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-rw-r--r--i/chuck/src/ai/ai.cc28
-rw-r--r--i/chuck/src/ai/ai.hh1
-rw-r--r--i/chuck/src/es/es.cc4
-rw-r--r--i/chuck/src/motor/motor.cc14
-rw-r--r--i/chuck/src/motor/motor.hh2
-rw-r--r--i/chuck/src/motor/test_motor.cc1
6 files changed, 29 insertions, 21 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
diff --git a/i/chuck/src/es/es.cc b/i/chuck/src/es/es.cc
index a8cc10c..a3ef05c 100644
--- a/i/chuck/src/es/es.cc
+++ b/i/chuck/src/es/es.cc
@@ -39,7 +39,7 @@ Es::Es (const Config & config)
loadConfig (config);
proto_.open (tty_);
- sharps_.resize (3);
+ sharps_.resize (2);
}
bool
@@ -255,7 +255,7 @@ Es::roulo_roule(int vit) //je c pas encore trop le type
int
Es::setcolorsens(void)
{
- if colorModeBlue_ {return 1;}
+ if (colorModeBlue_) {return 1;}
else {return -1;}
}
diff --git a/i/chuck/src/motor/motor.cc b/i/chuck/src/motor/motor.cc
index 1572845..c79d9a9 100644
--- a/i/chuck/src/motor/motor.cc
+++ b/i/chuck/src/motor/motor.cc
@@ -141,19 +141,7 @@ Motor::receiveAck (int seq)
}
}
}
-/// The Best Evite Program ;p
-void
-Motor::avoidrobot(void)
-{
- rotate(3.14116/2);//faire calcul ailleur
- move(100,0);
- rotate(3.14116/2*(-1));//voir plus haut
- move(300,0);
- rotate(3.14116/2*(-1));
- move(100,0);
- rotate(3.14116/2);
- move(300,0);
-}
+
void
Motor::receiveCounterStat (int l, int r)
diff --git a/i/chuck/src/motor/motor.hh b/i/chuck/src/motor/motor.hh
index 2534c21..548c7bd 100644
--- a/i/chuck/src/motor/motor.hh
+++ b/i/chuck/src/motor/motor.hh
@@ -69,8 +69,6 @@ class Motor : public Asserv::Receiver
void reset (void);
/// get the position of robal
void getPosition(double & x, double & y, double & a) const;
- ///Avoid un truk
- void avoidrobot(void);
private:
/// Next seq number.
inline void nextSeq (void);
diff --git a/i/chuck/src/motor/test_motor.cc b/i/chuck/src/motor/test_motor.cc
index 1cb5e28..760dfd6 100644
--- a/i/chuck/src/motor/test_motor.cc
+++ b/i/chuck/src/motor/test_motor.cc
@@ -62,7 +62,6 @@ class TestMotor : public Tester
void preRun (void)
{
Interpreter &i = getInterpreter ();
- i.add ("avoid",Interpreter::memFunc(motor_,&Motor::avoidrobot),"j evite un super robot");
i.add ("wait", Interpreter::memFunc (*this, &TestMotor::wait),
"wait MS\nwait for a delay in millisecond");
i.add ("move", Interpreter::memFunc (motor_, &Motor::move),