#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