From 8f486613be58ced269db1d437e560c16558604e8 Mon Sep 17 00:00:00 2001 From: becquet Date: Thu, 10 May 2007 18:49:20 +0000 Subject: Création de chuck, le programme du robot 2007. --- i/chuck/src/ai/ai.hh | 86 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 86 insertions(+) create mode 100644 i/chuck/src/ai/ai.hh (limited to 'i/chuck/src/ai/ai.hh') diff --git a/i/chuck/src/ai/ai.hh b/i/chuck/src/ai/ai.hh new file mode 100644 index 0000000..29598b4 --- /dev/null +++ b/i/chuck/src/ai/ai.hh @@ -0,0 +1,86 @@ +#ifndef ai_hh +#define ai_hh +// ai.hh +// marvin - programme du robot 2006. {{{ +// +// Copyright (C) 2006 Nicolas Haller +// +// This program is free software; you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation; either version 2 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +// +// Contact : +// Web: http://perso.efrei.fr/~haller/ +// Email: +// }}} +/// Intelligence supérieur(à celui d'une balle de ping-pong) artificielle +/// (comme une blonde) du robot. + +#include "motor/motor.hh" +#include "es/es.hh" +#include "scheduler/scheduler.hh" +#include "scheduler/schedulable_read_fd.hh" +#include "log/log.hh" + +class Ai +{ + private: + // Modules de contrôles du robot + Motor motor_; + Es es_; + /// Logger + Log log_; + // Le scheduler + scheduler::Scheduler scheduler_; + scheduler::SchedulableReadFd schedulableMotor_; + scheduler::SchedulableReadFd schedulableEs_; + // Paramètres générales du robot + const int round_duration_; + const int schedule_time_; + const int reference_sensor_mask_; + bool mustRotate_; + public: + /// Constructeur + Ai(const Config & config); + /// Destructeur du robot + ~Ai(void); + + /// Initialisation du robal + void init(void); + /// Arrête complêtement le robot + void stop(void); + /// Fonction de tempo + void temporisation (int msec); + /// Attend le jack rentre(false) ou sorte (true) + void waitJack (bool out); + /// Attend une mise à jour... + bool update (void); + /// La célèbre fonction sync + bool sync (void); + /// Init things for a match. + void prepare (void); + /// Some after after a match + void afterMatch(void); + /// Reference sensors + void referenceSensors (void); + /// programme d'homologation du robal + void progHomoloRobal(void); + /// programme de match du robal + void progMatch(void); + bool motorMove (int d, int a); + void motorRotate (double d); + void motorBasicFindHole (void); + int motorSmartFindHole (double distOut); + void motorDeblock(void); +}; +#endif // ai_hh -- cgit v1.2.3