Colony » Colony Scout » Colony Scout OS

#ifndef _LINEFOLLOW_H_

#define _LINEFOLLOW_H_

#include "../Behavior.h"

#define LWHITE                        0

#define LGREY                        1

#define LBLACK                         2

#define BAD_READING     3

#define CENTER                        3

#define LINELOST                -1

#define INTERSECTION         -25

#define NOLINE                        -50

#define FULL_LINE                 -51

#define NUM_READINGS 20

#define LEFT_SENSOR     1

#define RIGHT_SENSOR    0

class lineFollow : Behavior

{

        public:

                lineFollow(std::string scoutname) : Behavior(scoutname) {};

        /** Actually executes the behavior. */

                void init();

};

/**        lineFollow

 *        Must call lineFollow_init first

 *        Must be called inside a loop

 */

int lineFollow(int speed);

/**        turnLeft turnRight

 *        Must be called inside a loop

 *        returns 0 when complete

 */

int turnLeft(void);

int turnRight(void);

void addToBuckets(int curColor, int i);

void printBuckets();

/**

 * @brief Updates the values stored in the array to white or black based on

 * current sensor readings.

 *

 * @param values The array of five integers to be updated. 

 */

void updateLine(int* values); 

/**

 * @brief Returns an index of the middle of the line based on line readings.

 *

 * Two special return values are possible:

 *   NOLINE if none of the sensors holds a black value, and

 *   FULL_LINE if all of the sensors see black.

 *

 * Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with

 * 0 the line being centered in the middle.

 *

 * @param colors The array of 5 readings from the line sensor.  Must be either

 *    LWHITE or LBLACK.

 * @return Either a special value or an index from -4 to 4.

 *

 */

int lineLocate(int* colors);

//! A simple function to return the minimum of two integers.

int min(int x, int y);

//! A simple function to return the maximum of two integers.

int max(int x, int y);

/** @todo Alex: I hate these functions, but I'm keeping them so code will still work. But we should delete them sometime. */

/**        motorLeft

 *        Commands the left motor

 *        Cannot be used to stop

 *        0-126 are backward

 *        127-255 are forward

 */

void motorLeft(int speed);

/**        motorRight

 *        Commands the right motor

 *        Cannot be used to stop

 *        0-126 are backward

 *        127-255 are forward

 */

void motorRight(int speed);

/**        lost

 *        Internal counter to detect if the line was lost

 */

int lost;

int onLine(void);

#endif