root / scout / libscout / src / behaviors / sim_line.cpp @ ae21730e
History | View | Annotate | Download (2.66 KB)
1 | e7b4f56d | Alex | /**
|
---|---|---|---|
2 | * Copyright (c) 2011 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | */
|
||
25 | |||
26 | #include "sim_line.h" |
||
27 | |||
28 | 5866cb38 | Alex | using namespace std; |
29 | |||
30 | 83db6c2c | Priya | static int motor_l; |
31 | static int motor_r; |
||
32 | a3539955 | Alex | |
33 | ae21730e | Priya | void sim_line::follow_line()
|
34 | a3539955 | Alex | { |
35 | ae21730e | Priya | while(!linesensor->fullline())
|
36 | a3539955 | Alex | { |
37 | ae21730e | Priya | double line_loc = linesensor->readline();
|
38 | a3539955 | Alex | |
39 | ae21730e | Priya | cout << "line_loc: " << line_loc << endl;
|
40 | |||
41 | motor_l = -MOTOR_BASE + SCALE * line_loc; |
||
42 | motor_r = -MOTOR_BASE - SCALE * line_loc; |
||
43 | |||
44 | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
||
45 | a3539955 | Alex | } |
46 | ae21730e | Priya | halt(); |
47 | a3539955 | Alex | } |
48 | |||
49 | ae21730e | Priya | void sim_line::turn_left()
|
50 | e7b4f56d | Alex | { |
51 | ae21730e | Priya | bool first = true; |
52 | do
|
||
53 | { |
||
54 | 83db6c2c | Priya | motor_l = -MOTOR_BASE; |
55 | ae21730e | Priya | motor_r = MOTOR_BASE/8;
|
56 | a3539955 | Alex | |
57 | ae21730e | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
58 | |||
59 | double line_loc = linesensor->readline();
|
||
60 | cout << "line_loc: " << line_loc << endl;
|
||
61 | if(first)
|
||
62 | e7b4f56d | Alex | { |
63 | ae21730e | Priya | loop_rate->sleep(); |
64 | loop_rate->sleep(); |
||
65 | loop_rate->sleep(); |
||
66 | loop_rate->sleep(); |
||
67 | first = false;
|
||
68 | } |
||
69 | } |
||
70 | while(linesensor->readline());
|
||
71 | } |
||
72 | e7b4f56d | Alex | |
73 | ae21730e | Priya | void sim_line::halt()
|
74 | { |
||
75 | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
||
76 | } |
||
77 | 5866cb38 | Alex | |
78 | ae21730e | Priya | void sim_line::turn_right()
|
79 | { |
||
80 | bool first = true; |
||
81 | do
|
||
82 | { |
||
83 | motor_l = MOTOR_BASE/8;
|
||
84 | motor_r = -MOTOR_BASE; |
||
85 | a3539955 | Alex | |
86 | ae21730e | Priya | motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
87 | e7b4f56d | Alex | |
88 | ae21730e | Priya | double line_loc = linesensor->readline();
|
89 | cout << "line_loc: " << line_loc << endl;
|
||
90 | if(first)
|
||
91 | { |
||
92 | loop_rate->sleep(); |
||
93 | loop_rate->sleep(); |
||
94 | loop_rate->sleep(); |
||
95 | e7b4f56d | Alex | loop_rate->sleep(); |
96 | ae21730e | Priya | first = false;
|
97 | e7b4f56d | Alex | } |
98 | ae21730e | Priya | } |
99 | while(linesensor->readline());
|
||
100 | } |
||
101 | |||
102 | void sim_line::run()
|
||
103 | { |
||
104 | follow_line(); |
||
105 | turn_right(); |
||
106 | follow_line(); |
||
107 | turn_left(); |
||
108 | follow_line(); |
||
109 | turn_right(); |
||
110 | follow_line(); |
||
111 | e7b4f56d | Alex | } |