From 7bd4a027d0b22489c998c201987855d73c79bee1 Mon Sep 17 00:00:00 2001 From: becquet Date: Thu, 10 May 2007 21:07:51 +0000 Subject: --- i/chuck/src/es/es.hh | 93 +++++----------------------------------------------- 1 file changed, 8 insertions(+), 85 deletions(-) (limited to 'i/chuck/src/es/es.hh') diff --git a/i/chuck/src/es/es.hh b/i/chuck/src/es/es.hh index 0a53ff3..1d5c13d 100644 --- a/i/chuck/src/es/es.hh +++ b/i/chuck/src/es/es.hh @@ -1,13 +1,13 @@ #ifndef es_hh #define es_hh // es.hh -// robert - programme du robot 2005 {{{ +// chuck - programme du robot 2007 {{{ // -// Copyright (C) 2005 Nicolas Haller +// Copyright (C) 2007 Romain Becquet // -// Robot APB Team/Efrei 2005. -// Web: http://assos.efrei.fr/robot/ -// Email: robot AT efrei DOT fr +// Robot APB Team/Efrei 2007. +// Web: http://assos.efrei.fr/si2e/ +// Email: si2e AT efrei DOT fr // // 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 @@ -36,10 +36,6 @@ class Config; class Es : public Proto::Receiver { public: - enum etatBarillet{empty,white,black}; - enum posBar{avant0 = 0x00, arriere2 = 0x04, avant4 = 0x08, arriere1 = - 0x0C, avant3 = 0x10, arriere0 = 0x14, avant2 = 0x18, arriere4 = 0x1C, - avant1 = 0x20, arriere3 = 0x24}; typedef std::vector Sharps; private: @@ -59,16 +55,6 @@ class Es : public Proto::Receiver int ackFreq_; /// Main stat frequency int mainStat_; - /// Config of RVB sensors - int rvbSensorFalseIC_, rvbSensorMaxOv_; - /// Config of RVB sniff - int rvbSniffRefRatio_, rvbSniffGreenLimit_, rvbSniffClearLimit_; - /// RVB Sensors raw stats - int rvbSensorMaskStat_, rvbSensorStat_; - /// RVB Sniff stats - int rvbSniffMaskStat_, rvbSniffStat_; - /// RVB Sensors raw stats - int rvbBallStat_; /// Sharps Sharps sharps_; /// Others module, jack & colour @@ -77,21 +63,10 @@ class Es : public Proto::Receiver /// Stat of front sensors int rvbSniffFrontStat_; int thresholdFrontSensors_, thresholdBallSensors_, thresholdHoleSensors_; - /// Stock du barillet - etatBarillet stockBarillet[5]; - /// Position du barillet - posBar positionBarillet_; - /// System for analyse a ball - int seenColors_[5], lastSeenColors_[5], comptSeenColors_[5]; /// Si la turbine avant est allumé bool frontTurbineIsFull_; public: - // Some fucking defines ! - const int unknownColor_, redColor_, blueColor_, greenColor_, whiteColor_, - blackColor_; - const int leftFrontRVB_, rightFrontRVB_, holeRVB_, frontBallRVB_, - rearBallRVB_; /// Constructeur Es (const Config & config); /// On attend ... @@ -118,25 +93,8 @@ class Es : public Proto::Receiver /// Get the color mode of the button bool isColorModeBlue (void); - /// Envoie de la config des sensors RVB - void setRVBSensorsConfig(int false_ic, int max_ov); - /// Envoie de la config des sniff RVB - void setRVBSniffConfig(int ref_ratio, int green_limit, int clear_limit); - /// Règle les stats des sensors RVB - void setRVBSensorsStat(int mask_captor, int freq); - /// règle la couleur actuelle comme référente - void refColor(int mask_captor, int mode = 0); - /// Règle les stats d'affichage de la couleur - void setRVBSniffStat (int mask_captor, int freq); - /// Configure statistic for the sensor of the ball - void setRVBBallStat (int freq); - /// Set frequency of front sensor in analyse mode - void setRVBSniffFrontStat (int freq); /// Enable all the sensors or just the 4 and 1 near the ground void enableAllSensors (bool enable); - // - void setRVBHoleStat (int freq); - /// Set frequency of jack, selectoul printed out function /// Use this function with frequency 0 to disable this stat. void setOthersStat (int freq); @@ -157,50 +115,15 @@ class Es : public Proto::Receiver /// Get the current pressed keys of the LCD void lcdGetKey (int freq); - /// Règle la vitesse des turbines - void setTurbineSpeed (int turbNb, int speed); - /// Règle le sens de rotation du barillet - void setTheMeaningOfRotationOfBarillet (int answer); - /// Init the barillet and put it at the right place - void barilletInit (void); - /// Init turbine to minimal speed - void barilletDebutLancement (void); - /// Init front turbine to full speed - void barilletLancement (void); - /// Put barillet in sleep mode - void barilletSleep (void); - /// Dépose une balle du barillet - void deposeBalle(void); - /// Dépose une balle blanche - bool dropWhiteBall(void); - /// Dépose une balle noire - bool dropBlackBall(void); - /// Place un trou vide à l'avant - bool setEmptyHoleFront(void); - /// Extrait une balle - void extraitBalle(void); - /// Rotation du barillet - void rotationBarillet(int posFinal); - /// Empty everything in the barillet - void barilletEmpty (void); - /// Say if barillet is full - bool barilletIsFull(void); - /// What color do you see my lord ? - int colorSeen (int sensor_num); - /// Totems activator - void totemActivator (bool out); /// Front sensor bool frontSensor (void) { return front_sensor_; } /// Clear sensor void clearFrontSensor (void) { front_sensor_ = false; } + ///Activé l'assenceur + void bouge_ascenceur(int sensrot); + private: - /// Decode a color into a string - std::string decodeColor (int color); - /// Analyse une balle arrivant par devant - void newBallFront (void); - /// Analyse une balle arrivant par derrière - void newBallRear (void); /// Update system for one sensor void updateAnalysisSensor (int value, int index, int threshold); }; -- cgit v1.2.3