root / scout / libscout / src / behaviors / line_follow.cpp @ 58371433
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1 | 9143e077 | Lalitha Ganesan | /**
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2 | 58371433 | Priya | * 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 | 9143e077 | Lalitha Ganesan | */
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25 | |||
26 | 60b98383 | Priya | #include "line_follow.h" |
27 | 9143e077 | Lalitha Ganesan | |
28 | 58371433 | Priya | using namespace std; |
29 | 9143e077 | Lalitha Ganesan | |
30 | 58371433 | Priya | static int motor_l; |
31 | static int motor_r; |
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32 | 9143e077 | Lalitha Ganesan | |
33 | 58371433 | Priya | void line_follow::follow_line()
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34 | { |
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35 | while(!linesensor->fullline())
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36 | { |
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37 | double line_loc = linesensor->readline();
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38 | 9143e077 | Lalitha Ganesan | |
39 | 58371433 | Priya | cout << "line_loc: " << line_loc << endl;
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40 | 9143e077 | Lalitha Ganesan | |
41 | 58371433 | Priya | motor_l = -MOTOR_BASE + SCALE * line_loc; |
42 | motor_r = -MOTOR_BASE - SCALE * line_loc; |
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43 | 9143e077 | Lalitha Ganesan | |
44 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
45 | } |
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46 | halt(); |
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47 | } |
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48 | 9143e077 | Lalitha Ganesan | |
49 | 58371433 | Priya | void line_follow::turn_left()
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50 | 60b98383 | Priya | { |
51 | 58371433 | Priya | bool first = true; |
52 | do
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53 | { |
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54 | motor_l = -MOTOR_BASE; |
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55 | motor_r = MOTOR_BASE/8;
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56 | 60b98383 | Priya | |
57 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
58 | 60b98383 | Priya | |
59 | 58371433 | Priya | double line_loc = linesensor->readline();
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60 | cout << "line_loc: " << line_loc << endl;
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61 | if(first)
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62 | 9143e077 | Lalitha Ganesan | { |
63 | 58371433 | Priya | loop_rate->sleep(); |
64 | loop_rate->sleep(); |
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65 | loop_rate->sleep(); |
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66 | first = false;
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67 | 9143e077 | Lalitha Ganesan | } |
68 | 60b98383 | Priya | } |
69 | 58371433 | Priya | while(linesensor->readline());
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70 | 9143e077 | Lalitha Ganesan | } |
71 | |||
72 | 58371433 | Priya | void line_follow::halt()
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73 | 9143e077 | Lalitha Ganesan | { |
74 | 58371433 | Priya | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
75 | 9143e077 | Lalitha Ganesan | } |
76 | |||
77 | 58371433 | Priya | void line_follow::turn_right()
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78 | 9143e077 | Lalitha Ganesan | { |
79 | 58371433 | Priya | bool first = true; |
80 | do
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81 | { |
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82 | motor_l = MOTOR_BASE/8;
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83 | motor_r = -MOTOR_BASE; |
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84 | 60b98383 | Priya | |
85 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
86 | 60b98383 | Priya | |
87 | 58371433 | Priya | double line_loc = linesensor->readline();
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88 | cout << "line_loc: " << line_loc << endl;
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89 | if(first)
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90 | 60b98383 | Priya | { |
91 | 58371433 | Priya | loop_rate->sleep(); |
92 | loop_rate->sleep(); |
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93 | loop_rate->sleep(); |
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94 | first = false;
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95 | 60b98383 | Priya | } |
96 | } |
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97 | 58371433 | Priya | while(linesensor->readline());
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98 | 9143e077 | Lalitha Ganesan | } |
99 | |||
100 | 58371433 | Priya | void line_follow::run()
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101 | 9143e077 | Lalitha Ganesan | { |
102 | 58371433 | Priya | follow_line(); |
103 | turn_right(); |
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104 | follow_line(); |
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105 | turn_left(); |
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106 | follow_line(); |
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107 | turn_right(); |
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108 | follow_line(); |
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109 | 9143e077 | Lalitha Ganesan | } |