summaryrefslogtreecommitdiff
path: root/2005/i/robert/src/ai/ai.hh
blob: 94b001e34a7096ebb26edabb40688e070bb8eed0 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
#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.
//
// }}}

/// Intelligence (encore plus heu...) artificielle
class Ai
{
    private:
	// Modules de controle du robot
	Motor motor_;
	// Gpio gpio_; // XXX
	// Param�tre de Ai
	const int roundDuration_;
	// Etat du robot
	bool enMouvement;

    public:
	/// Constructeur
	Ai(const Config & config);
	// Initialise le robot.                                                 
	void init (void);                                                        
	/// Arr�te le robot.                                                     
	void stop (void);                                                        
	/// Lance le robot.                                                      
	void run (int strat);                                                    
    protected:                                                                 
	/// Lance le robot.                                                      
	void run0 (void);                                                        
	void run1 (void);                                                        
	/// Attend.                                                              
	void wait (int t);
	// Attend le jack entr� (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);
};

#endif // ai_hh