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-rw-r--r--i/marvin/src/ai/ai.cc31
-rw-r--r--i/marvin/src/es/es.cc14
-rw-r--r--i/marvin/src/proto/proto.cc2
3 files changed, 37 insertions, 10 deletions
diff --git a/i/marvin/src/ai/ai.cc b/i/marvin/src/ai/ai.cc
index 986f53b..53f191e 100644
--- a/i/marvin/src/ai/ai.cc
+++ b/i/marvin/src/ai/ai.cc
@@ -84,7 +84,9 @@ Ai::stop (void)
bool
Ai::sync (void)
{
- return es_.sync () && motor_.sync ();
+ bool motor = motor_.sync ();
+ bool es = es_.sync ();
+ return es && motor;
}
/// Wait for something to happened
@@ -144,6 +146,9 @@ Ai::prepare (void)
// Ok the match begin ! Go go go !
Timer::startRound ();
es_.setOthersStat (0);
+ // Shut up fucking beach !
+ es_.setOthersStat (0);
+ es_.setOthersStat (0);
while (!update ());
}
@@ -172,10 +177,17 @@ void Ai::progHomoloRobal(void)
es_.barilletLancement();
while (!update ());
/// on avance un poil parce que le mur c'est mal
+ std::cout << "Move !" << std::endl;
motorMove(500, 0);
+ std::cout << "Rotate !" << std::endl;
motorRotate(-0.54);
+ std::cout << "Move !" << std::endl;
motorMove(1200, 0);
- motorRotate(M_PI);
+ std::cout << "Rotate !" << std::endl;
+ motorRotate(1.40);
+ motorMove(500, 0);
+// temporisation (100);
+ std::cout << "Find hole !" << std::endl;
motorFindHole ();
/// On tourne XXX
@@ -195,6 +207,21 @@ void Ai::progHomoloRobal(void)
/// mettre une baballe
es_.dropWhiteBall();
while (!update ());
+ temporisation (3000);
+ es_.deposeBalle ();
+ while (!update ());
+ temporisation (3000);
+ motorMove(300, 0);
+
+ std::cout << "Find hole !" << std::endl;
+ motorFindHole ();
+ es_.dropWhiteBall();
+ while (!update ());
+ temporisation (3000);
+ es_.deposeBalle ();
+ while (!update ());
+ temporisation (3000);
+ motorMove(300, 0);
/// Tourner 3 fois en chantant du Mickael Jackson
/// Again....
/// Fin du match
diff --git a/i/marvin/src/es/es.cc b/i/marvin/src/es/es.cc
index e8b5f72..4d541ef 100644
--- a/i/marvin/src/es/es.cc
+++ b/i/marvin/src/es/es.cc
@@ -554,8 +554,8 @@ void Es::receive(char command, const Proto::Frame & frame)
colorModeBlue_ = true;
else
colorModeBlue_ = false;
- log_ ("Others", Log::debug) << "Color mode " << (colorModeBlue_ ? "Blue" : "Red")
- << (jackIn_ ? ", jack in..." : ", jack out !!!");
+// log_ ("Others", Log::debug) << "Color mode " << (colorModeBlue_ ? "Blue" : "Red")
+// << (jackIn_ ? ", jack in..." : ", jack out !!!");
}
break;
/* LCD */
@@ -620,27 +620,27 @@ 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;
diff --git a/i/marvin/src/proto/proto.cc b/i/marvin/src/proto/proto.cc
index 4380f07..1bc560f 100644
--- a/i/marvin/src/proto/proto.cc
+++ b/i/marvin/src/proto/proto.cc
@@ -288,7 +288,7 @@ Proto::getFrame(void)
// On renvoie en mettant le compteur 0, la commande sera
// renvoyer de retour sync
// log_("Erreur de reception", Log::debug)
-// << "commande inconnue" << "";
+// << "commande inconnue" << "";
tLastSend_ = 0;
revState_ = 0;
return false;