78 lines
2.7 KiB
C
78 lines
2.7 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARACTIONBUMPERS_H
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#define ARACTIONBUMPERS_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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/// Action to deal with if the bumpers trigger
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/**
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This class basically responds to the bumpers the robot has, what
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the activity things the robot has is decided by the param file. If
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the robot is going forwards and bumps into something with the front
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bumpers, it will back up and turn. If the robot is going backwards
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and bumps into something with the rear bumpers then the robot will
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move forward and turn.
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@ingroup ActionClasses
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*/
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class ArActionBumpers : public ArAction
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{
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public:
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/// Constructor
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AREXPORT ArActionBumpers(const char *name = "bumpers",
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double backOffSpeed = 100, int backOffTime = 3000,
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int turnTime = 3000, bool setMaximums = false);
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/// Destructor
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AREXPORT virtual ~ArActionBumpers();
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AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
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AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
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#ifndef SWIG
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AREXPORT virtual const ArActionDesired *getDesired(void) const
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{ return &myDesired; }
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#endif
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AREXPORT double findDegreesToTurn(int bumpValue, int whichBumper);
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AREXPORT virtual void activate(void);
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protected:
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ArActionDesired myDesired;
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bool mySetMaximums;
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double myBackOffSpeed;
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int myBackOffTime;
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int myTurnTime;
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//int myStopTime;
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bool myFiring;
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double mySpeed;
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double myHeading;
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int myBumpMask;
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ArTime myStartBack;
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//ArTime myStoppedSince;
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};
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#endif // ARACTIONBUMPERS
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