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authorNicolas Schodet2013-03-31 19:28:24 +0200
committerNicolas Schodet2013-03-31 19:28:24 +0200
commitb3392b2c9b5e808e868b092422d7b143a82c4628 (patch)
tree0586a54f57e5b392aae8839acf5e2e5e9698c207 /digital/io-hub/src/apbirthday/radar_2013.cc
parent3adb1db9e53ab8d33f25913376c8172d48253e34 (diff)
digital/io-hub/src/apbirthday: add radar system and obstacles handling
Diffstat (limited to 'digital/io-hub/src/apbirthday/radar_2013.cc')
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diff --git a/digital/io-hub/src/apbirthday/radar_2013.cc b/digital/io-hub/src/apbirthday/radar_2013.cc
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+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// 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.
+//
+// }}}
+#include "radar_2013.hh"
+#include "playground.hh"
+
+RadarSensor sensors[] = {
+ { 0, { 102, 84 }, G_ANGLE_UF016_DEG (0), true },
+ { 0, { 102, -84 }, G_ANGLE_UF016_DEG (0), false },
+ { 0, { -78, 104 }, G_ANGLE_UF016_DEG (180), true },
+ { 0, { -83, -120 }, G_ANGLE_UF016_DEG (180), false },
+};
+
+Radar2013::Radar2013 (ucoo::UsDist &dist0, ucoo::UsDist &dist1,
+ ucoo::UsDist &dist2, ucoo::UsDist &dist3)
+ : Radar (150, sensors, lengthof (sensors))
+{
+ sensors[0].sensor = &dist0;
+ sensors[1].sensor = &dist1;
+ sensors[2].sensor = &dist2;
+ sensors[3].sensor = &dist3;
+}
+
+bool
+Radar2013::valid (int sensor_index, vect_t &p)
+{
+ return p.x >= margin_mm && p.x < pg_width - margin_mm
+ && p.y >= margin_mm && p.y < pg_length - margin_mm;
+}
+