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-rw-r--r--2005/i/robert/src/ai/ai.hh33
1 files changed, 19 insertions, 14 deletions
diff --git a/2005/i/robert/src/ai/ai.hh b/2005/i/robert/src/ai/ai.hh
index 94b001e..b86412e 100644
--- a/2005/i/robert/src/ai/ai.hh
+++ b/2005/i/robert/src/ai/ai.hh
@@ -13,7 +13,7 @@
// 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
@@ -31,6 +31,9 @@ class Ai
private:
// Modules de controle du robot
Motor motor_;
+ Es es_;
+ // Scheduler du robot
+ Scheduler scheduler_;
// Gpio gpio_; // XXX
// Paramètre de Ai
const int roundDuration_;
@@ -40,17 +43,17 @@ class Ai
public:
/// Constructeur
Ai(const Config & config);
- // Initialise le robot.
- void init (void);
- /// Arrète le robot.
- void stop (void);
- /// Lance le robot.
- void run (int strat);
- protected:
- /// Lance le robot.
- void run0 (void);
- void run1 (void);
- /// Attend.
+ // Initialise le robot.
+ void init (void);
+ /// Arrète le robot.
+ void stop (void);
+ /// Lance le robot.
+ void run (int strat);
+ protected:
+ /// Lance le robot.
+ void run0 (void);
+ void run1 (void);
+ /// Attend.
void wait (int t);
// Attend le jack entré (false) ou sorti (true).
void waitJack (bool out);
@@ -58,12 +61,14 @@ class Ai
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);
+ /// Monte(vrai) ou descend(faux) l'ascenceur
+ void ascenceur (bool monte);
+ /// Désactive les ventouse
+ void ventouses (void);
};
#endif // ai_hh