Revision 83db6c2c
| ID | 83db6c2ca04ee592bf27276adb12ab09973324a4 |
Line following code made bettergit status
| scout/libscout/src/LinesensorControl.cpp | ||
|---|---|---|
| 48 | 48 |
|
| 49 | 49 |
/** |
| 50 | 50 |
* @brief Returns the current readings of the line follwing sensor. |
| 51 |
* |
|
| 52 |
* @todo This shouldn't be returning void. These functions, in general, should |
|
| 53 |
* be changed to be more useful. |
|
| 54 | 51 |
*/ |
| 55 | 52 |
vector<uint32_t> LinesensorControl::query() |
| 56 | 53 |
{
|
| scout/libscout/src/behaviors/sim_line.cpp | ||
|---|---|---|
| 27 | 27 |
|
| 28 | 28 |
using namespace std; |
| 29 | 29 |
|
| 30 |
int motor_l; |
|
| 31 |
int motor_r; |
|
| 30 |
static int motor_l; |
|
| 31 |
static int motor_r; |
|
| 32 |
static double last_ret; |
|
| 32 | 33 |
|
| 34 |
|
|
| 35 |
/** TODO: This should be part of the line sensor library */ |
|
| 33 | 36 |
double sim_line::get_line_pos(vector<uint32_t> readings) |
| 34 | 37 |
{
|
| 35 | 38 |
unsigned int total_read = 0; |
| ... | ... | |
| 43 | 46 |
|
| 44 | 47 |
if (total_read == 0) |
| 45 | 48 |
{
|
| 46 |
return 0;
|
|
| 49 |
return last_ret;
|
|
| 47 | 50 |
} |
| 48 |
|
|
| 49 |
return ((double) weighted_total / total_read) - 4; |
|
| 51 |
|
|
| 52 |
double ret_val = last_ret = ((double) weighted_total / total_read) - 4; |
|
| 53 |
return ret_val; |
|
| 50 | 54 |
} |
| 51 | 55 |
|
| 52 | 56 |
void sim_line::run() |
| 53 | 57 |
{
|
| 54 |
motor_l = -MOTOR_MAX;
|
|
| 55 |
motor_r = -MOTOR_MAX;
|
|
| 58 |
motor_l = -MOTOR_BASE;
|
|
| 59 |
motor_r = -MOTOR_BASE;
|
|
| 56 | 60 |
|
| 57 | 61 |
while(ok()) |
| 58 | 62 |
{
|
| ... | ... | |
| 60 | 64 |
|
| 61 | 65 |
cout << "line_loc: " << line_loc << endl; |
| 62 | 66 |
|
| 63 |
if (line_loc < 0) |
|
| 64 |
{
|
|
| 65 |
line_loc = abs(line_loc); |
|
| 66 |
motor_l = -MOTOR_MAX; |
|
| 67 |
motor_r = -MOTOR_MAX + (MOTOR_MAX / 2) * line_loc; |
|
| 68 |
} |
|
| 69 |
else |
|
| 70 |
{
|
|
| 71 |
motor_l = -MOTOR_MAX + (MOTOR_MAX / 2) * line_loc; |
|
| 72 |
motor_r = -MOTOR_MAX; |
|
| 73 |
} |
|
| 67 |
motor_l = -MOTOR_BASE + SCALE * line_loc; |
|
| 68 |
motor_r = -MOTOR_BASE - SCALE * line_loc; |
|
| 74 | 69 |
|
| 75 | 70 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 76 | 71 |
|
| scout/libscout/src/behaviors/sim_line.h | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#include "../Behavior.h" |
| 30 | 30 |
|
| 31 |
#define MOTOR_MAX 50 |
|
| 31 |
#define MOTOR_BASE 50 |
|
| 32 |
#define SCALE 20 |
|
| 32 | 33 |
|
| 33 | 34 |
class sim_line : Behavior |
| 34 | 35 |
{
|
Also available in: Unified diff