blind-guide-bot

Code to implement 'guide dog' functionality to Turtle soccer robots.

How to compile

• Use the makefile
  1. Move to the correct directory: cd blind-guide-bot
  2. Execute the make command: make tester
• Manually compile the binary
• Include blindguide.h in an existing project and compile that

How to use

• For standalone testing, use the main function (by simply running the compiled binary)
• When used in another project:
  1. Add borders:
     • Either call initializeBorders() which uses the border coordinates as specified in the borderCoordinates array
     • Or call addBorder(bottomX, bottomY, topX, topY, goodSide) (See blindguide.h for parameter explanation)
  2. Get the resistance coefficient for a given robot position and force vector by calling getResistance(x, y, phi, forceX, forceY)
  3. When necessary, call addBorder(bottomX, bottomY, topX, topY, goodSize) to add further borders.
  4. When no further use is required, call cleanup() to free allocated memory

Important information

• getResistance() returns a double between (and including) 0 and 1.
  • 0 means that the robot should easily move along with the given force
  • 1 means that the robot should fully resist the given force
• All coordinate units are expected to be meters
• All force units are expected to be Newtons
• The phi parameter for the getResistance() function is currently not used
• At this time, border removal is impossible