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authordufourj2006-05-24 12:22:45 +0000
committerdufourj2006-05-24 12:22:45 +0000
commit55e5056593ad021213e97c6418382ac051d85d93 (patch)
tree362c719cf38bb4d6e4949dc0b72bb73cc8304112 /i/marvin/src/es/es.hh
parent75192e6d726a30bde79482cdcdf11477233165a6 (diff)
Ai :
- commit de travaille. Es : - merge des fonctions du barillet. ES : - protection contre l'analyse quand les capteurs sont pas pret ; - fonction de gestion capteur RVB frontaux seulement.
Diffstat (limited to 'i/marvin/src/es/es.hh')
-rw-r--r--i/marvin/src/es/es.hh12
1 files changed, 10 insertions, 2 deletions
diff --git a/i/marvin/src/es/es.hh b/i/marvin/src/es/es.hh
index 46f1dc7..dd9ac1c 100644
--- a/i/marvin/src/es/es.hh
+++ b/i/marvin/src/es/es.hh
@@ -72,6 +72,8 @@ class Es : public Proto::Receiver
/// Others module, jack & colour
bool jack_, colorModeBlue_;
int othersStat_;
+ /// Stat of front sensors
+ int rvbSniffFrontStat_;
public:
/// Constructeur
@@ -108,6 +110,8 @@ class Es : public Proto::Receiver
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);
@@ -136,8 +140,10 @@ class Es : public Proto::Receiver
void setTheMeaningOfRotationOfBarillet (int answer);
/// Init the barillet and put it at the right place
void barilletInit (void);
- /// Init n°2 of barillet
- void init2Barillet(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
@@ -146,6 +152,8 @@ class Es : public Proto::Receiver
void extraitBalle(void);
/// Rotation du barillet
void rotationBarillet(int posFinal);
+ /// Empty everything in the barillet
+ void barilletEmpty (void);
private:
/// Decode a color into a string