Robobot new behaviour plan: Difference between revisions
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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 | ==== Rename ==== | ||
Several variables and types need to be renamed. | |||
===== Header file ===== | ===== Header file ===== | ||
* Search and replace 'BPlan20' | * Search and replace 'BPlan20' with 'BPlan100' (three places) | ||
* | * Rename 'plan20' (last line) to 'plan100' | ||
The bplan100.h should be | 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 | Parts of the new file could look like this: | ||
#include " | ... | ||
#include "bplan100.h" | |||
// create class object | |||
BPlan100 plan100; | |||
void | void BPlan100::setup() | ||
{ // ensure there is default values in ini-file | { // ensure there is default values in ini-file | ||
if (not ini["plan100"].has("log")) | |||
{ // no data yet, so generate some default values | |||
ini["plan100"]["log"] = "true"; | |||
ini["plan100"]["run"] = "false"; | |||
... | |||
==== 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 79: | 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 101: | Line 109: | ||
{ | { | ||
switch (state) | switch (state) | ||
{ // | { // next challenge | ||
case 10: | case 10: | ||
toLog("Reset pose"); | toLog("Reset pose"); | ||
Line 123: | Line 131: | ||
==== Compile ==== | |||
Then, 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 |
Latest revision as of 08:58, 20 January 2024
Back to Robobot
Back to Robobot software description
Create a new behaviour plan
Copy from existing plan
The easy way is to copy an existing plan, e.g.:
$ cd ~/svn/robobot/raubase/src $ cp bplan20.cpp bplan100.cpp $ cp bplan20.h bplan100.h
Then add the new plan to the repository (if a repository is used)
Rename
Several variables and types need to be renamed.
Header file
- Search and replace 'BPlan20' with 'BPlan100' (three places)
- Rename 'plan20' (last line) to 'plan100'
The bplan100.h should be changed to look like this:
class BPlan100 { public: ~BPlan100(); void setup(); void run(); ... }; extern BPlan100 plan100;
Cpp file
- Change the includefile "bplan20.h" to "bplan100.h"
- Rename 'BPlan20' to 'BPlan100'
- 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 comments and debug print.
Parts of the new file could look like this:
... #include "bplan100.h" // create class object BPlan100 plan100; void BPlan100::setup() { // ensure there is default values in ini-file if (not ini["plan100"].has("log")) { // no data yet, so generate some default values ini["plan100"]["log"] = "true"; ini["plan100"]["run"] = "false"; ...
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:
$ cd ~/svn/robobot/raubase/src $ nano main.cpp ... #include "bplan21.h" #include "bplan40.h" #include "bplan100.h" int main (int argc, char **argv) { // prepare all modules and start data flow bool setupOK = service.setup(argc, argv); if (setupOK) { // turn on LED on port 16 gpio.setPin(16, 1); // run the planned missions plan100.run(); plan20.run(); plan21.run(); plan40.run(); // mixer.setVelocity(0.0); ...
Change the plan
Change the BPlan100::run() function as appropriate
... void BPlan100::run() { if (not setupDone) setup(); if (ini["plan100"]["run"] == "false") return; // UTime t("now"); bool finished = false; bool lost = false; state = 10; oldstate = state; // toLog("Plan100 started"); // while (not finished and not lost and not service.stop) { switch (state) { // next challenge case 10: toLog("Reset pose"); ...
Add to CMakeLists.txt
Add the new cpp file to the CMakeLists.txt to the list of files, like
$ cd ~/svn/robobot/raubase $ nano CMakeLists.txt ... add_executable(raubase src/bplan20.cpp src/bplan21.cpp src/bplan40.cpp src/bplan100.cpp src/cedge.cpp src/cheading.cpp ...
Compile
Then, 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