ready for peters bluetooth uart interface

[201903hackathon.git] / cpp / openCVnaiveObstacleAvoidance / openCVnaiveObstacleAvoidance.cpp

diff --git a/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp b/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
index 6170396..fe72e4c 100644 (file)
--- 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;
         }
     }