root / scout / libscout / src / test_behaviors / smart_runaround.h @ b9e59a3c
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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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#ifndef _SMART_RUNAROUND_H_
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#define _SMART_RUNAROUND_H_
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#include <math.h> |
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#include "../behaviors/line_follow.h" |
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/* Details about map:
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* 1 meter = 200 pixels
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* 1 block is a 13x13 pixel section
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* actual meter x meter map has 15 blocks in one row/column
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* # blocks per robot map row = 2*(block per map's row)-1
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*/
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// number of blocks in one row/column of robot's map
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#define MAP_LENGTH 29 |
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class smart_runaround: public line_follow |
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{ |
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public:
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smart_runaround(std::string scoutname, Sensors* sensors): |
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line_follow(scoutname, "smart_runaround", sensors) {};
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void run();
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private:
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int choose_direc(int row, int col, int info); |
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void turn_from_to(int current_dir, int intended_dir); |
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bool look_around(int row, int col, int dir); |
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bool at_destination();
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// functions for changing direction or moving
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void turn_straight(int dir); |
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void turn_right();
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void spot_turn();
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void turn_left();
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/* Initialize map so that boundaries MAP_LENGTH away
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* from the center. Then car won't go outside of
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* map even if it starts at a boundary and goes to
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* the other side.
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* Rows top to bottom, and columns left to right
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*/
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int map[MAP_LENGTH][MAP_LENGTH];
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}; |
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#endif
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