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#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 "scheduler/schedulable_read_fd.hh"
#include "ovision/see/ovision.hh"

class Config;

/// Intelligence (encore plus heu...) artificielle
class Ai
{
    private:
	// Modules de controle du robot
	Motor motor_;
	Es es_;
	//OVision oVision_;
	// Scheduler du robot
	scheduler::Scheduler scheduler_;
	scheduler::SchedulableReadFd schedulableMotor_;
	scheduler::SchedulableReadFd schedulableEs_;
	// Param�tre de Ai
	const int roundDuration_;
	const int vitesseAsc_;

    public:
	/// Constructeur
	Ai(const Config & config);
	~Ai (void);
	// Initialise le robot.
	void init (void);
	/// Arr�te le robot.
	void stop (void);
	/// Lance le robot.
	void run (void);
	/// Attend.
	void wait (int t);
	/// Fonction de temporisation
	void temporisation (int t);
	// Attend le jack entr� (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);
	/// D�sactive les ventouse
	void ventouses (void);
	/// Attend une mise � jour
	bool update (void);
	/// Synchronise les donn�es avec motor et es.
	void sync (void);
	/// Reset la PWM � z�ro.
	void resetPwm (void);
	/// Initialise le robot pour faire un match (placement).
	void initMatch ();
	// Balistique non fiable.
	void initBalNonFiable (void);
	// Balistique fiable.
	void initBalFiable (void);
	// Va du point de d�part au pont pour prot�ger les quilles.
	void protectQuillePont (void);
	// test
	void initTest (void);
	void setMaxSpeed (int l, int r);
};

#endif // ai_hh