bumpBehaviors.h File Reference

Collection of behaviors that use the bump sensor. More...

Go to the source code of this file.

Functions
Beh *	behIRObstacleAvoid (Beh *behPtr, int32 tv, boolean invalidate)
	Uses IR to avoid all obstacles, including robots. Can be invalidated. More...
Beh *	behBumpMoveOutOfWay (Beh *behPtr)
	If bumped, robot will move slightly forward out of way. More...
Beh *	behIRObstacleAvoid_ExcludeRobots (Beh *behPtr, int32 tv, NbrList *nbrListPtr, boolean invalidate)
	Uses IR to avoid all obstacles, except robots. Can be invalidated. More...
Beh *	behBumpAvoid (Beh *behPtr, int32 tv, int32 forwardDist)
	Simple behavior: Uses bump sensors to determine if robot should avoid an obstacle. More...
Beh *	behBumpReflect (Beh *behPtr, int32 tv, int32 reflectDist)
	Turn around if it his running into something. More...
void	behBumpReflectDemo (Beh *behPtr, int32 rotate_rv)
	If the front bump sensors are activated, the robot will rotate. More...
Beh *	behBumpBackoff (Beh *behPtr, int32 tv)
	If the front bump sensors are activated, the robot will backup. More...
Beh *	behBumpNavigate (Beh *behPtr, uint8 headingRobot)
	If bumped, robot will back up, turn in the direction is was traveling, then move forward. More...

Detailed Description

Collection of behaviors that use the bump sensor.

These behaviors include obstacle avoidance and navigation.

Since

September 28, 2011

Author

James McLurkin

Function Documentation

Beh* behBumpAvoid	(	Beh *	behPtr,
		int32	tv,
		int32	forwardDist
	)

Simple behavior: Uses bump sensors to determine if robot should avoid an obstacle.

If obstacle is detected with bump sensors, the robot turns in place. After the bump sensor turns off, the robot moves forward forwardDist mm. If the robot does not bump anything, this behavior becomes inactive.

Parameters

behPtr	behavior that is updated by this function
tv	desired translational velocity
forwardDist	the desired distance (in mm) the robot should move once a bump sensor turns off

Returns

updated behPtr

Beh* behBumpBackoff	(	Beh *	behPtr,
		int32	tv
	)

If the front bump sensors are activated, the robot will backup.

Parameters

behPtr	pointer for the behavior to update
tv	desired translational velocity

Returns

updated behPtr

added for improving bump behavior

Beh* behBumpMoveOutOfWay

(

Beh *

behPtr)

If bumped, robot will move slightly forward out of way.

Parameters

behPtr

pointer for behavior to be modified

Returns

updated behPtr

Beh* behBumpNavigate	(	Beh *	behPtr,
		uint8	headingRobot
	)

If bumped, robot will back up, turn in the direction is was traveling, then move forward.

Parameters

behPtr	for behavior that is updated by this function
headingRobot	the heading of the robot before bumping

0 - Straight 1 - Left 2 - Right

Returns

updated behPtr

Beh* behBumpReflect	(	Beh *	behPtr,
		int32	tv,
		int32	reflectDist
	)

Turn around if it his running into something.

Parameters

behPtr	behavior that is updated by this function
tv	desired translational velocity
reflectDist

Returns

updated behPtr

void behBumpReflectDemo	(	Beh *	behPtr,
		int32	rotate_rv
	)

If the front bump sensors are activated, the robot will rotate.

This is obtained by turning off translational velocity and setting rotational velocity to the input rotate_rv in the behPtr.

Parameters

behPtr	pointer for the behavior to update
rotate_rv	desired rotational velocity if the robot has encountered an obstacle

Returns

void

Beh* behIRObstacleAvoid	(	Beh *	behPtr,
		int32	tv,
		boolean	invalidate
	)

Uses IR to avoid all obstacles, including robots. Can be invalidated.

Parameters

behPtr
tv	desired translational velocity
invalidate

Returns

a Beh* for obstacle avoidance

Beh* behIRObstacleAvoid_ExcludeRobots	(	Beh *	behPtr,
		int32	tv,
		NbrList *	nbrListPtr,
		boolean	invalidate
	)

Uses IR to avoid all obstacles, except robots. Can be invalidated.

Parameters

behPtr
tv	desired translational velocity
nbrListPtr	for list of neighbors
invalidate

Returns

a Beh* for obstacle avoidance