summaryrefslogtreecommitdiff
path: root/i/chuck/src/ai
diff options
context:
space:
mode:
Diffstat (limited to 'i/chuck/src/ai')
-rw-r--r--i/chuck/src/ai/ai.cc28
-rw-r--r--i/chuck/src/ai/ai.hh1
2 files changed, 26 insertions, 3 deletions
diff --git a/i/chuck/src/ai/ai.cc b/i/chuck/src/ai/ai.cc
index b0bc102..e078bb6 100644
--- a/i/chuck/src/ai/ai.cc
+++ b/i/chuck/src/ai/ai.cc
@@ -244,11 +244,19 @@ Ai::progMatch(void)
while (!update ());
/// En avant guingamp
log_ ("match") << "Eloignement du bord";
- motorMove(480,0);
+ motorMove(900,0);//On fonce tout droit
while (!update ());
/// On tourner de -90°
- log_ ("match") << "Petite rotation de 90°";
- motorMove(216,-216);
+ log_ ("match") << "Petite rotation de 45°";
+ motorRotate(3.1416/(-4.)*(coefcolor));
+
+ ///On avance a travers les ordures euh on est sensé en ramacer
+ motorMove(900.,0.);
+
+ ///On se positionne pour la marche arrière
+ /*
+ motorRotate(3.1416/(-4.)*(coefcolor));
+ */
/// On dit bonjour au mur
log_ ("match") << "Va à l'opposé";
if (!motorMove (1000, 0))
@@ -312,3 +320,17 @@ void
Ai::motorDeblock (void)
{
}
+/// The Best Evite Program ;p
+void
+Ai::avoidrobot(void)
+{
+ motorRotate(3.14116/2*(coefcolor));//faire calcul ailleur
+ motorMove(100.,0.);
+ motorRotate(3.14116/(-2)*(coefcolor));//voir plus haut
+ motorMove(300.,0.);
+ motorRotate(3.14116/(-2)*(coefcolor));
+ motorMove(100.,0.);
+ motorRotate(3.14116/2*(coefcolor));
+ motorMove(300.,0.);
+}
+
diff --git a/i/chuck/src/ai/ai.hh b/i/chuck/src/ai/ai.hh
index b45122a..7241c25 100644
--- a/i/chuck/src/ai/ai.hh
+++ b/i/chuck/src/ai/ai.hh
@@ -78,5 +78,6 @@ class Ai
bool motorMove (int d, int a);
void motorRotate (double d);
void motorDeblock(void);
+ void avoidrobot(void);
};
#endif // ai_hh