Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "sim_line.h"

using namespace std;

int motor_l;

int motor_r;

double sim_line::get_line_pos(vector<uint32_t> readings)

{

    unsigned int total_read = 0;

    unsigned int weighted_total = 0;

    for (int i = 0; i < 8; i++)

    {

        total_read += readings[i];

        weighted_total += i * readings[i];

    }

    if (total_read == 0)

    {

        return 0;

    }

    return ((double) weighted_total / total_read) - 4;

}

void sim_line::run()

{

    motor_l = -MOTOR_MAX;

    motor_r = -MOTOR_MAX;

    while(ok())

    {

        double line_loc = get_line_pos(linesensor->query());

        cout << "line_loc: " << line_loc << endl;

        if (line_loc < 0)

        {

            line_loc = abs(line_loc);

            motor_l = -MOTOR_MAX;

            motor_r = -MOTOR_MAX + (MOTOR_MAX / 2) * line_loc;

        }

        else

        {

            motor_l = -MOTOR_MAX + (MOTOR_MAX / 2) * line_loc;

            motor_r = -MOTOR_MAX;

        }

        motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);

        spinOnce();

        loop_rate->sleep();

    }

}