Robobot new behaviour plan - Revision history

Jca at 07:58, 20 January 2024

2024-01-20T07:58:39Z

← Older revision		Revision as of 09:58, 20 January 2024
Line 17:		Line 17:
	==== Rename ====		==== Rename ====

	~~A number of~~ variables and types need to be renamed.		Several variables and types need to be renamed.

	===== Header file =====		===== Header file =====

	* Search and replace 'BPlan20' to 'BPlan100' (three places)		* Search and replace 'BPlan20' with 'BPlan100' (three places)
	* Rename 'plan20' (last line) to 'plan100'		* Rename 'plan20' (last line) to 'plan100'

Line 58:		Line 58:
	...		...

	==== Include the new plan in the main.cpp function		==== Main.cpp ====

			Include the new plan in the main.cpp function

	The main.cpp gives the execution order, so include the definition and add this new plan to the right place, like:		The main.cpp gives the execution order, so include the definition and add this new plan to the right place, like:
Line 83:		Line 85:
	mixer.setVelocity(0.0);		mixer.setVelocity(0.0);
	...		...

			==== Change the plan ====

	Change the BPlan100::run() function as appropriate		Change the BPlan100::run() function as appropriate
Line 129:		Line 133:
	==== Compile ====		==== Compile ====

	Then ~~just~~ compile and test.		Then, compile and test.

	$ cd ~/svn/robobot/raubase/build		$ cd ~/svn/robobot/raubase/build

2024-01-01T14:21:59Z

Header file

← Older revision		Revision as of 16:21, 1 January 2024
Line 22:		Line 22:

	* Search and replace 'BPlan20' to 'BPlan100' (three places)		* Search and replace 'BPlan20' to 'BPlan100' (three places)
	* ~~rename~~ 'plan20' (last line) to 'plan100'		* Rename 'plan20' (last line) to 'plan100'

	The bplan100.h should be changed to look like this:		The bplan100.h should be changed to look like this:

2024-01-01T14:19:44Z

Rename class name

← Older revision		Revision as of 16:19, 1 January 2024
Line 15:		Line 15:
	Then add the new plan to the repository (if a repository is used)		Then add the new plan to the repository (if a repository is used)

	==== Rename ~~class name~~ ====		==== Rename ====

	A number of variables and types need to be renamed.		A number of variables and types need to be renamed.
Line 24:		Line 24:
	* rename 'plan20' (last line) to 'plan100'		* rename 'plan20' (last line) to 'plan100'

	The bplan100.h should be ~~changes~~ to look like:		The bplan100.h should be changed to look like this:
	class BPlan100		class BPlan100
	{		{
Line 42:		Line 42:
	* Change all "Plan20" to "Plan100" - used in comments and debug print.		* Change all "Plan20" to "Plan100" - used in comments and debug print.

	Parts of the new file could ~~looks~~ like:		Parts of the new file could look like this:

	...		...
Line 105:		Line 105:
	{		{
	switch (state)		switch (state)
	{ // ~~make a shift in heading-mission~~		{ // next challenge
	case 10:		case 10:
	toLog("Reset pose");		toLog("Reset pose");

2024-01-01T14:15:52Z

Compile

← Older revision		Revision as of 16:15, 1 January 2024
Line 127:		Line 127:


	===== Compile =====		==== Compile ====

	~~(hertil)~~		Then just compile and test.

			$ cd ~/svn/robobot/raubase/build
			$ make
			[ 3%] Building CXX object CMakeFiles/raubase.dir/src/bplan100.cpp.o
			[ 7%] Building CXX object CMakeFiles/raubase.dir/src/main.cpp.o
			[ 11%] Linking CXX executable raubase
			[100%] Built target raubase

2024-01-01T13:39:24Z

Add to CMakeLists.txt

2024-01-01T13:38:28Z

Cpp file

← Older revision		Revision as of 15:38, 1 January 2024
Line 42:		Line 42:
	* Change all "Plan20" to "Plan100" - used in comments and debug print.		* Change all "Plan20" to "Plan100" - used in comments and debug print.

	Parts of the ~~old~~ file looks like:		Parts of the new file could looks like:

	#include "~~bplan20~~.h"		...
	~~BPlan20 plan20;~~		#include "bplan100.h"

	void ~~BPlan20~~::setup()		// create class object
			BPlan100 plan100;

			void BPlan100::setup()
	{ // ensure there is default values in ini-file		{ // ensure there is default values in ini-file
	if (not ini["~~plan20~~"].has("log"))		if (not ini["plan100"].has("log"))
	{ // no data yet, so generate some default values		{ // no data yet, so generate some default values
	ini["~~plan20~~"]["log"] = "true";		ini["plan100"]["log"] = "true";
	ini["~~plan20~~"]["run"] = "false";		ini["plan100"]["run"] = "false";
			...

	==== Include the new plan in the main.cpp function		==== Include the new plan in the main.cpp function

2024-01-01T13:37:19Z

Cpp file

@@ Line 79: / Line 79: @@
       mixer.setVelocity(0.0);
       ...
 ==== Add to CMakeLists.txt ====

2024-01-01T13:34:24Z

Add to CMakeLists.txt

@@ Line 53: / Line 53: @@
       ini["plan20"]["log"] = "true";
       ini["plan20"]["run"] = "false";
 ==== Add to CMakeLists.txt ====
@@ Line 58: / Line 84: @@
 Add the new cpp file to the CMakeLists.txt to the list of files, like
-  $ nano ../CMakeLists.txt
+ $ cd ~/svn/robobot/raubase
   ...
   add_executable(raubase

2024-01-01T13:28:03Z

Add to CMakeLists.txt

← Older revision		Revision as of 15:28, 1 January 2024
Line 56:		Line 56:
	==== Add to CMakeLists.txt ====		==== Add to CMakeLists.txt ====

			Add the new cpp file to the CMakeLists.txt to the list of files, like

			$ nano ../CMakeLists.txt
			...
			add_executable(raubase
			src/bplan20.cpp
			src/bplan21.cpp
			src/bplan40.cpp
			'''src/bplan100.cpp'''
			src/cedge.cpp
			src/cheading.cpp
			...


	(hertil)		(hertil)

2024-01-01T13:25:03Z

Cpp file

← Older revision		Revision as of 15:25, 1 January 2024
Line 39:		Line 39:
	* Change the includefile "bplan20.h" to "bplan100.h"		* Change the includefile "bplan20.h" to "bplan100.h"
	* Rename 'BPlan20' to 'BPlan100'		* Rename 'BPlan20' to 'BPlan100'
	* Change all "plan20" to "plan100" to make a new section in the configuration file.		* Change all "plan20" to "plan100" to name the new class, make a new section in the configuration file, and change the name of the logfile.
	* Change all "plan20" to "plan100" - used in logfile name and other places
	* Change all "Plan20" to "Plan100" - used in comments and debug print.		* Change all "Plan20" to "Plan100" - used in comments and debug print.