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authorbecquet2007-05-10 21:07:51 +0000
committerbecquet2007-05-10 21:07:51 +0000
commit7bd4a027d0b22489c998c201987855d73c79bee1 (patch)
treed1d06249ff6f8e22d5ef4f83304704971b4f3e46 /i/chuck/src/es/es.hh
parent8f486613be58ced269db1d437e560c16558604e8 (diff)
Diffstat (limited to 'i/chuck/src/es/es.hh')
-rw-r--r--i/chuck/src/es/es.hh93
1 files changed, 8 insertions, 85 deletions
diff --git a/i/chuck/src/es/es.hh b/i/chuck/src/es/es.hh
index 0a53ff3..1d5c13d 100644
--- a/i/chuck/src/es/es.hh
+++ b/i/chuck/src/es/es.hh
@@ -1,13 +1,13 @@
#ifndef es_hh
#define es_hh
// es.hh
-// robert - programme du robot 2005 {{{
+// chuck - programme du robot 2007 {{{
//
-// Copyright (C) 2005 Nicolas Haller
+// Copyright (C) 2007 Romain Becquet
//
-// Robot APB Team/Efrei 2005.
-// Web: http://assos.efrei.fr/robot/
-// Email: robot AT efrei DOT fr
+// Robot APB Team/Efrei 2007.
+// Web: http://assos.efrei.fr/si2e/
+// Email: si2e 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
@@ -36,10 +36,6 @@ class Config;
class Es : public Proto::Receiver
{
public:
- enum etatBarillet{empty,white,black};
- enum posBar{avant0 = 0x00, arriere2 = 0x04, avant4 = 0x08, arriere1 =
- 0x0C, avant3 = 0x10, arriere0 = 0x14, avant2 = 0x18, arriere4 = 0x1C,
- avant1 = 0x20, arriere3 = 0x24};
typedef std::vector<int> Sharps;
private:
@@ -59,16 +55,6 @@ class Es : public Proto::Receiver
int ackFreq_;
/// Main stat frequency
int mainStat_;
- /// Config of RVB sensors
- int rvbSensorFalseIC_, rvbSensorMaxOv_;
- /// Config of RVB sniff
- int rvbSniffRefRatio_, rvbSniffGreenLimit_, rvbSniffClearLimit_;
- /// RVB Sensors raw stats
- int rvbSensorMaskStat_, rvbSensorStat_;
- /// RVB Sniff stats
- int rvbSniffMaskStat_, rvbSniffStat_;
- /// RVB Sensors raw stats
- int rvbBallStat_;
/// Sharps
Sharps sharps_;
/// Others module, jack & colour
@@ -77,21 +63,10 @@ class Es : public Proto::Receiver
/// Stat of front sensors
int rvbSniffFrontStat_;
int thresholdFrontSensors_, thresholdBallSensors_, thresholdHoleSensors_;
- /// Stock du barillet
- etatBarillet stockBarillet[5];
- /// Position du barillet
- posBar positionBarillet_;
- /// System for analyse a ball
- int seenColors_[5], lastSeenColors_[5], comptSeenColors_[5];
/// Si la turbine avant est allumé
bool frontTurbineIsFull_;
public:
- // Some fucking defines !
- const int unknownColor_, redColor_, blueColor_, greenColor_, whiteColor_,
- blackColor_;
- const int leftFrontRVB_, rightFrontRVB_, holeRVB_, frontBallRVB_,
- rearBallRVB_;
/// Constructeur
Es (const Config & config);
/// On attend ...
@@ -118,25 +93,8 @@ class Es : public Proto::Receiver
/// Get the color mode of the button
bool isColorModeBlue (void);
- /// Envoie de la config des sensors RVB
- void setRVBSensorsConfig(int false_ic, int max_ov);
- /// Envoie de la config des sniff RVB
- void setRVBSniffConfig(int ref_ratio, int green_limit, int clear_limit);
- /// Règle les stats des sensors RVB
- void setRVBSensorsStat(int mask_captor, int freq);
- /// règle la couleur actuelle comme référente
- void refColor(int mask_captor, int mode = 0);
- /// Règle les stats d'affichage de la couleur
- void setRVBSniffStat (int mask_captor, int freq);
- /// Configure statistic for the sensor of the ball
- void setRVBBallStat (int freq);
- /// Set frequency of front sensor in analyse mode
- void setRVBSniffFrontStat (int freq);
/// Enable all the sensors or just the 4 and 1 near the ground
void enableAllSensors (bool enable);
- //
- void setRVBHoleStat (int freq);
-
/// Set frequency of jack, selectoul printed out function
/// Use this function with frequency 0 to disable this stat.
void setOthersStat (int freq);
@@ -157,50 +115,15 @@ class Es : public Proto::Receiver
/// Get the current pressed keys of the LCD
void lcdGetKey (int freq);
- /// Règle la vitesse des turbines
- void setTurbineSpeed (int turbNb, int speed);
- /// Règle le sens de rotation du barillet
- void setTheMeaningOfRotationOfBarillet (int answer);
- /// Init the barillet and put it at the right place
- void barilletInit (void);
- /// Init turbine to minimal speed
- void barilletDebutLancement (void);
- /// Init front turbine to full speed
- void barilletLancement (void);
- /// Put barillet in sleep mode
- void barilletSleep (void);
- /// Dépose une balle du barillet
- void deposeBalle(void);
- /// Dépose une balle blanche
- bool dropWhiteBall(void);
- /// Dépose une balle noire
- bool dropBlackBall(void);
- /// Place un trou vide à l'avant
- bool setEmptyHoleFront(void);
- /// Extrait une balle
- void extraitBalle(void);
- /// Rotation du barillet
- void rotationBarillet(int posFinal);
- /// Empty everything in the barillet
- void barilletEmpty (void);
- /// Say if barillet is full
- bool barilletIsFull(void);
- /// What color do you see my lord ?
- int colorSeen (int sensor_num);
- /// Totems activator
- void totemActivator (bool out);
/// Front sensor
bool frontSensor (void) { return front_sensor_; }
/// Clear sensor
void clearFrontSensor (void) { front_sensor_ = false; }
+ ///Activé l'assenceur
+ void bouge_ascenceur(int sensrot);
+
private:
- /// Decode a color into a string
- std::string decodeColor (int color);
- /// Analyse une balle arrivant par devant
- void newBallFront (void);
- /// Analyse une balle arrivant par derrière
- void newBallRear (void);
/// Update system for one sensor
void updateAnalysisSensor (int value, int index, int threshold);
};