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ArActionTurn.cpp
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ArActionTurn.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArActionTurn.h"
#include "ArRobot.h"
AREXPORT ArActionTurn::ArActionTurn(const char *name, double speedStartTurn,
double speedFullTurn, double turnAmount) :
ArAction(name,
"Turns the robot depending on actions by higher priority actions.")
{
setNextArgument(ArArg("speed start turn", &mySpeedStart,
"max vel at which to start turning (mm/sec)"));
mySpeedStart = speedStartTurn;
setNextArgument(ArArg("speed full turn", &mySpeedFull,
"max vel at which to turn the full amount (mm/sec)"));
mySpeedFull = speedFullTurn;
setNextArgument(ArArg("turn amount", &myTurnAmount,
"max vel at which to start turning (mm/sec)"));
myTurnAmount = turnAmount;
myTurning = 0;
}
AREXPORT ArActionTurn::~ArActionTurn()
{
}
AREXPORT ArActionDesired *ArActionTurn::fire(ArActionDesired currentDesired)
{
myDesired.reset();
double turnAmount;
double angle;
// if there's no strength, bail
// if our max velocity is higher than our start turn, bail
if (myRobot->getVel() > mySpeedStart)
{
if (myTurning != 0)
{
//printf("Resetting\n");
myTurning = 0;
}
return NULL;
}
// we're going to turn now... so figure out the amount to turn
// if our max vel is lower than the turn amount, just do the full turn
if (myRobot->getVel() < mySpeedFull)
{
//printf("full\n");
turnAmount = myTurnAmount;
}
// otherwise scale it
else
{
turnAmount = ((mySpeedStart - myRobot->getVel()) /
(mySpeedStart - mySpeedFull)) * myTurnAmount;
//printf("%.2f\n", (mySpeedStart - currentDesired.getMaxVel()) / (mySpeedStart - mySpeedFull));
}
// if we're already turning, turn that direction
if (myTurning != 0)
turnAmount *= myTurning;
// find out which side the closest obstacle is, and turn away
else
{
if (myRobot->checkRangeDevicesCurrentPolar(-90, 90, &angle) < 3000)
{
if (angle > 0)
{
//printf("### right\n");
myTurning = -1;
}
else
{
//printf("### left\n");
myTurning = 1;
}
}
else
{
//printf("### left\n");
myTurning = 1;
}
turnAmount *= myTurning;
}
myDesired.setDeltaHeading(turnAmount);
return &myDesired;
}