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-rw-r--r--i/chuck/src/ai/ai.cc4
-rw-r--r--i/chuck/src/ai/ai.hh1
-rw-r--r--i/chuck/src/es/es.cc20
-rw-r--r--i/chuck/src/es/es.hh14
4 files changed, 25 insertions, 14 deletions
diff --git a/i/chuck/src/ai/ai.cc b/i/chuck/src/ai/ai.cc
index 5d328c2..b0bc102 100644
--- a/i/chuck/src/ai/ai.cc
+++ b/i/chuck/src/ai/ai.cc
@@ -51,7 +51,7 @@ Ai::~Ai(void)
// On réinitialise
// Initialise les moteurs
// XXX
- motor_.reset ();
+ motor_.reset();
// initialise la carte es
es_.reset ();
// On sync
@@ -137,6 +137,8 @@ Ai::prepare (void)
{
es_.lcdPrint("");
es_.lcdPrint("Prepa match...");
+ coefcolor=es_.setcolorsens();
+ es_.lcdPrint("G ma couleur");
es_.lcdPrint("Inserer Jack");
es_.setOthersStat (10);
while (!update ());
diff --git a/i/chuck/src/ai/ai.hh b/i/chuck/src/ai/ai.hh
index 781935a..b45122a 100644
--- a/i/chuck/src/ai/ai.hh
+++ b/i/chuck/src/ai/ai.hh
@@ -49,6 +49,7 @@ class Ai
const int schedule_time_;
const int reference_sensor_mask_;
bool mustRotate_;
+ const int coefcolor;
public:
/// Constructeur
Ai(const Config & config);
diff --git a/i/chuck/src/es/es.cc b/i/chuck/src/es/es.cc
index 452e689..a8cc10c 100644
--- a/i/chuck/src/es/es.cc
+++ b/i/chuck/src/es/es.cc
@@ -130,11 +130,6 @@ Es::setOthersStat (int freq)
}
-
-
-
-
-
/// Set update frequency of sharps
void
Es::setSharpUpdate (int sharp_mask, int freq)
@@ -249,3 +244,18 @@ Es::bouge_ascenceur(int sens,uint8_t vit,uint8_t tps)
//permettra de faire l'inverse en automatique.
}
+//le roulo qui roule
+void
+Es::roulo_roule(int vit) //je c pas encore trop le type
+{
+ proto_.send('R',"b",vit);
+}
+
+//Euh kel est mon facteur de symetrie pour l'asserv??
+int
+Es::setcolorsens(void)
+{
+ if colorModeBlue_ {return 1;}
+ else {return -1;}
+}
+
diff --git a/i/chuck/src/es/es.hh b/i/chuck/src/es/es.hh
index 0de1264..9096dec 100644
--- a/i/chuck/src/es/es.hh
+++ b/i/chuck/src/es/es.hh
@@ -100,8 +100,6 @@ class Es : public Proto::Receiver
void setOthersStat (int freq);
-
-
/// Set update frequency of sharps
void setSharpUpdate (int sharp_mask, int freq);
/// Set statistics frequency of sharps
@@ -114,14 +112,14 @@ class Es : public Proto::Receiver
void lcdPrint (const std::string &message);
/// Get the current pressed keys of the LCD
void lcdGetKey (int freq);
-
-
-
-
-
+
///Activé l'assenceur
void bouge_ascenceur(int sens,uint8_t vit,uint8_t tps);
- //a faire
+ ///rotate Left or Right
+ int setcolorsens(void);
+ //a faire
+ void roulo_roule(int vit);
+
private:
/// Update system for one sensor
void updateAnalysisSensor (int value, int index, int threshold);