From b3392b2c9b5e808e868b092422d7b143a82c4628 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 31 Mar 2013 19:28:24 +0200 Subject: digital/io-hub/src/apbirthday: add radar system and obstacles handling --- digital/io-hub/src/apbirthday/radar_2013.cc | 50 +++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 digital/io-hub/src/apbirthday/radar_2013.cc (limited to 'digital/io-hub/src/apbirthday/radar_2013.cc') diff --git a/digital/io-hub/src/apbirthday/radar_2013.cc b/digital/io-hub/src/apbirthday/radar_2013.cc new file mode 100644 index 00000000..5cbbe0ca --- /dev/null +++ b/digital/io-hub/src/apbirthday/radar_2013.cc @@ -0,0 +1,50 @@ +// 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; +} + -- cgit v1.2.3