From 3f7c1141e46c38c6697c4c349d611217d984dc9b Mon Sep 17 00:00:00 2001 From: becquet Date: Wed, 16 May 2007 07:28:35 +0000 Subject: mise a jour avant départ --- i/chuck/src/ai/ai.cc | 28 +++++++++++++++++++++++++--- i/chuck/src/ai/ai.hh | 1 + i/chuck/src/es/es.cc | 4 ++-- i/chuck/src/motor/motor.cc | 14 +------------- i/chuck/src/motor/motor.hh | 2 -- i/chuck/src/motor/test_motor.cc | 1 - 6 files changed, 29 insertions(+), 21 deletions(-) (limited to 'i/chuck/src') diff --git a/i/chuck/src/ai/ai.cc b/i/chuck/src/ai/ai.cc index b0bc102..e078bb6 100644 --- a/i/chuck/src/ai/ai.cc +++ b/i/chuck/src/ai/ai.cc @@ -244,11 +244,19 @@ Ai::progMatch(void) while (!update ()); /// En avant guingamp log_ ("match") << "Eloignement du bord"; - motorMove(480,0); + motorMove(900,0);//On fonce tout droit while (!update ()); /// On tourner de -90° - log_ ("match") << "Petite rotation de 90°"; - motorMove(216,-216); + log_ ("match") << "Petite rotation de 45°"; + motorRotate(3.1416/(-4.)*(coefcolor)); + + ///On avance a travers les ordures euh on est sensé en ramacer + motorMove(900.,0.); + + ///On se positionne pour la marche arrière + /* + motorRotate(3.1416/(-4.)*(coefcolor)); + */ /// On dit bonjour au mur log_ ("match") << "Va à l'opposé"; if (!motorMove (1000, 0)) @@ -312,3 +320,17 @@ void Ai::motorDeblock (void) { } +/// The Best Evite Program ;p +void +Ai::avoidrobot(void) +{ + motorRotate(3.14116/2*(coefcolor));//faire calcul ailleur + motorMove(100.,0.); + motorRotate(3.14116/(-2)*(coefcolor));//voir plus haut + motorMove(300.,0.); + motorRotate(3.14116/(-2)*(coefcolor)); + motorMove(100.,0.); + motorRotate(3.14116/2*(coefcolor)); + motorMove(300.,0.); +} + diff --git a/i/chuck/src/ai/ai.hh b/i/chuck/src/ai/ai.hh index b45122a..7241c25 100644 --- a/i/chuck/src/ai/ai.hh +++ b/i/chuck/src/ai/ai.hh @@ -78,5 +78,6 @@ class Ai bool motorMove (int d, int a); void motorRotate (double d); void motorDeblock(void); + void avoidrobot(void); }; #endif // ai_hh diff --git a/i/chuck/src/es/es.cc b/i/chuck/src/es/es.cc index a8cc10c..a3ef05c 100644 --- a/i/chuck/src/es/es.cc +++ b/i/chuck/src/es/es.cc @@ -39,7 +39,7 @@ Es::Es (const Config & config) loadConfig (config); proto_.open (tty_); - sharps_.resize (3); + sharps_.resize (2); } bool @@ -255,7 +255,7 @@ Es::roulo_roule(int vit) //je c pas encore trop le type int Es::setcolorsens(void) { - if colorModeBlue_ {return 1;} + if (colorModeBlue_) {return 1;} else {return -1;} } diff --git a/i/chuck/src/motor/motor.cc b/i/chuck/src/motor/motor.cc index 1572845..c79d9a9 100644 --- a/i/chuck/src/motor/motor.cc +++ b/i/chuck/src/motor/motor.cc @@ -141,19 +141,7 @@ Motor::receiveAck (int seq) } } } -/// The Best Evite Program ;p -void -Motor::avoidrobot(void) -{ - rotate(3.14116/2);//faire calcul ailleur - move(100,0); - rotate(3.14116/2*(-1));//voir plus haut - move(300,0); - rotate(3.14116/2*(-1)); - move(100,0); - rotate(3.14116/2); - move(300,0); -} + void Motor::receiveCounterStat (int l, int r) diff --git a/i/chuck/src/motor/motor.hh b/i/chuck/src/motor/motor.hh index 2534c21..548c7bd 100644 --- a/i/chuck/src/motor/motor.hh +++ b/i/chuck/src/motor/motor.hh @@ -69,8 +69,6 @@ class Motor : public Asserv::Receiver void reset (void); /// get the position of robal void getPosition(double & x, double & y, double & a) const; - ///Avoid un truk - void avoidrobot(void); private: /// Next seq number. inline void nextSeq (void); diff --git a/i/chuck/src/motor/test_motor.cc b/i/chuck/src/motor/test_motor.cc index 1cb5e28..760dfd6 100644 --- a/i/chuck/src/motor/test_motor.cc +++ b/i/chuck/src/motor/test_motor.cc @@ -62,7 +62,6 @@ class TestMotor : public Tester void preRun (void) { Interpreter &i = getInterpreter (); - i.add ("avoid",Interpreter::memFunc(motor_,&Motor::avoidrobot),"j evite un super robot"); i.add ("wait", Interpreter::memFunc (*this, &TestMotor::wait), "wait MS\nwait for a delay in millisecond"); i.add ("move", Interpreter::memFunc (motor_, &Motor::move), -- cgit v1.2.3