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-rw-r--r--i/marvin/src/es/es.cc30
-rw-r--r--i/marvin/src/es/es.hh6
2 files changed, 26 insertions, 10 deletions
diff --git a/i/marvin/src/es/es.cc b/i/marvin/src/es/es.cc
index 8c4c6fb..7b0505b 100644
--- a/i/marvin/src/es/es.cc
+++ b/i/marvin/src/es/es.cc
@@ -617,27 +617,27 @@ Es::newBallFront(void)
switch (positionBarillet_)
{
case avant0:
- stockBarillet[0] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[0] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = avant4;
log_ ("Es::Barillet", Log::debug) << "trou 0:" << ((stockBarillet[0] == white)?"white":"pas white");
break;
case avant1:
- stockBarillet[1] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[1] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = avant0;
log_ ("Es::Barillet", Log::debug) << "trou 1:" << ((stockBarillet[1] == white)?"white":"pas white");
break;
case avant2:
- stockBarillet[2] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[2] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = avant1;
log_ ("Es::Barillet", Log::debug) << "trou 2:" << ((stockBarillet[2] == white)?"white":"pas white");
break;
case avant3:
- stockBarillet[3] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[3] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = avant2;
log_ ("Es::Barillet", Log::debug) << "trou 3:" << ((stockBarillet[3] == white)?"white":"pas white");
break;
case avant4:
- stockBarillet[4] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[4] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = avant3;
log_ ("Es::Barillet", Log::debug) << "trou 4:" << ((stockBarillet[4] == white)?"white":"pas white");
break;
@@ -659,27 +659,27 @@ Es::newBallRear(void)
switch (positionBarillet_)
{
case arriere0:
- stockBarillet[0] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[0] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = arriere4;
log_ ("Es::Barillet", Log::debug) << "trou 0";
break;
case arriere1:
- stockBarillet[1] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[1] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = arriere0;
log_ ("Es::Barillet", Log::debug) << "trou 1";
break;
case arriere2:
- stockBarillet[2] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[2] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = arriere1;
log_ ("Es::Barillet", Log::debug) << "trou 2";
break;
case arriere3:
- stockBarillet[3] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[3] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = arriere2;
log_ ("Es::Barillet", Log::debug) << "trou 3";
break;
case arriere4:
- stockBarillet[4] = colorSeen(frontBallRVB_)==whiteColor_?white:black;
+ stockBarillet[4] = ((colorSeen(frontBallRVB_))==whiteColor_)?white:white;
positionBarillet_ = arriere3;
log_ ("Es::Barillet", Log::debug) << "trou 4";
break;
@@ -719,3 +719,13 @@ Es::colorSeen (int sensor_num)
{
return seenColors_[sensor_num];
}
+
+/// Totems activator
+void
+Es::totemActivator (bool out)
+{
+ // Right
+ setServoPos (2, out ? 0 : 200);
+ // Left
+ setServoPos (4, out ? 200 : 0);
+}
diff --git a/i/marvin/src/es/es.hh b/i/marvin/src/es/es.hh
index 8abcca4..94bb68d 100644
--- a/i/marvin/src/es/es.hh
+++ b/i/marvin/src/es/es.hh
@@ -185,6 +185,12 @@ class Es : public Proto::Receiver
bool barilletIsFull(void);
/// What color do you see my lord ?
int colorSeen (int sensor_num);
+ /// Totems activator
+ void totemActivator (bool out);
+ /// Front sensor
+ bool frontSensor (void) { return front_sensor_; }
+ /// Clear sensor
+ void clearFrontSensor (void) { front_sensor_ = false; }
private:
/// Decode a color into a string