text: /*
  Adept MobileRobots Robotics Interface for Applications (ARIA)
  Copyright (C) 2004-2005 ActivMedia Robotics LLC
  Copyright (C) 2006-2010 MobileRobots Inc.
  Copyright (C) 2011-2014 Adept Technology
  
       This program is free software; you can redistribute it and/or modify
       it under the terms of the GNU General Public License as published by
       the Free Software Foundation; either version 2 of the License, or
       (at your option) any later version.
  
       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU General Public License for more details.
  
       You should have received a copy of the GNU General Public License
       along with this program; if not, write to the Free Software
       Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  If you wish to redistribute ARIA under different terms, contact 
  Adept MobileRobots for information about a commercial version of ARIA at 
  robots@mobilerobots.com or 
  Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
  */
  
  #ifndef ARACTIONBUMPERS_H
  #define ARACTIONBUMPERS_H
  
  #include "ariaTypedefs.h"
  #include "ArAction.h"
  
  /// Action to deal with if the bumpers trigger
  /**
     This class basically responds to the bumpers the robot has, what
     the activity things the robot has is decided by the param file.  If
     the robot is going forwards and bumps into something with the front
     bumpers, it will back up and turn.  If the robot is going backwards
     and bumps into something with the rear bumpers then the robot will
     move forward and turn.  
  
    @ingroup ActionClasses
  */
  
  class ArActionBumpers : public ArAction
  {
  public:
    /// Constructor
    AREXPORT ArActionBumpers(const char *name = "bumpers", 
  			   double backOffSpeed = 100, int backOffTime = 3000,
  			   int turnTime = 3000, bool setMaximums = false);
    /// Destructor
    AREXPORT virtual ~ArActionBumpers();
    AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
    AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
  #ifndef SWIG
    AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                          { return &myDesired; }
  #endif
    AREXPORT double findDegreesToTurn(int bumpValue, int whichBumper);
    AREXPORT virtual void activate(void);
  protected:
    ArActionDesired myDesired;
    bool mySetMaximums;
    double myBackOffSpeed;
    int myBackOffTime;
    int myTurnTime;
    //int myStopTime;
    bool myFiring;
    double mySpeed;
    double myHeading;
    int myBumpMask;
    ArTime myStartBack;
    //ArTime myStoppedSince;
  };
  
  #endif // ARACTIONBUMPERS
  