X-Git-Url: https://git.realraum.at/?p=201903hackathon.git;a=blobdiff_plain;f=cpp%2FopenCVnaiveObstacleAvoidance%2FopenCVnaiveObstacleAvoidance.cpp;h=c8b60a370ded0a801643a7eb03b66d52223a05e0;hp=5849e230eed226f0fd7943c2aee151569e7005be;hb=HEAD;hpb=2797a0bcf45a0f16d07877723f4f60d76d7ed6e6

diff --git a/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp b/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
index 5849e23..c8b60a3 100644
--- a/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
+++ b/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
@@ -58,6 +58,10 @@ class MyListener : public IDepthDataListener
     const string bobbycar_forward = "f";
     const string bobbycar_left = "l";
     const string bobbycar_right = "r";
+    const string bobbycar_backward = "b";
+
+    uint8_t bobbycar_reversing = 254;
+    royale::Vector<royale::String> boobycar_reversing_script ={"s","b","b","b","r","r","r","r","r","r","b","b"};
 
 public :
 
@@ -265,6 +269,12 @@ private:
 
     void naiveObstacleAvoidanceDemo()
     {
+        if (bobbycar_reversing<boobycar_reversing_script.size()) {
+            std::cout << boobycar_reversing_script.at(bobbycar_reversing++) << std::endl;
+            return;
+        }
+
+
         bool free_paths[num_dist_columns_];
         if (naiveIsObstaclePresent(free_paths))
         {
@@ -284,6 +294,7 @@ private:
             } else {
                 // std::cout << "STOP" << std::endl;
                 std::cout << bobbycar_stop << std::endl;
+                bobbycar_reversing = 0;
             }
         } else {
             std::cout << bobbycar_forward << std::endl;