


  		




  5
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  6
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/** Set up the odometry node and prepare communcations over ROS */


  		




  7
  
  
    
Odometry::Odometry(string scoutname):Behavior(scoutname)


  		




  
  7
  
    
Odometry::Odometry(string scoutname):Behavior(scoutname, "odometry")


  		




  8
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{


  		




  9
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  scout_pos = new pos;


  		




  10
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}


  		




  ......




  17
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  18
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  /* TODO: Get current encoder ticks */


  		




  19
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  encoder_readings scout_enc = encoders->query();


  		




  20
  
  
    
    motor_fl_dist = scout_enc.fl_ticks;


  		




  21
  
  
    
    motor_fr_dist = scout_enc.fr_ticks;


  		




  22
  
  
    
    motor_bl_dist = scout_enc.bl_ticks;


  		




  23
  
  
    
    motor_br_dist = scout_enc.br_ticks;


  		




  24
  
  
    

  		




  25
  
  
    
//  msg_time_in = ros::WallTime::now();


  		




  
  20
  
    
  motor_fl_dist = scout_enc.fl_ticks;


  		




  
  21
  
    
  motor_fr_dist = scout_enc.fr_ticks;


  		




  
  22
  
    
  motor_bl_dist = scout_enc.bl_ticks;


  		




  
  23
  
    
  motor_br_dist = scout_enc.br_ticks;


  		




  
  24
  
    
/**


  		




  
  25
  
    
  motor_fl_dist = scout_enc.fl_ticks - motor_fl_ticks;


  		




  
  26
  
    
  motor_fr_dist = scout_enc.fr_ticks - motor_fr_ticks;


  		




  
  27
  
    
  motor_bl_dist = scout_enc.bl_ticks - motor_bl_ticks;


  		




  
  28
  
    
  motor_br_dist = scout_enc.br_ticks - motor_br_ticks;


  		




  
  29
  
    
**/


  		




  26
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  27
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  left_dist = DIST_PER_TICK*(motor_fl_dist + motor_bl_dist)/2;


  		




  28
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  right_dist = DIST_PER_TICK*(motor_fr_dist + motor_br_dist)/2;


  		




  29
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  30
  
  
    
//  left_vel = left_dist/msg_time_iin;


  		




  31
  
  
    
//  right_vel = right_dist/msg_time_in;


  		




  32
  
  
    

  		




  33
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  total_dist = (left_dist+right_dist)/2;


  		




  34
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  theta = (right_dist - left_dist)/WHEEL_BASE;


  		




  35
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  36
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  scout_pos->x = total_dist*sin(theta);


  		




  37
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  scout_pos->y = total_dist*cos(theta);


  		




  38
  
  
    

  		




  39
  
  
    
 /* TODO: Publish x and y pos */


  		




  
  39
  
    
  scout_pos->theta = theta;


  		




  
  40
  
    

  		




  
  41
  
    
/**


  		




  
  42
  
    
  //Save state for next time in.


  		




  
  43
  
    
  motor_fl_ticks = scout_enc.fl_ticks;


  		




  
  44
  
    
  motor_fr_ticks = scout_enc.fr_ticks;


  		




  
  45
  
    
  motor_bl_ticks = scout_enc.bl_ticks;


  		




  
  46
  
    
  motor_br_ticks = scout_enc.br_ticks;


  		




  
  47
  
    
**/


  		




  40
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 return;


  		




  41
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}


  		




  42
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  ......




  45
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  while(ok())


  		




  46
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  {


  		




  47
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    get_position();


  		




  48
  
  
    
    ROS_INFO("Scout is at x: %f  y: %f \n", scout_pos->x, scout_pos->y);


  		




  
  56
  
    
    //TODO publish position


  		




  
  57
  
    
    ROS_INFO("Scout is at x: %f  y: %f theta: %f\n", scout_pos->x, scout_pos->y, scout_pos->theta);


  		




  49
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  }


  		




  50
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}


  		












  

    
      scout/libscout/src/behaviors/Odometry.h
    
  





  4
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#include "../Behavior.h"


  		




  5
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  6
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  7
  
  
    
#define WHEEL_RADIUS  .5


  		




  
  7
  
    
#define WHEEL_RADIUS  5


  		




  8
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#define WHEEL_CIRCUM  (2*M_PI*WHEEL_RADIUS)


  		




  9
  
  
    
#define WHEEL_BASE    3


  		




  10
  
  
    
#define ENCODER_COUNT 88


  		




  
  9
  
    
#define WHEEL_BASE    2


  		




  
  10
  
    
#define ENCODER_COUNT 8800000000


  		




  11
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#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT)


  		




  12
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  13
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typedef struct{


  		




  14
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  float x;


  		




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  float y;


  		




  
  16
  
    
  float theta;


  		




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} pos;


  		




  17
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  18
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class Odometry : Behavior{


  		




  ......




  36
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    ros::ServiceClient query_encoders_client;


  		




  37
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    float msg_time_in;


  		




  
  40
  
    

  		




  39
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    float motor_fl_dist;


  		




  40
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    float motor_fr_dist;


  		




  41
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    float motor_bl_dist;


  		




  42
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    float motor_br_dist;


  		




  43
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  46
  
    
    float motor_fl_ticks;


  		




  
  47
  
    
    float motor_fr_ticks;


  		




  
  48
  
    
    float motor_bl_ticks;


  		




  
  49
  
    
    float motor_br_ticks;


  		




  
  50
  
    
    float scout_theta;


  		




  
  51
  
    

  		




  44
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    pos* scout_pos;


  		




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};


  		




  46
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      scout/libscout/src/behaviors/draw_ccw_circle.h
    
  





  32
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{


  		




  33
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    public:


  		




  34
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        /// @todo Is this the best way to inherit the Behavior constructor?


  		




  35
  
  
    
        draw_ccw_circle(std::string scoutname) : Behavior(scoutname) {};


  		




  
  35
  
    
        draw_ccw_circle(std::string scoutname) : Behavior(scoutname, "draw_ccw_circle"){ };


  		




  36
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        /** Actually executes the behavior. */


  		




  38
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        void run();


  		












  

    
      scout/libscout/src/behaviors/draw_cw_circle.h
    
  





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{


  		




  33
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    public:


  		




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        /// @todo Is this the best way to inherit the Behavior constructor?


  		




  35
  
  
    
        draw_cw_circle(std::string scoutname) : Behavior(scoutname) {};


  		




  
  35
  
    
        draw_cw_circle(std::string scoutname) : Behavior(scoutname, "draw_cw_circle") {};


  		




  36
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        /** Actually executes the behavior. */


  		




  38
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        void run();


  		












  

    
      scout/libscout/src/behaviors/lineDrive.cpp
    
  





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#include "line_drive.h"


  		




  17
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line_drive::line_drive(String scoutname): Behavior(scoutname)


  		




  
  18
  
    
line_drive::line_drive(String scoutname): Behavior(scoutname, "line_drive")


  		




  19
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{


  		




  20
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  line_drive_init();


  		




  21
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  line_follow_init();


  		












  

    
      scout/libscout/src/behaviors/navigationMap.cpp
    
  





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#include "navigationMap.h"


  		




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  3
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/** @brief Initializes the map */


  		




  4
  
  
    
navigationMap::navigationMap(std::string scoutname) : Behavior(scoutname)


  		




  
  4
  
    
navigationMap::navigationMap(std::string scoutname) : Behavior(scoutname, "navigationMap")


  		




  5
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{


  		




  6
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  /** Initialize Map 


  		




  7
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   *


  		












  

    
      scout/libscout/src/behaviors/trafficNavigation.h
    
  





  136
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class trafficNavigation : Behavior


  		




  137
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{


  		




  138
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    public:


  		




  139
  
  
    
        trafficNavigation(std::string scoutname) : Behavior(scoutname) {};


  		




  
  139
  
    
        trafficNavigation(std::string scoutname) : Behavior(scoutname, "traffic_nav") {};


  		




  140
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  141
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        void run();


  		




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		int wirelessPacketHandle(int state);


  		












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