e_puck_line.cpp File Reference

#include "ros/ros.h"
#include <webots_ros/set_int.h>
#include <webots_ros/set_float.h>
#include <sensor_msgs/Range.h>
#include <signal.h>
#include <std_msgs/Float64MultiArray.h>
#include <std_msgs/String.h>
#include <std_msgs/UInt16.h>
#include <std_msgs/UInt8MultiArray.h>
#include <cstdlib>

Include dependency graph for e_puck_line.cpp:

Go to the source code of this file.

Macros
#define	BLACK   1
#define	FALSE   0
#define	GS_CENTER   1
#define	GS_LEFT   0
#define	GS_RIGHT   2
#define	GS_WHITE   900
#define	LEFT   0
#define	LEM_FORWARD_SPEED   100
#define	LEM_K_GS_SPEED   0.8
#define	LEM_STATE_LINE_DETECTED   2
#define	LEM_STATE_LOOKING_FOR_LINE   1
#define	LEM_STATE_ON_LINE   3
#define	LEM_STATE_STANDBY   0
#define	LEM_THRESHOLD   500
#define	LFM_FORWARD_SPEED   200
#define	LFM_K_GS_SPEED   0.4
#define	LLM_THRESHOLD   800
#define	NB_DIST_SENS   8
#define	NB_GROUND_SENS   3
#define	NB_LEDS   10
#define	NO_SIDE   -1
#define	OAM_FORWARD_SPEED   150
#define	OAM_K_MAX_DELTAS   600
#define	OAM_K_PS_00   1.2
#define	OAM_K_PS_45   0.9
#define	OAM_K_PS_90   0.2
#define	OAM_OBST_THRESHOLD   100
#define	OFM_DELTA_SPEED   150
#define	PS_LEFT_00   7
#define	PS_LEFT_45   6
#define	PS_LEFT_90   5
#define	PS_LEFT_REAR   4
#define	PS_RIGHT_00   0
#define	PS_RIGHT_45   1
#define	PS_RIGHT_90   2
#define	PS_RIGHT_REAR   3
#define	REALITY   2
#define	RIGHT   1
#define	SIMULATION   0
#define	TIME_STEP   32
#define	TRUE   1
#define	WHITE   0

Functions
void	gsCallback (const sensor_msgs::Range::ConstPtr &value)
void	LineEnteringModule (int side)
void	LineFollowingModule (void)
void	LineLeavingModule (int side)
int	main (int argc, char **argv)
void	modelNameCallback (const std_msgs::String::ConstPtr &name)
void	ObstacleAvoidanceModule (void)
void	ObstacleFollowingModule (int side)
void	psCallback (const sensor_msgs::Range::ConstPtr &value)
void	quit (int sig)

Variables
double	accelerometerValues [3] = {0, 0, 0}
static int	count = 0
static int	countDist = NB_DIST_SENS
static int	countGnd = NB_GROUND_SENS
int	curOpGsValue
unsigned short	gsValue [NB_GROUND_SENS] = {0, 0, 0}
std::vector< unsigned char >	image
int	lem_active
int	lem_black_counter
int	lem_reset
int	lem_speed [2]
int	lem_state
int	lfm_speed [2]
int	llm_active = FALSE
int	llm_inibit_ofm_speed
int	llm_past_side = NO_SIDE
static char	modelList [10][100]
int	oam_active
int	oam_reset
int	oam_side = NO_SIDE
int	oam_speed [2]
int	ofm_active
int	ofm_speed [2]
int	prevOpGsValue
const int	PS_OFFSET_REALITY [NB_DIST_SENS] = {480, 170, 320, 500, 600, 680, 210, 640}
const int	PS_OFFSET_SIMULATION [NB_DIST_SENS] = {300, 300, 300, 300, 300, 300, 300, 300}
int	psValue [NB_DIST_SENS] = {0, 0, 0, 0, 0, 0, 0, 0}
ros::ServiceClient	setTimeStepClient
webots_ros::set_int	setTimeStepSrv
static int	step = TIME_STEP

Macro Definition Documentation

#define BLACK   1

Definition at line 44 of file e_puck_line.cpp.

#define FALSE   0

Definition at line 39 of file e_puck_line.cpp.

#define GS_CENTER   1

Definition at line 68 of file e_puck_line.cpp.

#define GS_LEFT   0

Definition at line 67 of file e_puck_line.cpp.

#define GS_RIGHT   2

Definition at line 69 of file e_puck_line.cpp.

#define GS_WHITE   900

Definition at line 66 of file e_puck_line.cpp.

#define LEFT   0

Definition at line 41 of file e_puck_line.cpp.

#define LEM_FORWARD_SPEED   100

Definition at line 330 of file e_puck_line.cpp.

#define LEM_K_GS_SPEED   0.8

Definition at line 331 of file e_puck_line.cpp.

#define LEM_STATE_LINE_DETECTED   2

Definition at line 336 of file e_puck_line.cpp.

#define LEM_STATE_LOOKING_FOR_LINE   1

Definition at line 335 of file e_puck_line.cpp.

#define LEM_STATE_ON_LINE   3

Definition at line 337 of file e_puck_line.cpp.

#define LEM_STATE_STANDBY   0

Definition at line 334 of file e_puck_line.cpp.

#define LEM_THRESHOLD   500

Definition at line 332 of file e_puck_line.cpp.

#define LFM_FORWARD_SPEED   200

Definition at line 134 of file e_puck_line.cpp.

#define LFM_K_GS_SPEED   0.4

Definition at line 135 of file e_puck_line.cpp.

#define LLM_THRESHOLD   800

Definition at line 245 of file e_puck_line.cpp.

#define NB_DIST_SENS   8

Definition at line 50 of file e_puck_line.cpp.

#define NB_GROUND_SENS   3

Definition at line 65 of file e_puck_line.cpp.

#define NB_LEDS   10

Definition at line 73 of file e_puck_line.cpp.

#define NO_SIDE   -1

Definition at line 40 of file e_puck_line.cpp.

#define OAM_FORWARD_SPEED   150

Definition at line 161 of file e_puck_line.cpp.

#define OAM_K_MAX_DELTAS   600

Definition at line 165 of file e_puck_line.cpp.

#define OAM_K_PS_00   1.2

Definition at line 164 of file e_puck_line.cpp.

#define OAM_K_PS_45   0.9

Definition at line 163 of file e_puck_line.cpp.

#define OAM_K_PS_90   0.2

Definition at line 162 of file e_puck_line.cpp.

#define OAM_OBST_THRESHOLD   100

Definition at line 160 of file e_puck_line.cpp.

#define OFM_DELTA_SPEED   150

Definition at line 292 of file e_puck_line.cpp.

#define PS_LEFT_00   7

Definition at line 58 of file e_puck_line.cpp.

#define PS_LEFT_45   6

Definition at line 57 of file e_puck_line.cpp.

#define PS_LEFT_90   5

Definition at line 56 of file e_puck_line.cpp.

#define PS_LEFT_REAR   4

Definition at line 55 of file e_puck_line.cpp.

#define PS_RIGHT_00   0

Definition at line 51 of file e_puck_line.cpp.

#define PS_RIGHT_45   1

Definition at line 52 of file e_puck_line.cpp.

#define PS_RIGHT_90   2

Definition at line 53 of file e_puck_line.cpp.

#define PS_RIGHT_REAR   3

Definition at line 54 of file e_puck_line.cpp.

#define REALITY   2

Definition at line 46 of file e_puck_line.cpp.

#define RIGHT   1

Definition at line 42 of file e_puck_line.cpp.

#define SIMULATION   0

Definition at line 45 of file e_puck_line.cpp.

#define TIME_STEP   32

Definition at line 47 of file e_puck_line.cpp.

#define TRUE   1

Definition at line 38 of file e_puck_line.cpp.

#define WHITE   0

Definition at line 43 of file e_puck_line.cpp.

Function Documentation

void gsCallback

(

const sensor_msgs::Range::ConstPtr &

value

)

Definition at line 99 of file e_puck_line.cpp.

void LineEnteringModule

(

int

side

)

Definition at line 339 of file e_puck_line.cpp.

void LineFollowingModule

(

void

)

Definition at line 137 of file e_puck_line.cpp.

void LineLeavingModule

(

int

side

)

Definition at line 247 of file e_puck_line.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 420 of file e_puck_line.cpp.

void modelNameCallback

(

const std_msgs::String::ConstPtr &

name

)

Definition at line 105 of file e_puck_line.cpp.

void ObstacleAvoidanceModule

(

void

)

Definition at line 167 of file e_puck_line.cpp.

void ObstacleFollowingModule

(

int

side

)

Definition at line 294 of file e_puck_line.cpp.

void psCallback

(

const sensor_msgs::Range::ConstPtr &

value

)

Definition at line 92 of file e_puck_line.cpp.

void quit

(

int

sig

)

Definition at line 111 of file e_puck_line.cpp.

Variable Documentation

double accelerometerValues[3] = {0, 0, 0}

Definition at line 86 of file e_puck_line.cpp.

int count = 0

static

Definition at line 82 of file e_puck_line.cpp.

int countDist = NB_DIST_SENS

static

Definition at line 83 of file e_puck_line.cpp.

int countGnd = NB_GROUND_SENS

static

Definition at line 84 of file e_puck_line.cpp.

int curOpGsValue

Definition at line 328 of file e_puck_line.cpp.

unsigned short gsValue[NB_GROUND_SENS] = {0, 0, 0}

Definition at line 70 of file e_puck_line.cpp.

std::vector<unsigned char> image

Definition at line 87 of file e_puck_line.cpp.

int lem_active

Definition at line 325 of file e_puck_line.cpp.

int lem_black_counter

Definition at line 327 of file e_puck_line.cpp.

int lem_reset

Definition at line 243 of file e_puck_line.cpp.

int lem_speed[2]

Definition at line 326 of file e_puck_line.cpp.

int lem_state

Definition at line 327 of file e_puck_line.cpp.

int lfm_speed[2]

Definition at line 132 of file e_puck_line.cpp.

int llm_active = FALSE

Definition at line 242 of file e_puck_line.cpp.

int llm_inibit_ofm_speed

Definition at line 242 of file e_puck_line.cpp.

int llm_past_side = NO_SIDE

Definition at line 242 of file e_puck_line.cpp.

char modelList[10][100]

static

Definition at line 81 of file e_puck_line.cpp.

int oam_active

Definition at line 156 of file e_puck_line.cpp.

int oam_reset

Definition at line 156 of file e_puck_line.cpp.

int oam_side = NO_SIDE

Definition at line 158 of file e_puck_line.cpp.

int oam_speed[2]

Definition at line 157 of file e_puck_line.cpp.

int ofm_active

Definition at line 289 of file e_puck_line.cpp.

int ofm_speed[2]

Definition at line 290 of file e_puck_line.cpp.

int prevOpGsValue

Definition at line 328 of file e_puck_line.cpp.

const int PS_OFFSET_REALITY[NB_DIST_SENS] = {480, 170, 320, 500, 600, 680, 210, 640}

Definition at line 62 of file e_puck_line.cpp.

const int PS_OFFSET_SIMULATION[NB_DIST_SENS] = {300, 300, 300, 300, 300, 300, 300, 300}

Definition at line 61 of file e_puck_line.cpp.

int psValue[NB_DIST_SENS] = {0, 0, 0, 0, 0, 0, 0, 0}

Definition at line 60 of file e_puck_line.cpp.

ros::ServiceClient setTimeStepClient

Definition at line 89 of file e_puck_line.cpp.

webots_ros::set_int setTimeStepSrv

Definition at line 90 of file e_puck_line.cpp.

int step = TIME_STEP

static

Definition at line 85 of file e_puck_line.cpp.