////////////////////////////////////////////// // Constructor of the class robot MyRobot::MyRobot() : DifferentialWheels() { _time_step = 64; _left_speed = 0; _right_speed = 0; // Get and enable the compass device _my_compass = getCompass("compass"); _my_compass->enable(_time_step); // Get the distance sensors _dsensors[0] = getDistanceSensor("ds0"); _dsensors[1] = getDistanceSensor("ds1"); _dsensors[2] = getDistanceSensor("ds2"); _dsensors[3] = getDistanceSensor("ds3"); _dsensors[4] = getDistanceSensor("ds12"); _dsensors[5] = getDistanceSensor("ds13"); _dsensors[6] = getDistanceSensor("ds14"); _dsensors[7] = getDistanceSensor("ds15"); // Enable all distance sensors for (int i = 0; i < NUMBER_OF_DSENSORS; i++) { _dsensors[i]->enable(_time_step); } }
MyRobot::MyRobot() : DifferentialWheels() { _time_step = 64; _left_speed = 0; _right_speed = 0; // Get and enable the compass device _my_compass = getCompass("compass"); _my_compass->enable(_time_step); _distance_sensor[0] = getDistanceSensor("ds0"); _distance_sensor[0]->enable(_time_step); _distance_sensor[1] = getDistanceSensor("ds15"); _distance_sensor[1]->enable(_time_step); _distance_sensor[2] = getDistanceSensor("ds1"); _distance_sensor[2]->enable(_time_step); _distance_sensor[3] = getDistanceSensor("ds14"); _distance_sensor[3]->enable(_time_step); _distance_sensor[4] = getDistanceSensor("ds2"); _distance_sensor[4]->enable(_time_step); _distance_sensor[5] = getDistanceSensor("ds13"); _distance_sensor[5]->enable(_time_step); _distance_sensor[6] = getDistanceSensor("ds3"); _distance_sensor[6]->enable(_time_step); _distance_sensor[7] = getDistanceSensor("ds12"); _distance_sensor[7]->enable(_time_step); }
MyRobot::MyRobot() : DifferentialWheels() { // init default values _time_step = 64; _left_speed = 0; _right_speed = 0; _mode = FORWARD; // get distance sensor array and enable each one _distance_sensor[0] = getDistanceSensor("ds1"); _distance_sensor[0]->enable(_time_step); _distance_sensor[1] = getDistanceSensor("ds14"); _distance_sensor[1]->enable(_time_step); }
MyRobot::MyRobot() : DifferentialWheels() { _time_step = 64; _left_speed = 0; _right_speed = 0; _mode = FORWARD; _my_compass = getCompass("compass"); _my_compass->enable(_time_step); _distance_sensor[0] = getDistanceSensor("ds1"); _distance_sensor[0]->enable(_time_step); _distance_sensor[1] = getDistanceSensor("ds14"); _distance_sensor[1]->enable(_time_step); _distance_sensor[2] = getDistanceSensor("ds3"); _distance_sensor[2]->enable(_time_step); _distance_sensor[3] = getDistanceSensor("ds12"); _distance_sensor[3]->enable(_time_step); }
MyRobot::MyRobot() : DifferentialWheels() { _time_step = 64; _left_speed = 0; _right_speed = 0; _mode =GOING_TO_INITIAL_POINT ; // Get and enable the compass device and the distance sensors _my_compass = getCompass("compass"); _my_compass->enable(_time_step); _distance_sensor[0] = getDistanceSensor("ds0"); _distance_sensor[0]->enable(_time_step); _distance_sensor[1] = getDistanceSensor("ds2"); _distance_sensor[1]->enable(_time_step); _distance_sensor[2] = getDistanceSensor("ds14"); _distance_sensor[2]->enable(_time_step); _distance_sensor[3] = getDistanceSensor("ds1"); _distance_sensor[3]->enable(_time_step); }
MyRobot::MyRobot() : DifferentialWheels() { _time_step = 64; _left_speed = 0; _right_speed = 0; // Get and enable the compass device _my_compass = getCompass("compass"); _my_compass->enable(_time_step); // Get and enable the gps device _my_gps = getGPS("gps"); _my_gps->enable(_time_step); //Get and enable the distance sensors _distance_sensor[0] = getDistanceSensor("ds0"); _distance_sensor[1] = getDistanceSensor("ds1"); _distance_sensor[2] = getDistanceSensor("ds2"); _distance_sensor[3] = getDistanceSensor("ds3"); _distance_sensor[4] = getDistanceSensor("ds4"); _distance_sensor[5] = getDistanceSensor("ds5"); _distance_sensor[6] = getDistanceSensor("ds6"); _distance_sensor[7] = getDistanceSensor("ds7"); _distance_sensor[8] = getDistanceSensor("ds8"); _distance_sensor[9] = getDistanceSensor("ds9"); _distance_sensor[10] = getDistanceSensor("ds10"); _distance_sensor[11] = getDistanceSensor("ds11"); _distance_sensor[12] = getDistanceSensor("ds12"); _distance_sensor[13] = getDistanceSensor("ds13"); _distance_sensor[14] = getDistanceSensor("ds14"); _distance_sensor[15] = getDistanceSensor("ds15"); for(int i=0; i<NUM_DISTANCE_SENSOR; i++) { _distance_sensor[i]->enable(_time_step); } //Start the robot with the mode FORWARD _mode = FORWARD; }
MyRobot::MyRobot() : DifferentialWheels() { _time_step = 64; _left_speed = 0; _right_speed = 0; _mode = FORWARD; _distance_sensor[0] = getDistanceSensor("ds1"); _distance_sensor[0]->enable(_time_step); _distance_sensor[1] = getDistanceSensor("ds14"); _distance_sensor[1]->enable(_time_step); _distance_sensor[2] = getDistanceSensor("ds4"); _distance_sensor[2]->enable(_time_step); _distance_sensor[3] = getDistanceSensor("ds11"); _distance_sensor[3]->enable(_time_step); _distance_sensor[4] = getDistanceSensor("ds12"); _distance_sensor[4]->enable(_time_step); _distance_sensor[5] = getDistanceSensor("ds0"); _distance_sensor[5]->enable(_time_step); _distance_sensor[6] = getDistanceSensor("ds15"); _distance_sensor[6]->enable(_time_step); _distance_sensor[7] = getDistanceSensor("ds3"); _distance_sensor[7]->enable(_time_step); _distance_sensor[8] = getDistanceSensor("ds2"); _distance_sensor[8]->enable(_time_step); _distance_sensor[9] = getDistanceSensor("ds13"); _distance_sensor[9]->enable(_time_step); _distance_sensor[10] = getDistanceSensor("ds5"); _distance_sensor[10]->enable(_time_step); _distance_sensor[11] = getDistanceSensor("ds6"); _distance_sensor[11]->enable(_time_step); _distance_sensor[12] = getDistanceSensor("ds7"); _distance_sensor[12]->enable(_time_step); _distance_sensor[13] = getDistanceSensor("ds8"); _distance_sensor[13]->enable(_time_step); _distance_sensor[14] = getDistanceSensor("ds9"); _distance_sensor[14]->enable(_time_step); _distance_sensor[15] = getDistanceSensor("ds10"); _distance_sensor[15]->enable(_time_step); }
MyRobot::MyRobot() : DifferentialWheels() { _time_step = 64; _left_speed = 0; _right_speed = 0; // Initial movement and state mode _mov_mode = FORWARD; _robot_state = FOLLOWING_OBJETIVE; //Get and enable the compass _objetive_compass = getCompass("compass"); _objetive_compass->enable(_time_step); // Get the distance sensors _dsensors[0] = getDistanceSensor("ds0"); _dsensors[1] = getDistanceSensor("ds1"); _dsensors[2] = getDistanceSensor("ds2"); _dsensors[3] = getDistanceSensor("ds3"); _dsensors[4] = getDistanceSensor("ds4"); _dsensors[5] = getDistanceSensor("ds5"); _dsensors[6] = getDistanceSensor("ds6"); _dsensors[7] = getDistanceSensor("ds7"); _dsensors[8] = getDistanceSensor("ds8"); _dsensors[9] = getDistanceSensor("ds9"); _dsensors[10] = getDistanceSensor("ds10"); _dsensors[11] = getDistanceSensor("ds11"); _dsensors[12] = getDistanceSensor("ds12"); _dsensors[13] = getDistanceSensor("ds13"); _dsensors[14] = getDistanceSensor("ds14"); _dsensors[15] = getDistanceSensor("ds15"); // Enable all distance sensors for (int i = 0; i < NUMBER_OF_DSENSORS; i++) { _dsensors[i]->enable(_time_step); } }