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+#ifndef ai_hh
+#define ai_hh
+// ai.hh
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Nicolas Haller
+//
+// 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
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// Contact :
+// Web: http://perso.efrei.fr/~haller/
+// Email: <nicolas@boiteameuh.org>
+// }}}
+/// Intelligence supérieur(à celui d'une balle de ping-pong) artificielle
+/// (comme une blonde) du robot.
+
+#include "motor/motor.hh"
+#include "es/es.hh"
+#include "scheduler/scheduler.hh"
+#include "scheduler/schedulable_read_fd.hh"
+#include "log/log.hh"
+
+class Ai
+{
+ private:
+ // Modules de contrôles du robot
+ Motor motor_;
+ Es es_;
+ /// Logger
+ Log log_;
+ // Le scheduler
+ scheduler::Scheduler scheduler_;
+ scheduler::SchedulableReadFd schedulableMotor_;
+ scheduler::SchedulableReadFd schedulableEs_;
+ // Paramètres générales du robot
+ const int round_duration_;
+ const int schedule_time_;
+ const int reference_sensor_mask_;
+ bool mustRotate_;
+ public:
+ /// Constructeur
+ Ai(const Config & config);
+ /// Destructeur du robot
+ ~Ai(void);
+
+ /// Initialisation du robal
+ void init(void);
+ /// Arrête complêtement le robot
+ void stop(void);
+ /// Fonction de tempo
+ void temporisation (int msec);
+ /// Attend le jack rentre(false) ou sorte (true)
+ void waitJack (bool out);
+ /// Attend une mise à jour...
+ bool update (void);
+ /// La célèbre fonction sync
+ bool sync (void);
+ /// Init things for a match.
+ void prepare (void);
+ /// Some after after a match
+ void afterMatch(void);
+ /// Reference sensors
+ void referenceSensors (void);
+ /// programme d'homologation du robal
+ void progHomoloRobal(void);
+ /// programme de match du robal
+ void progMatch(void);
+ bool motorMove (int d, int a);
+ void motorRotate (double d);
+ void motorBasicFindHole (void);
+ int motorSmartFindHole (double distOut);
+ void motorDeblock(void);
+};
+#endif // ai_hh