Go straight controller.cpp
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- include "go_straight_controller.h"
- include "ci_logger.h"
CGoStraightController::CGoStraightController( void )
: CCIController( )
{ }
CGoStraightController::~CGoStraightController( void ) { }
CCIController::ReturnVal CGoStraightController::Init( void ) {
CCILogger::SetLogPrefix( "SGT" ); CCILogger::LogMsg( "Initialising GoStraight Controller\n" );
// Call base class init function which does a bunch of sbot initialisation CCIController::Init( );
return CCIController::RETURN_OK;
}
CCIController::ReturnVal CGoStraightController::ControlStep( void ) {
static int iFirstTimeRound = 0;
if ( iFirstTimeRound == 0 )
{
iFirstTimeRound = 1;
CCILogger::LogMsg( "Setting track speeds (2, 2)" );
m_pcCISBot->SetSpeed( 2, 2 );
}
return CCIController::RETURN_CONTINUE;
}
CCIController::ReturnVal CGoStraightController::Stop( void )
{
CCILogger::LogMsg( "Stopping GoStraight Controller\n" ); m_pcCISBot->SetSpeed( 0, 0 ); return CCIController::RETURN_OK;
}
