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-rw-r--r--i/chuck/src/ai/ai.cc3
-rw-r--r--i/chuck/src/es/es.cc8
-rw-r--r--i/chuck/src/es/es.hh5
-rw-r--r--i/chuck/src/motor/motor.cc3
-rw-r--r--i/chuck/src/motor/motor.hh4
5 files changed, 13 insertions, 10 deletions
diff --git a/i/chuck/src/ai/ai.cc b/i/chuck/src/ai/ai.cc
index 6593f2d..8ff967a 100644
--- a/i/chuck/src/ai/ai.cc
+++ b/i/chuck/src/ai/ai.cc
@@ -151,9 +151,10 @@ Ai::prepare (void)
waitJack (true);
// Set actual position
motor_.getAsserv().setPos(0,0,0);
-
// Ok the match begin ! Go go go !
Timer::startRound ();
+ //on fait tomber le roulo apré le top départ
+ es_.roulo_tombe();
es_.setOthersStat (0);
// Shut up fucking beach !
es_.setOthersStat (0);
diff --git a/i/chuck/src/es/es.cc b/i/chuck/src/es/es.cc
index b88d6eb..237b7db 100644
--- a/i/chuck/src/es/es.cc
+++ b/i/chuck/src/es/es.cc
@@ -265,11 +265,11 @@ Es::setcolorsens(void)
}
}
-/*
-//Le roulo tombe
+
+//Le roulo tombe grace au servo
void
Es::roulo_tombe(void)
{
- proto_.send('m',"bb",);
+ proto_.send('m',"bb",0x00,0x7b);
}
-*/
+
diff --git a/i/chuck/src/es/es.hh b/i/chuck/src/es/es.hh
index 9096dec..7acde3e 100644
--- a/i/chuck/src/es/es.hh
+++ b/i/chuck/src/es/es.hh
@@ -117,9 +117,10 @@ class Es : public Proto::Receiver
void bouge_ascenceur(int sens,uint8_t vit,uint8_t tps);
///rotate Left or Right
int setcolorsens(void);
- //a faire
+ //a finir pour def le vit
void roulo_roule(int vit);
-
+ //le roulo tombe
+ void roulo_tombe(void);
private:
/// Update system for one sensor
void updateAnalysisSensor (int value, int index, int threshold);
diff --git a/i/chuck/src/motor/motor.cc b/i/chuck/src/motor/motor.cc
index f6e23bd..c322ff5 100644
--- a/i/chuck/src/motor/motor.cc
+++ b/i/chuck/src/motor/motor.cc
@@ -161,7 +161,8 @@ Motor::receivePos (double x, double y, double a)
bool
docrenO(void)
{
-
+ static bool place;
+ return place;
}
void
diff --git a/i/chuck/src/motor/motor.hh b/i/chuck/src/motor/motor.hh
index 9c4e4f9..6f9b00a 100644
--- a/i/chuck/src/motor/motor.hh
+++ b/i/chuck/src/motor/motor.hh
@@ -69,9 +69,9 @@ class Motor : public Asserv::Receiver
void reset (void);
/// get the position of robal
void getPosition(double & x, double & y, double & a) const;
- /* /// DO the super Crénaux
+ /// DO the super Crénaux
bool docrenO();
- */
+
private:
/// Next seq number.