From 22f0f69803036f2d48e7bc1c1b63a2ee509c229e Mon Sep 17 00:00:00 2001 From: becquet Date: Wed, 16 May 2007 15:05:19 +0000 Subject: fait dans la tuture à mojo avant la coupe --- i/chuck/src/ai/ai.hh | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'i/chuck/src/ai/ai.hh') diff --git a/i/chuck/src/ai/ai.hh b/i/chuck/src/ai/ai.hh index 7241c25..b19dbc8 100644 --- a/i/chuck/src/ai/ai.hh +++ b/i/chuck/src/ai/ai.hh @@ -32,6 +32,10 @@ #include "scheduler/schedulable_read_fd.hh" #include "log/log.hh" +#define PI 3.14159 +#define R90 1.57079 +#define R45 0.7854 + class Ai { private: @@ -49,7 +53,7 @@ class Ai const int schedule_time_; const int reference_sensor_mask_; bool mustRotate_; - const int coefcolor; + int coefcolor; public: /// Constructeur Ai(const Config & config); @@ -75,7 +79,7 @@ class Ai /// programme de match du robal void progMatch(void); void progHomoloRobal(void); - bool motorMove (int d, int a); + bool motorMove (double d, double a); void motorRotate (double d); void motorDeblock(void); void avoidrobot(void); -- cgit v1.2.3