summaryrefslogtreecommitdiff
path: root/2004/i/nono/src/ai/ai.h
diff options
context:
space:
mode:
Diffstat (limited to '2004/i/nono/src/ai/ai.h')
-rw-r--r--2004/i/nono/src/ai/ai.h98
1 files changed, 98 insertions, 0 deletions
diff --git a/2004/i/nono/src/ai/ai.h b/2004/i/nono/src/ai/ai.h
new file mode 100644
index 0000000..0cacf23
--- /dev/null
+++ b/2004/i/nono/src/ai/ai.h
@@ -0,0 +1,98 @@
+#ifndef ai_h
+#define ai_h
+// ai.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 "io/analog_servo_pp.h"
+#include "io/gpio_asserv.h"
+#include "io/gpio_concat.h"
+#include "io/gpio_servo_pp.h"
+#include "io/gpio_param.h"
+#include "video4linux/video4linux.h"
+
+/// Intelligence (heu...) artificielle.
+class Ai
+{
+ class FinDeMatch
+ {
+ };
+ Motor motor_;
+ GpioServoPp gspp_;
+ AnalogServoPp ana_;
+ GpioAsserv ga_;
+ GpioConcat gc_;
+ GpioParam gp_;
+ Video4Linux v4l_;
+ static const int roundDuration_ = 90000;
+ static const int captureInterval_ = 500;
+ int lastCapture_;
+ double front_, bigFront_, width_, rear_;
+ int gpioJack_;
+ int gpioRoul_;
+ int gpioRoulS_;
+ int gpioContactL_;
+ int gpioContactR_;
+ int anaSharpL_;
+ int anaSharpR_;
+ bool roulOn_, roulRev_;
+ public:
+ /// Constructeur.
+ Ai (void);
+ /// Initialise le robot.
+ void init (void);
+ /// Arrète le robot.
+ void stop (void);
+ /// Lance le robot.
+ void run (void);
+ /// Mises à jour périodiques.
+ void update (void);
+ /// Mises à jour jusqu'à fin du mouvement en cours.
+ void updateToEnd (void);
+ /// Mises à jour jusqu'à timeout.
+ void updateWait (int t);
+ protected:
+ /// Lève (true) ou baisse (false) la benne.
+ void benneUp (bool f);
+ /// Fait tourner le rouleau.
+ void rouleau (bool on, bool rev);
+ /// Attend.
+ void wait (int t);
+ /// Attend le jack entré (false) ou sorti (true).
+ void waitJack (bool out);
+ /// Rejoint un point.
+ void goTo (double x, double y);
+ /// Recale contre une bordure.
+ void recale (void);
+ /// Recale et ajuste en X contre une bordure.
+ void recaleX (double x, double a);
+ /// Mouvement basic.
+ void basic (double v, double d);
+ /// Rotation.
+ void rotation (double a);
+ /// Décharge la benne.
+ void decharge (int t);
+};
+
+#endif // ai_h