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// qdai.cc
// 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 "qdai.h"
#include "motor/movement_types.h"

#include <cmath>

/// Initialise le robot.
void
QdAi::init (void)
{
    /// Calibre la camera.
    v4l_.calibrate ();
    /// Asservi les moteurs.
    motor_.go ();
}

/// Arr�te le robot.
void
QdAi::stop (void)
{
    /// Attend l'arret complet de l'appareil.
    motor_.waitStopped ();
}

/// Lance le robot.
int
QdAi::run (void)
{
    int state = 0;
    // Mises � jour.
    update ();
    // Automate.
    switch (state)
      {
      case 10:
	// Recherche de balle.
	  {
	    Movement *m = new MovementRoundCruise (0.1);
	    motor_.setMovement (m);
	    // Attendre de trouver une balle.
	  }
	break;
      case 20:
	// Trackage de balle.
	  {
	    Goto *g = new GotoTrack ();
	    Movement *m = new MovementGoto (g);
	    motor_.setMovement (m);
	    updateToEnd ();
	  }
	break;
      case 30:
	// Goto zone d'essai.
	  {
	    // Goto pr�s de la zone d'essais.
	      {
		Goto *g = new GotoSimple (8 * 300, 450);
		Movement *m = new MovementGoto (g);
		motor_.setMovement (m);
		updateToEnd ();
	      }
	    // Rotation vers la zone d'essais.
	      {
		Movement *m = new MovementRotation (0.0);
		motor_.setMovement (m);
		updateToEnd ();
	      }
	    // Goto la zone d'essais.
	      {
		Goto *g = new GotoSimple (8 * 300 + 15, 450);
		Movement *m = new MovementGoto (g);
		motor_.setMovement (m);
		updateToEnd ();
	      }
	  }
	state = 40;
	break;
      case 40:
	// Essai.
	  {
	    // Lever la benne.
	    // Sortir les balles.
	    // Baisser la benne.
	  }
	break;
      }
}

/// Mises � jour p�riodiques.
void
QdAi::update (void)
{
    // Mise � jour moteur.
    motor_.waitOk ();
    // Mise � jour camera.
}

/// Mises � jour jusqu'� fin du mouvement en cours.
void
QdAi::updateToEnd (void)
{
    while (!motor_.end ())
	update ();
}