K9.cpp

#include "K9.h"

K9::K9(){
	k9 = this;

	// Init sensors
	this->sensorLeft = new Sensor(-10, 20, WEST);
	this->sensorRight = new Sensor(10, 20, EAST);
	this->sensorFront = new Sensor(0, 40, NORTH);

	// Init sensorHelpers
	this->sensorHelperLeft = NULL;
	this->sensorHelperRight = NULL;

	// Init PositionControl
	this->positionControl = new PositionControl();

	// Init Graph
	this->graph = new Graph();
}

K9::~K9(){
	// Free sensors
	delete this->sensorLeft;
	delete this->sensorRight;
	delete this->sensorFront;

	// Free sensorHelpers
	if(sensorHelperLeft != NULL)
		delete sensorHelperLeft;
	if(sensorHelperRight != NULL)
		delete sensorHelperRight;

	// Free PositionControl
	delete this->positionControl;

	// Free Graph
	delete graph;
}