#include <ArActionBumpers.h>
Inheritance diagram for ArActionBumpers:
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 |
1.5.1