Scanner code will include the following: obstacle avoidance, hunting for victims, and localization checks.
scanner.cpp@0:999bb8fcd0b2, 2016-02-17 (annotated)
- Committer:
- j_j205
- Date:
- Wed Feb 17 16:47:55 2016 +0000
- Revision:
- 0:999bb8fcd0b2
- Child:
- 1:2714d60284ef
- Child:
- 2:b281034eda86
2/17/16 JJ
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
j_j205 | 0:999bb8fcd0b2 | 1 | #include "scanner.h" |
j_j205 | 0:999bb8fcd0b2 | 2 | #include "mbed.h" |
j_j205 | 0:999bb8fcd0b2 | 3 | #include "Gp2x.h" |
j_j205 | 0:999bb8fcd0b2 | 4 | #include "VL6180x.h" |
j_j205 | 0:999bb8fcd0b2 | 5 | |
j_j205 | 0:999bb8fcd0b2 | 6 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 7 | // Scanner() |
j_j205 | 0:999bb8fcd0b2 | 8 | // IN-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 9 | // |
j_j205 | 0:999bb8fcd0b2 | 10 | // OUT-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 11 | // |
j_j205 | 0:999bb8fcd0b2 | 12 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 13 | // Default constructor. |
j_j205 | 0:999bb8fcd0b2 | 14 | Scanner::Scanner(Serial &pc1, PinName _servoL, PinName _servoR, |
j_j205 | 0:999bb8fcd0b2 | 15 | VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL, |
j_j205 | 0:999bb8fcd0b2 | 16 | Gp2x &_longRangeR, float _period) : pc(pc1), servoL(_servoL), |
j_j205 | 0:999bb8fcd0b2 | 17 | servoR(_servoR), shortRangeL(_shortRangeL), |
j_j205 | 0:999bb8fcd0b2 | 18 | shortRangeR(_shortRangeR), longRangeL(_longRangeL), |
j_j205 | 0:999bb8fcd0b2 | 19 | longRangeR(_longRangeR), period(_period) |
j_j205 | 0:999bb8fcd0b2 | 20 | { |
j_j205 | 0:999bb8fcd0b2 | 21 | pit.attach(this, &Scanner::scan, period); |
j_j205 | 0:999bb8fcd0b2 | 22 | servoL.period(1.0/50.0); |
j_j205 | 0:999bb8fcd0b2 | 23 | servoR.period(1.0/50.0); |
j_j205 | 0:999bb8fcd0b2 | 24 | } |
j_j205 | 0:999bb8fcd0b2 | 25 | |
j_j205 | 0:999bb8fcd0b2 | 26 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 27 | // hunt() |
j_j205 | 0:999bb8fcd0b2 | 28 | // IN-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 29 | // |
j_j205 | 0:999bb8fcd0b2 | 30 | // OUT-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 31 | // |
j_j205 | 0:999bb8fcd0b2 | 32 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 33 | // Hunts for victim. |
j_j205 | 0:999bb8fcd0b2 | 34 | int Scanner::hunt() |
j_j205 | 0:999bb8fcd0b2 | 35 | { |
j_j205 | 0:999bb8fcd0b2 | 36 | return 0; |
j_j205 | 0:999bb8fcd0b2 | 37 | } |
j_j205 | 0:999bb8fcd0b2 | 38 | |
j_j205 | 0:999bb8fcd0b2 | 39 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 40 | // avoid() |
j_j205 | 0:999bb8fcd0b2 | 41 | // IN-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 42 | // |
j_j205 | 0:999bb8fcd0b2 | 43 | // OUT-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 44 | // |
j_j205 | 0:999bb8fcd0b2 | 45 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 46 | // Scans to avoid obstacles. |
j_j205 | 0:999bb8fcd0b2 | 47 | int Scanner::avoid() |
j_j205 | 0:999bb8fcd0b2 | 48 | { |
j_j205 | 0:999bb8fcd0b2 | 49 | return 0; |
j_j205 | 0:999bb8fcd0b2 | 50 | } |
j_j205 | 0:999bb8fcd0b2 | 51 | |
j_j205 | 0:999bb8fcd0b2 | 52 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 53 | // localize() |
j_j205 | 0:999bb8fcd0b2 | 54 | // IN-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 55 | // |
j_j205 | 0:999bb8fcd0b2 | 56 | // OUT-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 57 | // |
j_j205 | 0:999bb8fcd0b2 | 58 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 59 | // Checks localization points. |
j_j205 | 0:999bb8fcd0b2 | 60 | int Scanner::localize() |
j_j205 | 0:999bb8fcd0b2 | 61 | { |
j_j205 | 0:999bb8fcd0b2 | 62 | return 0; |
j_j205 | 0:999bb8fcd0b2 | 63 | } |
j_j205 | 0:999bb8fcd0b2 | 64 | |
j_j205 | 0:999bb8fcd0b2 | 65 | // FUNCTION: |
j_j205 | 0:999bb8fcd0b2 | 66 | // scan() |
j_j205 | 0:999bb8fcd0b2 | 67 | // IN-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 68 | // |
j_j205 | 0:999bb8fcd0b2 | 69 | // OUT-PARAMETERS: |
j_j205 | 0:999bb8fcd0b2 | 70 | // |
j_j205 | 0:999bb8fcd0b2 | 71 | // DESCRIPTION: |
j_j205 | 0:999bb8fcd0b2 | 72 | // Checks localization points. |
j_j205 | 0:999bb8fcd0b2 | 73 | void Scanner::scan() |
j_j205 | 0:999bb8fcd0b2 | 74 | { |
j_j205 | 0:999bb8fcd0b2 | 75 | |
j_j205 | 0:999bb8fcd0b2 | 76 | } |