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-rw-r--r--i/marvin/src/motor/motor.cc20
-rw-r--r--i/marvin/src/motor/motor.hh4
2 files changed, 24 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)
diff --git a/i/marvin/src/motor/motor.hh b/i/marvin/src/motor/motor.hh
index 7cc7e78..1c6f403 100644
--- a/i/marvin/src/motor/motor.hh
+++ b/i/marvin/src/motor/motor.hh
@@ -52,6 +52,10 @@ class Motor : public Asserv::Receiver
void rotate (double a);
/// Find a hole.
void findHole (void);
+ /// Lock good hole (approximatively...)
+ void lockGoodHole(void);
+ /// Lock ennemy hole (non pas son cul)
+ void lockBadHole(void);
/// Stop now.
void stop (void);
/// get the file descriptor