From 0089d7d55001e88d3327383395353b7dea473ba8 Mon Sep 17 00:00:00 2001
From: Vita Aeterna <75674735+VitaAetaerna@users.noreply.github.com>
Date: Mon, 30 Jan 2023 11:42:39 +0100
Subject: [PATCH] Delete LineFollow

---
 LineFollow | 242 -----------------------------------------------------
 1 file changed, 242 deletions(-)
 delete mode 100644 LineFollow

diff --git a/LineFollow b/LineFollow
deleted file mode 100644
index 2051164..0000000
--- a/LineFollow
+++ /dev/null
@@ -1,242 +0,0 @@
-#include <iostream>
-#include <stdlib.h>
-#include "rec/robotino/api2/all.h"
-#include <iostream>
-
-using namespace rec::robotino::api2;
-using namespace std;
-bool _run = true;
-
-class MyCom : public Com
-{
-public:
-	MyCom()
-	    : Com( "LineFollow" )
-	{
-	}
-
-	void errorEvent( const char* errorString )
-	{
-		std::cerr << "Error: " << errorString << std::endl;
-	}
-
-	void connectedEvent()
-	{
-		std::cout << "Connected." << std::endl;
-	}
-
-	void connectionClosedEvent()
-	{
-		std::cout << "Connection closed." << std::endl;
-	}
-
-	void logEvent( const char* message, int level )
-	{
-		std::cout << message << std::endl;
-	}
-};
-
-class MyBumper : public Bumper
-{
-public:
-	MyBumper()
-		: bumped( false )
-	{
-	}
-
-	void bumperEvent( bool hasContact )
-	{
-		bumped |= hasContact;
-    if (true == bumped){
-      std::cout << "Bumper has " << ( hasContact ? "contact" : "no contact") << std::endl;
-    }
-	}
-
-	bool bumped;
-};
-
-double x_distance = 0;
-double y_distance = 0;
-double phi_absolute = 0;
-unsigned int sequence = 0;
-
-
-int digital_inputs[8] = {0,0,0,0,0,0,0,0};
-
-class MyOdometry: public Odometry{
-  void readingsEvent(double x,double y, double phi, float vx, float vy, float omega, unsigned int seq ){
-	// cout << "X: " << x << " Y: " << y << " Richtung: " << phi << " Sequenz: " << seq << endl;  
-	x_distance = x;
-	y_distance = y;
-	phi_absolute = phi;
-	sequence = seq;
-	}
-};
-
-
-
-
-class MyDigitalInputArray: public DigitalInputArray{
-
-    void valuesChangedEvent(const int *value, unsigned int size){
-
-        for (int i=0; i<size; i++){
-            digital_inputs[i] = value[i];
-        }    
-        cout << *value;
-    } 
-};
-
-
-MyCom com;
-MyBumper bumper;
-OmniDrive omniDrive;
-MyOdometry odo;
-MyDigitalInputArray mydia;
-
-void init( const std::string& hostname )
-{
-
-	// Connect
-	std::cout << "Connecting...";
-	com.setAddress( hostname.c_str() );
-
-	com.connectToServer( true );
-
-	if( false == com.isConnected() )
-	{
-		std::cout << std::endl << "Could not connect to " << com.address() << std::endl;
-		rec::robotino::api2::shutdown();
-		exit( 1 );
-	}
-	else
-	{
-		std::cout << "success" << std::endl;
-	}
-}
-
-
-void rotate(){
-	int Rotation = 0;
-	int turning = 0;
-	cout << "Enter Rotation (2.96 Ganze Umdrehung): ";
-	cin >> Rotation;
-	
-	if (0 <= Rotation){
-		turning = 1;
-	}
-
-	while (1 == turning){
-		com.processEvents();
-		omniDrive.setVelocity(0, 0, -0.4);
-		cout << phi_absolute;
-		rec::robotino::api2::msleep(100);
-	    // cout << "X: " << x << " Y: " << y << "Richtung: " << phi << "Sequenz: " << s << endl;
-		if (Rotation <= phi_absolute){
-			turning = 0;
-			
-		}
-	}
-	com.processComEvents();
-	
-
-}
-
-
-
-void DriveUntilBlack(){
-    while (0 != digital_inputs){
-        for (int i=0; i<5; i++){
-            omniDrive.setVelocity(0.3, 0, 0);
-        }
-        for (int i=0; i<5; i++){
-            omniDrive.setVelocity(-0.3, 0,0 );
-        }
-        for (int i=0; i<5; i++){
-            omniDrive.setVelocity(0, 0.3, 0);
-        }
-        for (int i=0; i<5; i++){
-            omniDrive.setVelocity(0, -0.3, 0);
-        }
-        
-    
-     
-        com.processEvents();
-    }
-}
-
-
-void drive()
-{
-  	odo.set(0,0,0,-1);
-	
-
-	while( com.isConnected() && false == bumper.value() && _run )
-	{
-
-	rec::robotino::api2::msleep(100); 
-    
-    
-    DigitalInput();
-
-    DriveUntilBlack();
-
-
-	com.processEvents();
-    rec::robotino::api2::msleep(100); 
-    if (0 == digital_inputs[0]){
-        omniDrive.setVelocity(0.2,0,0);
-    }
-    if (1 == digital_inputs[0]){
-        omniDrive.setVelocity(0,0,0);
-        rotate();
-        if (digital_inputs != 0){
-            omniDrive.setVelocity(0.2,0,0);
-        }
-    }
-  }
-
-}
-
-
-int main( int argc, char **argv )
-{
-	std::string hostname = "192.168.100.174";
-	if( argc > 1 )
-	{
-		hostname = argv[1];
-	}
-
-
-
-	//main program routine starts in here
-	try
-	{
-		//connect to your robotino (or try at least)
-		init( hostname );
-		//drive (this contains a while loop)
-		drive();
-		//exit
-		com.disconnectFromServer();
-
-	}
-    catch( const rec::robotino::api2::RobotinoException& e )
-	{
-		std::cerr << "Com Error: " << e.what() << std::endl;
-	}
-	catch( const std::exception& e )
-	{
-		std::cerr << "Error: " << e.what() << std::endl;
-	}
-	catch( ... )
-	{
-		std::cerr << "Unknow Error" << std::endl;
-	}
-
-	rec::robotino::api2::shutdown();
-
-#ifdef WIN32
-	std::cout << "Press any key to exit..." << std::endl;
-	rec::robotino::api2::waitForKey();
-#endif
-}