root / scout / libscout / src / LinesensorControl.cpp @ dcf49526
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| 1 | 1034f829 | 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 | /**
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| 27 | * @file LinesensorControl.cpp
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| 28 | * @brief Contains line following function implementation
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| 29 | *
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| 30 | * @author Colony Project, CMU Robotics Club
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| 31 | * @author Alex Zirbel
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| 32 | */
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| 33 | |||
| 34 | #include "LinesensorControl.h" |
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| 35 | |||
| 36 | using namespace std; |
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| 37 | |||
| 38 | 5d0687a9 | Priya | static double last_ret; |
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| 40 | 1034f829 | Alex | /**
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| 41 | * @brief Initialize the line following module of libscout.
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| 42 | */
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| 43 | LinesensorControl::LinesensorControl(const ros::NodeHandle& libscout_node,
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| 44 | string scoutname)
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| 45 | : node(libscout_node) |
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| 46 | {
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| 47 | query_client = |
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| 48 | node.serviceClient<linesensor::query_linesensor>(scoutname+"/query_linesensor");
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| 49 | } |
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| 50 | |||
| 51 | /**
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| 52 | * @brief Returns the current readings of the line follwing sensor.
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| 53 | */
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| 54 | 5866cb38 | Alex | vector<uint32_t> LinesensorControl::query() |
| 55 | 1034f829 | Alex | {
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| 56 | // Set scan range
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| 57 | linesensor::query_linesensor srv; |
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| 58 | |||
| 59 | if (!query_client.call(srv))
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| 60 | {
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| 61 | ROS_ERROR("LinesensorControl query failed.");
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| 62 | } |
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| 63 | |||
| 64 | 5866cb38 | Alex | return srv.response.readings;
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| 65 | 1034f829 | Alex | } |
| 66 | |||
| 67 | 5d0687a9 | Priya | /**
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| 68 | * @brief Returns the average readings of the line following sensors.
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| 69 | */
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| 70 | double LinesensorControl::readline()
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| 71 | {
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| 72 | unsigned int total_read = 0; |
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| 73 | unsigned int weighted_total = 0; |
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| 74 | |||
| 75 | vector<uint32_t> readings = query(); |
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| 76 | |||
| 77 | 360e3b6c | Tom Mullins | if (readings.size() < 8) |
| 78 | {
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| 79 | return last_ret;
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| 80 | } |
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| 81 | |||
| 82 | 5d0687a9 | Priya | for (int i = 0; i < 8; i++) |
| 83 | {
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| 84 | total_read += readings[i]; |
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| 85 | weighted_total += i * readings[i]; |
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| 86 | } |
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| 87 | |||
| 88 | if (total_read == 0) |
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| 89 | {
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| 90 | return last_ret;
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| 91 | } |
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| 92 | |||
| 93 | 6fab3966 | Alex | double ret_val = last_ret = ((double) weighted_total / total_read) - 3.5; |
| 94 | 5d0687a9 | Priya | return ret_val;
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| 95 | } |
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| 96 | |||
| 97 | bool LinesensorControl::fullline()
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| 98 | {
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| 99 | vector<uint32_t> readings = query(); |
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| 100 | ae21730e | Priya | for(int i=0; i<8; i++) |
| 101 | {
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| 102 | if(readings[i] < 200) |
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| 103 | return false; |
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| 104 | } |
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| 105 | return true; |
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| 106 | 5d0687a9 | Priya | } |