#ifndef ai_hh #define ai_hh // ai.hh // robert - programme du robot 2005. {{{ // // Copyright (C) 2005 Nicolas Haller // // Robot APB Team/Efrei 2005. // 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.hh" #include "es/es.hh" #include "scheduler/scheduler.hh" #include "config/config.hh" /// Intelligence (encore plus heu...) artificielle class Ai { private: // Modules de controle du robot Motor motor_; Es es_; ovision_ ov_; // Scheduler du robot scheduler::Scheduler scheduler_; scheduler::SchedulableReadFd schedulableMotor_; scheduler::SchedulableReadFd schedulableEs_; // Paramètre de Ai const int roundDuration_; const int vitesseAsc_; public: /// Constructeur Ai(const Config & config); // Initialise le robot. void init (void); /// Arrète le robot. void stop (void); /// Lance le robot. void run (void); /// Lance le robot. /// 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, double a); /// Recale contre une bordure. void recale (void); /// Mouvement basic. void basic (double d); /// Rotation. void rotation (double a); /// Monte(vrai) ou descend(faux) l'ascenceur void ascenceur (bool monte); /// Désactive les ventouse void ventouses (void); /// Attend une mise à jour void update (void); }; #endif // ai_hh