root / scout / libscout / src / behaviors / sim_line.cpp @ a3539955
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "sim_line.h" |
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using namespace std; |
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int motor_l;
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int motor_r;
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double sim_line::get_line_pos(vector<uint32_t> readings)
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{ |
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unsigned int total_read = 0; |
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unsigned int weighted_total = 0; |
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for (int i = 0; i < 8; i++) |
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{ |
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total_read += readings[i]; |
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weighted_total += i * readings[i]; |
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} |
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if (total_read == 0) |
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{ |
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return 0; |
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} |
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return ((double) weighted_total / total_read) - 4; |
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} |
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void sim_line::run()
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{ |
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motor_l = -MOTOR_MAX; |
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motor_r = -MOTOR_MAX; |
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while(ok())
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{ |
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double line_loc = get_line_pos(linesensor->query());
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cout << "line_loc: " << line_loc << endl;
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if (line_loc < 0) |
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{ |
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line_loc = abs(line_loc); |
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motor_l = -MOTOR_MAX; |
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motor_r = -MOTOR_MAX + (MOTOR_MAX / 2) * line_loc;
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} |
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else
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{ |
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motor_l = -MOTOR_MAX + (MOTOR_MAX / 2) * line_loc;
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motor_r = -MOTOR_MAX; |
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} |
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motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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spinOnce(); |
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loop_rate->sleep(); |
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} |
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} |