40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
#include "Thing.h"
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#include "Things/DifferentialDrive.h"
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#include "Things/TouchSensor.h"
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#include <chrono>
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#include <thread>
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using namespace RoboidControl;
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using namespace std::this_thread;
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using namespace std::chrono;
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int main() {
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// The robot's propulsion is a differential drive
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DifferentialDrive* bb2b = new DifferentialDrive();
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// Is has a touch sensor at the front left of the roboid
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TouchSensor* touchLeft = new TouchSensor(bb2b);
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// and other one on the right
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TouchSensor* touchRight = new TouchSensor(bb2b);
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// Do forever:
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while (true) {
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// The left wheel turns forward when nothing is touched on the right side
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// and turn backward when the roboid hits something on the right
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float leftWheelSpeed = (touchRight->touchedSomething) ? -600.0f : 600.0f;
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// The right wheel does the same, but instead is controlled by
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// touches on the left side
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float rightWheelSpeed = (touchLeft->touchedSomething) ? -600.0f : 600.0f;
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// When both sides are touching something, both wheels will turn backward
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// and the roboid will move backwards
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bb2b->SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
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// Update the roboid state
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bb2b->Update(true);
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// and sleep for 100ms
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sleep_for(milliseconds(100));
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}
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return 0;
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} |