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-rw-r--r--2005/i/robert/src/ai/Makefile.defs2
-rw-r--r--2005/i/robert/src/ai/ai.cc14
-rw-r--r--2005/i/robert/src/ai/ai.hh2
-rw-r--r--2005/i/robert/src/ai/test_ai.cc1
4 files changed, 10 insertions, 9 deletions
diff --git a/2005/i/robert/src/ai/Makefile.defs b/2005/i/robert/src/ai/Makefile.defs
index e64ce6e..29e958a 100644
--- a/2005/i/robert/src/ai/Makefile.defs
+++ b/2005/i/robert/src/ai/Makefile.defs
@@ -9,4 +9,4 @@ $(ovision_OBJECTS) $(video4linux_OBJECTS) $(image_OBJECTS)
test_ai: $(test_ai_OBJECTS)
-test_ai: LDFLAGS += -static
+#test_ai: LDFLAGS += -static
diff --git a/2005/i/robert/src/ai/ai.cc b/2005/i/robert/src/ai/ai.cc
index b3b4f09..958aa78 100644
--- a/2005/i/robert/src/ai/ai.cc
+++ b/2005/i/robert/src/ai/ai.cc
@@ -74,8 +74,8 @@ void Ai::init(void)
// initialise la carte es
es_.init();
// on init la vision
-// oVision_.init(motor_.colorState() ? Group::redSkittle :
-// Group::greenSkittle);
+ oVision_.init(motor_.colorState() ? Group::redSkittle :
+ Group::greenSkittle);
while (!update());
}
@@ -437,11 +437,11 @@ void Ai::scanVision (bool followLine) /// XXX mettre un argument
for (int i = 0; i < (followLine ? 1 : 4) ; i++)
{
// On prend la photo
-// oVision_.takeShoot();
-// // On analyse la photo
-// oVision_.update();
+ oVision_.takeShoot();
+ // On analyse la photo
+ oVision_.update();
// On mets la liste brute dans le vector
-// skittles.push_back(oVision_.getSkittles());
+ skittles.push_back(oVision_.getSkittles());
// on tournicote
motor_.rotation(angleDepart + ((i + 1) * M_PI/4));
}
@@ -479,7 +479,7 @@ void Ai::remonteWithCam(void)
{
int x, y , angle, dist;
Zone zeSkittles = goodSkittles_.back();
-// oVision_.getLoc(zeSkittles, x, y, angle, dist);
+ oVision_.getLoc(zeSkittles, x, y, angle, dist);
dist -= 9;
rotation(motor_.getA() + angle);
setMaxSpeed(2,1);
diff --git a/2005/i/robert/src/ai/ai.hh b/2005/i/robert/src/ai/ai.hh
index 6867031..bf89910 100644
--- a/2005/i/robert/src/ai/ai.hh
+++ b/2005/i/robert/src/ai/ai.hh
@@ -40,7 +40,7 @@ class Ai
// Modules de controle du robot
Motor motor_;
Es es_;
-// OVision oVision_;
+ OVision oVision_;
// Scheduler du robot
scheduler::Scheduler scheduler_;
scheduler::SchedulableReadFd schedulableMotor_;
diff --git a/2005/i/robert/src/ai/test_ai.cc b/2005/i/robert/src/ai/test_ai.cc
index 03a1642..129ed44 100644
--- a/2005/i/robert/src/ai/test_ai.cc
+++ b/2005/i/robert/src/ai/test_ai.cc
@@ -161,6 +161,7 @@ main (int argc, char **argv)
if(++i > argc)
throw std::runtime_error("syntax error");
ai_.temporisation (argv[i][0]);
+ break;
case 'o':
if(++i > argc)
throw std::runtime_error("syntax error");