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-rw-r--r--i/chuck/src/es/es.hh12
1 files changed, 12 insertions, 0 deletions
diff --git a/i/chuck/src/es/es.hh b/i/chuck/src/es/es.hh
index 7acde3e..94470eb 100644
--- a/i/chuck/src/es/es.hh
+++ b/i/chuck/src/es/es.hh
@@ -65,6 +65,12 @@ class Es : public Proto::Receiver
int thresholdFrontSensors_, thresholdBallSensors_, thresholdHoleSensors_;
/// Si la turbine avant est allumé
bool frontTurbineIsFull_;
+ /// Threshold for Sharp
+ int thresholdSharp_;
+ /// Frequency of sharp update_
+ int freqSharp_;
+ /// Do we have seen something
+ bool ackSharp_;
public:
/// Constructeur
@@ -121,6 +127,12 @@ class Es : public Proto::Receiver
void roulo_roule(int vit);
//le roulo tombe
void roulo_tombe(void);
+
+
+ /// Get sharp ack
+ bool getSharpAck (void) const { return ackSharp_; }
+ /// Restart the detection of something front
+ void launchSharpDetection (void);
private:
/// Update system for one sensor
void updateAnalysisSensor (int value, int index, int threshold);