root / scout / libscout / src / test_behaviors / ApproachEmitter.cpp @ a94f870d
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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 "ApproachEmitter.h" |
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#define TOP_BOM 0 |
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#define BOT_BOM 1 |
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#define LEFT_EMITTER_ID 1 |
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#define RIGHT_EMITTER_ID 0 |
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#define LEFTSIDE 1 |
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#define RIGHTSIDE 2 |
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#define REAR 3 |
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#define NEITHER 0 |
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#define CENTRED 2 |
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#define SEARCH 0 |
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#define ADJUSTED 1 |
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#define SIGNAL_ONLY 3 |
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#define LOST_SIGNAL_THRESH 100 |
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using namespace std; |
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ApproachEmitter::ApproachEmitter(string scoutname, Sensors* sensors)
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: Behavior(scoutname, "Approach Emitter", sensors) {
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name = scoutname; |
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scout_pos = new pos;
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lost_signal_time = 0;
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wheel_vel_diff = 60;
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// initallize the side index values :D UGLY!!! But best solution so far
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FRONT.push_back(0);
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LEFT.push_back(1);
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LEFT.push_back(2);
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LEFT.push_back(3);
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BACK.push_back(4);
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BACK.push_back(5);
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RIGHT.push_back(6);
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RIGHT.push_back(7);
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RIGHT.push_back(8);
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FRONT.push_back(9);
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} |
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int ApproachEmitter::identifyPosition(
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vector<uint32_t> readings, vector<uint32_t> senders) { |
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int identified = SEARCH;
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int top_em_count = 0; |
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int bot_em_count = 0; |
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if (accumulate(&(readings[RIGHT.front()]),
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&(readings[RIGHT.back()])+1, 0) >= 2) { |
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for (int i=RIGHT.front(); i<RIGHT.back(); i++) { |
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top_em_count += (senders[i] == TOP_BOM); |
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bot_em_count += (senders[i] == BOT_BOM); |
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} |
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if (top_em_count * bot_em_count != 0) { |
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return CENTRED;
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} else if (top_em_count > 0) { |
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motors->set_sides(-50, -50, MOTOR_PERCENT); |
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} else {
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motors->set_sides(50, 50, MOTOR_PERCENT); |
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} |
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identified = ADJUSTED; |
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} else if (accumulate(&(readings[LEFT.front()]), |
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&(readings[LEFT.back()])+1, 0) >= 2) { |
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for (int i=LEFT.front(); i<LEFT.back(); i++) { |
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top_em_count += (senders[i] == TOP_BOM); |
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bot_em_count += (senders[i] == BOT_BOM); |
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} |
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if (top_em_count * bot_em_count != 0) { |
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return CENTRED;
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} else if (top_em_count > 0) { |
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motors->set_sides(50, 50, MOTOR_PERCENT); |
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} else {
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motors->set_sides(-50, -50, MOTOR_PERCENT); |
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} |
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identified = ADJUSTED; |
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} |
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return identified;
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} |
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void ApproachEmitter::searchForSignal() {
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lost_signal_time++; |
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int mid = 50; |
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if ((lost_signal_time) > LOST_SIGNAL_THRESH) {
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lost_signal_time = 0;
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wheel_vel_diff= (wheel_vel_diff>=0)?wheel_vel_diff-10:60; |
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ROS_INFO("CHANGING SPEED! %d", wheel_vel_diff);
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} |
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motors->set_sides(mid-wheel_vel_diff/2,
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mid+wheel_vel_diff/2, MOTOR_PERCENT);
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} |
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void ApproachEmitter::run() {
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ROS_INFO("BOM Main Running");
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BomReadings bomR; |
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vector<uint32_t> r; |
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vector<uint32_t> s; |
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int identified = 0; |
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while (ok()) {
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bomR = bom->query(); |
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r = bomR.readings; |
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s = bomR.senders; |
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identified = identifyPosition(r, s); |
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if (identified == CENTRED) {
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break;
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} else if (identified == ADJUSTED) { |
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lost_signal_time = 0;
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} else if (identified == SEARCH) { |
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searchForSignal(); |
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} else {
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ROS_INFO("WTF?");
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} |
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} |
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update_readings(); |
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start_side = get_side(); |
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while (ok() && ((start_side == LEFTSIDE && checkBOM(3, RIGHT_EMITTER_ID)) || |
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(start_side == RIGHTSIDE && checkBOM(6, LEFT_EMITTER_ID)))) {
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motors->set_sides(25, 25, MOTOR_PERCENT); |
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update_readings(); |
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} |
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motors->set_sides(0, 0, MOTOR_PERCENT); |
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while(ok() && reverse_park()) {
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update_readings(); |
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} |
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//motors->set_sides(0,0,MOTOR_PERCENT);
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ROS_INFO("done");
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/*
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while(ok()) {
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update_readings();
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if (at_destination()) {
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motors->set_sides(0, 0, MOTOR_PERCENT);
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ROS_INFO("done");
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break;
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}
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else {
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motors->set_sides(-20,-20,MOTOR_PERCENT);
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}
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}
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*/
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} |
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bool ApproachEmitter::reverse_park() {
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if(checkBOM(5, LEFT_EMITTER_ID) || |
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checkBOM(4, RIGHT_EMITTER_ID)) { //move forward |
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motors->set_sides(10, 10, MOTOR_PERCENT); |
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} |
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else if(checkBOM(4, LEFT_EMITTER_ID) && |
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checkBOM(5, RIGHT_EMITTER_ID)) {
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motors->set_sides(-40, -40, MOTOR_PERCENT); |
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} |
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else if (get_side() == REAR) { |
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if (checkBOM(4,LEFT_EMITTER_ID) && |
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!checkBOM(4, RIGHT_EMITTER_ID)) { //reverse right |
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//ROS_INFO("correct left");
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motors->set_sides(-20, -10, MOTOR_PERCENT); |
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} |
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else if (!checkBOM(4, LEFT_EMITTER_ID) && |
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checkBOM(5, RIGHT_EMITTER_ID)) { //reverse left |
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//ROS_INFO("correct right");
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motors->set_sides(-10, -20, MOTOR_PERCENT); |
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} |
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else {
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motors->set_sides(-40, -40, MOTOR_PERCENT); |
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} |
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} |
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else {
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if (start_side == RIGHTSIDE) { //reverseright |
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motors->set_sides(-40, -10, MOTOR_PERCENT); |
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} |
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else { //reverseleft |
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motors->set_sides(-10, -40, MOTOR_PERCENT); |
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} |
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} |
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if (at_destination()) {
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return false; |
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} |
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return true; |
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} |
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int ApproachEmitter::get_side() {
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if ((readings[1] > 0 || readings[2] > 0|| readings[3] > 0) && |
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(readings[6] == 0 && readings[7] == 0 && readings[8] == 0)) { |
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return LEFTSIDE;
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} |
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else if ((readings[6] > 0 || readings[7] > 0|| readings[8] > 0) && |
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(readings[1] == 0 && readings[2] == 0 && readings[3] == 0)) { |
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return RIGHTSIDE;
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} |
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else if ((readings[4] > 0) || (readings[5] > 0)) { |
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return REAR;
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} |
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else {
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return NEITHER;
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} |
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} |
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bool ApproachEmitter::checkBOM(int bNum, unsigned int ID) { |
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if(readings[bNum] == true) { |
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//ROS_INFO("Emitter ID: %d", senders[bNum]);
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return senders[bNum] == ID;
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} |
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return false; |
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} |
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void ApproachEmitter::update_readings() {
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BomReadings bomR = bom->query(); |
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readings = bomR.readings; |
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senders = bomR.senders; |
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} |
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bool ApproachEmitter::at_destination()
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{ |
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vector<uint32_t> readings = linesensor->query(); |
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/* ROS_INFO("%d %d %d %d %d %d %d %d", readings[0], readings[1],
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readings[2],readings[3],readings[4],readings[5],readings[6],readings[7]);
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*/
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//changed values so it detects solution
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if ( readings[0] > 75 || |
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readings[1] > 75 || |
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readings[2] > 75 || |
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readings[3] > 75 || |
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readings[4] > 75 || |
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readings[5] > 75 || |
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readings[6] > 75 || |
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readings[7] > 75 ) |
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{ |
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return true; |
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} |
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return false; |
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} |