Behavior Details

Locate an object by recognizing the unique color associated with it.

This behavior will relay heavily on ActivMedia Color Training Software (ACTS). After training the software to recognize specific colors, ARIA classes provide interfaces to query recognized objects. This interface returns the objects coordinates on a XY plane and are converted to data that is meaningful to the robots own location.

Halt movement and adjust robot heading if necessary

If an object is recognized, movement will halt. Depending on the position of the robot and the object, the heading of the robot may need to be adjusted. The new heading is calculated from the XY coordinates of the recognized object. Upon completion, the robot should be facing the recognized object.

Invoke sonar device and approach object.

Prior to approaching the object, the library code will initialize the sonar device and begin polling it for data. The robot will begin approaching the object while continually polling the sonar.

Halt movement when object is within specified range.

When the threshold sonar value is reached, the robot will halt movement. At this point the robot will be positioned near the recognized object.

Log coordinates of object.

The object's coordinates will be logged in a std::list data structure for later use.