X-Git-Url: https://git.realraum.at/?a=blobdiff_plain;f=cpp%2FopenCVnaiveObstacleAvoidance%2FopenCVnaiveObstacleAvoidance.cpp;h=0dac6e25ac75fed23efc12e26148a5443f165dfb;hb=8fc88560a684588e424fc3c4d78fb2c2d2d92a5d;hp=61703965c4d1e0b8fb5802a5491b623ef3aef298;hpb=8da8ac91e283eace7660aaf8887de9d60026d099;p=201903hackathon.git

diff --git a/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp b/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
index 6170396..0dac6e2 100644
--- a/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
+++ b/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
@@ -54,6 +54,11 @@ class MyListener : public IDepthDataListener
     const uint8_t confidence_threshold_ = 0;
     const double distance_threshold_ = 80;
 
+    const string bobbycar_stop = "s";
+    const string bobbycar_forward = "f";
+    const string bobbycar_left = "l";
+    const string bobbycar_right = "r";
+
 public :
 
 
@@ -266,16 +271,22 @@ private:
             assert(num_dist_columns_ == 4);
             if (free_paths[1] && free_paths[2])
             {
-                std::cout << "GOSTRAIGHT" << std::endl;
+                //std::cout << "GOSTRAIGHT" << std::endl;
+                std::cout << bobbycar_forward << std::endl;
             } else if (free_paths[0])
             {
-                std::cout << "GOLEFT" << std::endl;
+                std::cout << bobbycar_left << std::endl;
+                // std::cout << "GOLEFT" << std::endl;
             } else if (free_paths[3])
             {
-                std::cout << "GORIGHT" << std::endl;
+                // std::cout << "GORIGHT" << std::endl;
+                std::cout << bobbycar_right << std::endl;
             } else {
-                std::cout << "STOP" << std::endl;
+                // std::cout << "STOP" << std::endl;
+                std::cout << bobbycar_stop << std::endl;
             }
+        } else {
+            std::cout << bobbycar_forward << std::endl;
         }
     }
 
@@ -393,7 +404,8 @@ int main (int argc, char *argv[])
 
 
     // set an operation mode
-    if (cameraDevice->setUseCase ("MODE_5_45FPS_500") != royale::CameraStatus::SUCCESS)
+    // if (cameraDevice->setUseCase ("MODE_5_45FPS_500") != royale::CameraStatus::SUCCESS)
+    if (cameraDevice->setUseCase ("MODE_9_10FPS_1000") != royale::CameraStatus::SUCCESS)
     {
         cerr << "Error setting use case" << endl;
         return 1;