ready for peters bluetooth uart interface

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 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 :
 
 
 public :
 
 

@@ -266,16 +271,22 @@ private:
             assert(num_dist_columns_ == 4);
             if (free_paths[1] && free_paths[2])
             {
             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])
             {
             } 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])
             {
             } else if (free_paths[3])
             {

-                std::cout << "GORIGHT" << std::endl;
+                // std::cout << "GORIGHT" << std::endl;
+                std::cout << bobbycar_right << std::endl;

             } else {
             } else {

-                std::cout << "STOP" << std::endl;
+                // std::cout << "STOP" << std::endl;
+                std::cout << bobbycar_stop << std::endl;

             }
             }

+        } else {
+            std::cout << bobbycar_forward << std::endl;

         }
     }
 
         }
     }