Aria: ArActionBumpers Class Reference

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# ArActionBumpers Class Reference

`#include <ArActionBumpers.h>`

Inheritance diagram for ArActionBumpers:

List of all members.

## Detailed Description

Action to deal with if the bumpers trigger.

This class basically responds to the bumpers the robot has, what the activity things the robot has is decided by the param file. If the robot is going forwards and bumps into something with the front bumpers, it will back up and turn. If the robot is going backwards and bumps into something with the rear bumpers then the robot will move forward and turn.

## Public Member Functions
| ArActionBumpers (const char *name="bumpers", double backOffSpeed=100, int backOffTime=3000, int turnTime=3000, bool setMaximums=false)
| Constructor.
double | findDegreesToTurn (int bumpValue, int whichBumper)
virtual ArActionDesired * | fire (ArActionDesired currentDesired)
virtual const ArActionDesired * | getDesired (void) const
virtual ArActionDesired * | getDesired (void)
virtual | ~ArActionBumpers ()
| Destructor.
## Protected Attributes
double | myBackOffSpeed
int | myBackOffTime
int | myBumpMask
ArActionDesired | myDesired
bool | myFiring
double | myHeading
bool | mySetMaximums
double | mySpeed
ArTime | myStartBack
int | myTurnTime

The documentation for this class was generated from the following file:

- ArActionBumpers.h