From 059d8ab05064e1cdd907e643b09c2bcc58daaf37 Mon Sep 17 00:00:00 2001 From: becquet Date: Fri, 11 May 2007 02:46:56 +0000 Subject: --- i/chuck/src/motor/motor.cc | 13 +++++++++++++ i/chuck/src/motor/motor.hh | 2 ++ i/chuck/src/motor/test_motor.cc | 3 ++- 3 files changed, 17 insertions(+), 1 deletion(-) (limited to 'i') diff --git a/i/chuck/src/motor/motor.cc b/i/chuck/src/motor/motor.cc index 32d94eb..1572845 100644 --- a/i/chuck/src/motor/motor.cc +++ b/i/chuck/src/motor/motor.cc @@ -141,6 +141,19 @@ 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 548c7bd..2534c21 100644 --- a/i/chuck/src/motor/motor.hh +++ b/i/chuck/src/motor/motor.hh @@ -69,6 +69,8 @@ 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 760dfd6..a659a12 100644 --- a/i/chuck/src/motor/test_motor.cc +++ b/i/chuck/src/motor/test_motor.cc @@ -1,4 +1,4 @@ -// test_motor.cc + test_motor.cc // marvin - programme du robot 2006. {{{ // // Copyright (C) 2006 Nicolas Schodet @@ -62,6 +62,7 @@ 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