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.

 */

/**

 * @file Behavior.cpp

 * @brief Contains basic functions for the structure of all behaviors.

 * 

 * Contains function implementations needed for all behavior.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Alex Zirbel

 **/

#include "Sensors.h"

using namespace std;

Sensors::Sensors(string scoutname)

{

    name = scoutname;

    motors = new MotorControl(node,scoutname);

    buttons = new ButtonControl(node, scoutname);

    sonar = new SonarControl(node, scoutname);

    //cliffsensor = new CliffsensorControl(node, scoutname);

    encoders = new EncodersControl(node, scoutname);

    linesensor = new LinesensorControl(node, scoutname);

    wl_sender = new WirelessSender(node);

}

// b_stuff stand for behavior control class

void Sensors::init(MotorControl** b_motors, ButtonControl ** b_buttons,

                  SonarControl ** b_sonar, EncodersControl ** b_encoders,

                  LinesensorControl ** b_linesensor,

                  WirelessSender ** b_wl_sender,

                  WirelessReceiver ** b_wl_receiver)

{

    //(MotorControl *)(* b_motors) = motors;

    *b_motors = motors;

    *b_buttons = buttons;

    *b_sonar = sonar;

    *b_encoders = encoders;

    *b_linesensor = linesensor;

    *b_wl_sender = wl_sender;

    *b_wl_receiver = new WirelessReceiver(node);

}