root / scout / libscout / src / behaviors / lineDrive.cpp @ 9295436d
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/**
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* @file lineDrive.cpp
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*
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* Provides functions to implement line driving behavior. This program extends
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* the behavior of the line-following program by following lines automatically
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* and implementing behaviors to deal with commands passed to lineDrive.
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*
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* Specific implementation for the colony scout robots in a warehouse behaviour
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* setting.
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*
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* @author James Carroll（キヤロル）
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* Cannabalized from Dan Jacobs code.
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* @date 2-6-2012
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*/
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#include "lineDrive.h" |
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int state[5]; //! Stores a queue of sub-commands to be executed |
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int stateCounter;
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int stateLength;
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//! Whether lineDrive is currently paused. Set to 0 on initialization.
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int stopped=1; |
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/**
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* Starts the line following procedure. Must be called before other
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* line-following functions will work. This function essentially resets the
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* state of line-following.
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*/
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void lineDrive_init()
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{
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lineFollow_init(); |
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for(int i=0; i<5; i++)state[i]=0; |
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stateCounter=0;
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stateLength=0;
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stopped=0;
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} |
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/**
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* Follows a line and executes whatever command is next on the queue.
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* @param speed The speed with which to drive along the line.
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*/
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int doDrive(int speed) |
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{
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if(stopped)
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{
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motors->set_sides(0,0,ABSOLUTE); |
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return NORMAL;
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} |
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int code;
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switch(state[0]) |
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{
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case ISTRAIGHT:
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code = lineFollow(speed); |
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if(code==INTERSECTION)
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{
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for(int i=0; i<4; i++) state[i]=state[i+1]; |
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state[4]=0; |
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if(state[0]==0)stateCounter++; |
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break;
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} |
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else if(code==NOBARCODE) return NORMAL; |
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return code;
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case ILEFT:
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code = turnLeft(); |
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if(code==0) |
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{
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state[0]=0; |
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stateCounter++; |
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} |
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break;
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case IRIGHT:
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code = turnRight(); |
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if(code==0) |
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{
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state[0]=0; |
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stateCounter++; |
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} |
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break;
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default:
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return LOST;
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} |
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if(stateCounter>=stateLength)
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{
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stateCounter=stateLength=0;
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return FINISHED;
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} |
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return NORMAL;
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} |
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/** Starts the line-drive process if paused. */
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void start(void){ |
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stopped=0;
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} |
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/** Pauses the line-drive process. Default is started. */
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void stop(void){ |
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stopped=1;
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} |
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/**
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* Executes an intersection turn where the intersection type is specified by the
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* parameters.
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* @param type A valid defined intersection type
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* @param dir The direction to turn at the intersection
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*/
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int turn(int type, int dir) |
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{
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if(stateLength!=0) |
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return ERROR;
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//turns that don't depend on what kind of road your on
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if(dir==ISTRAIGHT)
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{
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stateLength++; |
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state[1]=ISTRAIGHT;
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return NORMAL;
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} |
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if(dir==IUTURN)
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{
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stateLength+=2;
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state[1]=state[2]=ILEFT; |
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return NORMAL;
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} |
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if(type==ON_ROAD)
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{
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if(dir==IRIGHT){
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stateLength++; |
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state[1] = IRIGHT;
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return NORMAL;
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} |
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if(dir==ILEFT){
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stateLength += 2;
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state[1] = ILEFT;
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state[2] = ISTRAIGHT;
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return NORMAL
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} |
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} |
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if(type==OFF_ROAD)
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{
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if(dir==IRIGHT){
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stateLength++; |
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state[1]=IRIGHT;
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return NORMAL;
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} |
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if(dir==ILEFT){
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stateLength+=2;
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state[1]=ISTRAIGHT;
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state[2]=ILEFT;
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} |
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} |
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//Should never get here
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return ERROR;
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} |
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