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authorschodet2004-05-02 04:34:28 +0000
committerschodet2004-05-02 04:34:28 +0000
commitcddf406dd5aec16ed013b2d4827fe778ea7cd4a6 (patch)
tree1453ea90d2dc34bde8ade12fb4fa1e7a8fa273a7
parentf6702333c361551314d3988946bc4a37d987d3a8 (diff)
Add: Quick & Dirty AI.
-rw-r--r--2004/i/nono/src/qdai/Makefile.defs6
-rw-r--r--2004/i/nono/src/qdai/qdai.cc128
-rw-r--r--2004/i/nono/src/qdai/qdai.h48
3 files changed, 182 insertions, 0 deletions
diff --git a/2004/i/nono/src/qdai/Makefile.defs b/2004/i/nono/src/qdai/Makefile.defs
new file mode 100644
index 0000000..13d7277
--- /dev/null
+++ b/2004/i/nono/src/qdai/Makefile.defs
@@ -0,0 +1,6 @@
+TARGETS += qdai
+qdai_SOURCES = qdai.cc config.a date.a erreur.a image.a logger.o motor.o \
+ ovision.o serial.o utils.o video4linux.o
+
+qdai: $(qdai_SOURCES:%.cc=%.o)
+
diff --git a/2004/i/nono/src/qdai/qdai.cc b/2004/i/nono/src/qdai/qdai.cc
new file mode 100644
index 0000000..afffd97
--- /dev/null
+++ b/2004/i/nono/src/qdai/qdai.cc
@@ -0,0 +1,128 @@
+// qdai.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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.
+//
+// }}}
+#include "qdai.h"
+#include "motor/movement_types.h"
+
+#include <cmath>
+
+/// Initialise le robot.
+void
+QdAi::init (void)
+{
+ /// Calibre la camera.
+ v4l_.calibrate ();
+ /// Asservi les moteurs.
+ motor_.go ();
+}
+
+/// Arrète le robot.
+void
+QdAi::stop (void)
+{
+ /// Attend l'arret complet de l'appareil.
+ motor_.waitStopped ();
+}
+
+/// Lance le robot.
+int
+QdAi::run (void)
+{
+ int state = 0;
+ // Mises à jour.
+ update ();
+ // Automate.
+ switch (state)
+ {
+ case 10:
+ // Recherche de balle.
+ {
+ Movement *m = new MovementRoundCruise (0.1);
+ motor_.setMovement (m);
+ // Attendre de trouver une balle.
+ }
+ break;
+ case 20:
+ // Trackage de balle.
+ {
+ Goto *g = new GotoTrack ();
+ Movement *m = new MovementGoto (g);
+ motor_.setMovement (m);
+ updateToEnd ();
+ }
+ break;
+ case 30:
+ // Goto zone d'essai.
+ {
+ // Goto près de la zone d'essais.
+ {
+ Goto *g = new GotoSimple (8 * 300, 450);
+ Movement *m = new MovementGoto (g);
+ motor_.setMovement (m);
+ updateToEnd ();
+ }
+ // Rotation vers la zone d'essais.
+ {
+ Movement *m = new MovementRotation (0.0);
+ motor_.setMovement (m);
+ updateToEnd ();
+ }
+ // Goto la zone d'essais.
+ {
+ Goto *g = new GotoSimple (8 * 300 + 15, 450);
+ Movement *m = new MovementGoto (g);
+ motor_.setMovement (m);
+ updateToEnd ();
+ }
+ }
+ state = 40;
+ break;
+ case 40:
+ // Essai.
+ {
+ // Lever la benne.
+ // Sortir les balles.
+ // Baisser la benne.
+ }
+ break;
+ }
+}
+
+/// Mises à jour périodiques.
+void
+QdAi::update (void)
+{
+ // Mise à jour moteur.
+ motor_.waitOk ();
+ // Mise à jour camera.
+}
+
+/// Mises à jour jusqu'à fin du mouvement en cours.
+void
+QdAi::updateToEnd (void)
+{
+ while (!motor_.end ())
+ update ();
+}
+
diff --git a/2004/i/nono/src/qdai/qdai.h b/2004/i/nono/src/qdai/qdai.h
new file mode 100644
index 0000000..9384aa5
--- /dev/null
+++ b/2004/i/nono/src/qdai/qdai.h
@@ -0,0 +1,48 @@
+#ifndef qdai_h
+#define qdai_h
+// qdai.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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.
+//
+// }}}
+#include "motor/motor.h"
+#include "video4linux/video4linux.h"
+
+/// Quick & Dirty Ai.
+class QdAi
+{
+ Motor motor_;
+ Video4Linux v4l_;
+ public:
+ /// Initialise le robot.
+ void init (void);
+ /// Arrète le robot.
+ void stop (void);
+ /// Lance le robot.
+ int run (void);
+ /// Mises à jour périodiques.
+ void update (void);
+ /// Mises à jour jusqu'à fin du mouvement en cours.
+ void updateToEnd (void);
+};
+
+#endif // qdai_h