root / scout / libscout / src / test_behaviors / maze_solve_simple.cpp @ beaf9201
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1 | 4026134b | Alex | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | #include "maze_solve_simple.h" |
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27 | |||
28 | #define D_THRESH 600 |
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29 | #define max(x,y) ((x > y) ? x : y)
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30 | |||
31 | using namespace std; |
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32 | |||
33 | void maze_solve_simple::run()
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34 | { |
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35 | ROS_INFO("Starting to solve the maze");
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36 | |||
37 | // Go up to the first line.
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38 | follow_line(); |
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39 | |||
40 | // Turn the sonar on.
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41 | sonar->set_on(); |
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42 | sonar->set_range(0, 23); |
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43 | |||
44 | while (!at_destination())
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45 | { |
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46 | // Wait for sonar to update.
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47 | wait(1.5); |
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48 | int* readings = sonar->get_sonar_readings();
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49 | |||
50 | // Wait until the sonar gives us real values.
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51 | bool readings_ok = true; |
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52 | for (int i = 0; i < 48; i++) |
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53 | { |
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54 | if (readings[i] == 0) |
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55 | { |
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56 | readings_ok = false;
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57 | break;
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58 | } |
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59 | } |
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60 | if (!readings_ok)
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61 | { |
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62 | continue;
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63 | } |
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64 | |||
65 | int r_read = max(readings[23], max(readings[24], readings[25])); |
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66 | int s_read = max(readings[35], max(readings[36], readings[37])); |
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67 | int l_read = max(readings[47], max(readings[0], readings[1])); |
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68 | |||
69 | if (r_read > D_THRESH) // Right |
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70 | { |
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71 | ROS_INFO("Right.");
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72 | turn_right(); |
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73 | } |
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74 | else if (s_read > D_THRESH) // Straight |
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75 | { |
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76 | ROS_INFO("Straight.");
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77 | turn_straight(); |
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78 | } |
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79 | else if (l_read > D_THRESH) // Left |
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80 | { |
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81 | ROS_INFO("Left.");
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82 | turn_left(); |
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83 | } |
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84 | else // Deadend |
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85 | { |
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86 | ROS_INFO("Dead end.");
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87 | spot_turn(); |
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88 | } |
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89 | |||
90 | follow_line(); |
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91 | } |
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92 | |||
93 | ROS_INFO("I have solved the maze!");
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94 | } |
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95 | |||
96 | bool maze_solve_simple::at_destination()
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97 | { |
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98 | vector<uint32_t> readings = linesensor->query(); |
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99 | if ( readings[0] > 200 && |
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100 | readings[1] < 55 && |
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101 | readings[2] < 55 && |
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102 | readings[3] > 200 && |
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103 | readings[4] > 200 && |
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104 | readings[5] < 55 && |
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105 | readings[6] < 55 && |
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106 | readings[7] > 200 ) |
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107 | { |
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108 | return true; |
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109 | } |
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110 | return false; |
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111 | } |