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-rw-r--r--i/marvin/src/motor/motor.cc20
1 files changed, 20 insertions, 0 deletions
diff --git a/i/marvin/src/motor/motor.cc b/i/marvin/src/motor/motor.cc
index 5f3987a..8bc6037 100644
--- a/i/marvin/src/motor/motor.cc
+++ b/i/marvin/src/motor/motor.cc
@@ -66,6 +66,26 @@ Motor::findHole (void)
asserv_.findHole (seq_);
}
+void Motor::lockGoodHole (void)
+{
+ ///XXX VERIFIER LES COORDONNEES
+ const int xGood = 2000;
+ const int yGood = -1100;
+ ///XXX VERIFIER LES CALCULS D'AILLEURS...
+ double rotation = atan2((yGood - y_), (xGood - x_));
+ rotate(rotation);
+}
+
+void Motor::lockBadHole (void)
+{
+ ///XXX VERIFIER LES COORDONNEES
+ const int xGood = 600;
+ const int yGood = -1100;
+ ///XXX VERIFIER LES CALCULS D'AILLEURS...
+ double rotation = atan2((yGood - y_), (xGood - x_));
+ rotate(rotation);
+}
+
/// Stop now.
void
Motor::stop (void)