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Revision 46daeb86

ID46daeb86999a5146ab47fc8683a26a3d5082e975
Parent ac55b507
Child 47a7eeb7

Added by Hui Jun Tay over 10 years ago

Added map for testing charging behaviors

View differences:

scout/libscout/src/test_behaviors/ApproachEmitter.cpp
24 24 
 */
25 25 

  		




  26
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#include "ApproachEmitter.h"


  		




  
  27
  
    
#define BOM_W1 5


  		




  
  28
  
    
#define BOM_W2 10


  		




  
  29
  
    
#define BOM_W3 15


  		




  
  30
  
    
#define BOM_W4 20


  		




  
  31
  
    
#define BOM_W5 30


  		




  27
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using namespace std;


  		




  29
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  ......




  40
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    while (ok()) {


  		




  41
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        r = bom->query();


  		




  42
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        if (accumulate(r.begin(), r.end(), 0)) {


  		




  43
  
  
    
            l_weighted = r[0] *5 + r[1]*10 + r[2]*15 + r[3]*20 + r[4]*30;


  		




  44
  
  
    
            r_weighted = r[9] *5 + r[8]*10 + r[7]*15 + r[6]*20 - r[5]*30;


  		




  
  48
  
    
            l_weighted = r[0] *BOM_W1 + r[1]*BOM_W2 + r[2]*BOM_W3 + r[3]*BOM_W4 + r[4]*BOM_W5;


  		




  
  49
  
    
            r_weighted = r[9] *BOM_W1 + r[8]*BOM_W2 + r[7]*BOM_W3 + r[6]*BOM_W4 - r[5]*BOM_W5;


  		




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            motors->set_sides(min(r_weighted+speed, 100),


  		




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                              min(l_weighted+speed, 100),  MOTOR_PERCENT);


  		




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        }


  		












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