root / scout / libscout / src / behaviors / line_follow.cpp @ 6fab3966
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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 | afa9104d | Priya | Duration init_turn_time(0.5); |
34 | |||
35 | 58371433 | Priya | void line_follow::follow_line()
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36 | { |
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37 | afa9104d | Priya | do
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38 | 58371433 | Priya | { |
39 | double line_loc = linesensor->readline();
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40 | 9143e077 | Lalitha Ganesan | |
41 | 6fab3966 | Alex | ROS_INFO("Line location: %lf.\n", line_loc);
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42 | |||
43 | motor_l = min(max((int) (-MOTOR_BASE + SCALE * line_loc), -128), 127); |
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44 | motor_r = min(max((int) (-MOTOR_BASE - SCALE * line_loc), -128), 127); |
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45 | 9143e077 | Lalitha Ganesan | |
46 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
47 | } |
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48 | afa9104d | Priya | while(!linesensor->fullline());
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49 | 58371433 | Priya | halt(); |
50 | 1905324e | Priya | ROS_INFO("Intersection reached!");
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51 | 58371433 | Priya | } |
52 | 9143e077 | Lalitha Ganesan | |
53 | afa9104d | Priya | void line_follow::turn_straight()
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54 | { |
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55 | do
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56 | { |
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57 | motor_l = -MOTOR_BASE; |
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58 | motor_r = -MOTOR_BASE; |
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59 | |||
60 | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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61 | } |
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62 | while(linesensor->fullline());
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63 | } |
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64 | |||
65 | 58371433 | Priya | void line_follow::turn_left()
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66 | 60b98383 | Priya | { |
67 | 58371433 | Priya | bool first = true; |
68 | afa9104d | Priya | float line_loc;
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69 | 58371433 | Priya | do
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70 | { |
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71 | motor_l = -MOTOR_BASE; |
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72 | motor_r = MOTOR_BASE/8;
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73 | 60b98383 | Priya | |
74 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
75 | 60b98383 | Priya | |
76 | 58371433 | Priya | if(first)
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77 | 9143e077 | Lalitha Ganesan | { |
78 | afa9104d | Priya | init_turn_time.sleep(); |
79 | 58371433 | Priya | first = false;
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80 | 9143e077 | Lalitha Ganesan | } |
81 | afa9104d | Priya | |
82 | line_loc = linesensor->readline(); |
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83 | 60b98383 | Priya | } |
84 | 58c19c15 | Priya | while(!(-1 < line_loc && line_loc < 1)); |
85 | 9143e077 | Lalitha Ganesan | } |
86 | |||
87 | 58371433 | Priya | void line_follow::halt()
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88 | 9143e077 | Lalitha Ganesan | { |
89 | 58371433 | Priya | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
90 | 9143e077 | Lalitha Ganesan | } |
91 | |||
92 | afa9104d | Priya | void line_follow::spot_turn()
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93 | { |
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94 | bool first = true; |
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95 | float line_loc;
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96 | do
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97 | { |
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98 | motor_l = MOTOR_BASE; |
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99 | motor_r = -MOTOR_BASE; |
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100 | |||
101 | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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102 | |||
103 | if(first)
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104 | { |
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105 | while(line_loc < 2 && line_loc > -2) |
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106 | line_loc = linesensor->readline(); |
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107 | |||
108 | first = false;
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109 | } |
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110 | line_loc = linesensor->readline(); |
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111 | } |
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112 | while(!(-1 < line_loc && line_loc < 1)); |
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113 | } |
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114 | |||
115 | 58371433 | Priya | void line_follow::turn_right()
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116 | 9143e077 | Lalitha Ganesan | { |
117 | 58371433 | Priya | bool first = true; |
118 | afa9104d | Priya | float line_loc;
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119 | 58371433 | Priya | do
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120 | { |
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121 | motor_l = MOTOR_BASE/8;
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122 | motor_r = -MOTOR_BASE; |
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123 | 60b98383 | Priya | |
124 | 58371433 | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
125 | 60b98383 | Priya | |
126 | 58371433 | Priya | if(first)
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127 | 60b98383 | Priya | { |
128 | afa9104d | Priya | init_turn_time.sleep(); |
129 | 58371433 | Priya | first = false;
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130 | 60b98383 | Priya | } |
131 | afa9104d | Priya | |
132 | line_loc = linesensor->readline(); |
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133 | 60b98383 | Priya | } |
134 | afa9104d | Priya | while(!(-1 < line_loc && line_loc < 1)); |
135 | 9143e077 | Lalitha Ganesan | } |
136 | |||
137 | 1905324e | Priya | void line_follow::u_turn()
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138 | 9143e077 | Lalitha Ganesan | { |
139 | 1905324e | Priya | turn_right(); |
140 | 58371433 | Priya | follow_line(); |
141 | turn_right(); |
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142 | 1905324e | Priya | } |
143 | |||
144 | void line_follow::run()
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145 | { |
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146 | 25694a03 | Priya | while(ok())
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147 | { |
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148 | follow_line(); |
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149 | } |
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150 | 9143e077 | Lalitha Ganesan | } |