root / scout / libscout / src / behaviors / sim_line.cpp @ 5d0687a9
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1 | e7b4f56d | Alex | /**
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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 | |||
26 | #include "sim_line.h" |
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27 | |||
28 | 5866cb38 | Alex | using namespace std; |
29 | |||
30 | 83db6c2c | Priya | static int motor_l; |
31 | static int motor_r; |
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32 | static double last_ret; |
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33 | a3539955 | Alex | |
34 | 83db6c2c | Priya | /** TODO: This should be part of the line sensor library */
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35 | a3539955 | Alex | double sim_line::get_line_pos(vector<uint32_t> readings)
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36 | { |
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37 | unsigned int total_read = 0; |
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38 | unsigned int weighted_total = 0; |
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39 | |||
40 | for (int i = 0; i < 8; i++) |
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41 | { |
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42 | total_read += readings[i]; |
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43 | weighted_total += i * readings[i]; |
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44 | } |
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45 | |||
46 | if (total_read == 0) |
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47 | { |
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48 | 83db6c2c | Priya | return last_ret;
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49 | a3539955 | Alex | } |
50 | 83db6c2c | Priya | |
51 | double ret_val = last_ret = ((double) weighted_total / total_read) - 4; |
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52 | return ret_val;
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53 | a3539955 | Alex | } |
54 | |||
55 | e7b4f56d | Alex | void sim_line::run()
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56 | { |
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57 | 83db6c2c | Priya | motor_l = -MOTOR_BASE; |
58 | motor_r = -MOTOR_BASE; |
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59 | a3539955 | Alex | |
60 | e7b4f56d | Alex | while(ok())
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61 | { |
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62 | 5d0687a9 | Priya | double line_loc = linesensor->readline();
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63 | e7b4f56d | Alex | |
64 | a3539955 | Alex | cout << "line_loc: " << line_loc << endl;
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65 | 5866cb38 | Alex | |
66 | 83db6c2c | Priya | motor_l = -MOTOR_BASE + SCALE * line_loc; |
67 | motor_r = -MOTOR_BASE - SCALE * line_loc; |
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68 | a3539955 | Alex | |
69 | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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70 | e7b4f56d | Alex | |
71 | spinOnce(); |
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72 | loop_rate->sleep(); |
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73 | } |
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74 | } |