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-rw-r--r--i/chuck/src/ai/ai.hh8
1 files changed, 6 insertions, 2 deletions
diff --git a/i/chuck/src/ai/ai.hh b/i/chuck/src/ai/ai.hh
index 7241c25..b19dbc8 100644
--- a/i/chuck/src/ai/ai.hh
+++ b/i/chuck/src/ai/ai.hh
@@ -32,6 +32,10 @@
#include "scheduler/schedulable_read_fd.hh"
#include "log/log.hh"
+#define PI 3.14159
+#define R90 1.57079
+#define R45 0.7854
+
class Ai
{
private:
@@ -49,7 +53,7 @@ class Ai
const int schedule_time_;
const int reference_sensor_mask_;
bool mustRotate_;
- const int coefcolor;
+ int coefcolor;
public:
/// Constructeur
Ai(const Config & config);
@@ -75,7 +79,7 @@ class Ai
/// programme de match du robal
void progMatch(void);
void progHomoloRobal(void);
- bool motorMove (int d, int a);
+ bool motorMove (double d, double a);
void motorRotate (double d);
void motorDeblock(void);
void avoidrobot(void);