From 81aac69fa570445c588197346efb3fdc61021309 Mon Sep 17 00:00:00 2001 From: becquet Date: Thu, 17 May 2007 00:11:10 +0000 Subject: --- i/chuck/src/ai/ai.cc | 3 ++- i/chuck/src/es/es.cc | 8 ++++---- i/chuck/src/es/es.hh | 5 +++-- i/chuck/src/motor/motor.cc | 3 ++- i/chuck/src/motor/motor.hh | 4 ++-- 5 files changed, 13 insertions(+), 10 deletions(-) (limited to 'i') diff --git a/i/chuck/src/ai/ai.cc b/i/chuck/src/ai/ai.cc index 6593f2d..8ff967a 100644 --- a/i/chuck/src/ai/ai.cc +++ b/i/chuck/src/ai/ai.cc @@ -151,9 +151,10 @@ Ai::prepare (void) waitJack (true); // Set actual position motor_.getAsserv().setPos(0,0,0); - // Ok the match begin ! Go go go ! Timer::startRound (); + //on fait tomber le roulo apré le top départ + es_.roulo_tombe(); es_.setOthersStat (0); // Shut up fucking beach ! es_.setOthersStat (0); diff --git a/i/chuck/src/es/es.cc b/i/chuck/src/es/es.cc index b88d6eb..237b7db 100644 --- a/i/chuck/src/es/es.cc +++ b/i/chuck/src/es/es.cc @@ -265,11 +265,11 @@ Es::setcolorsens(void) } } -/* -//Le roulo tombe + +//Le roulo tombe grace au servo void Es::roulo_tombe(void) { - proto_.send('m',"bb",); + proto_.send('m',"bb",0x00,0x7b); } -*/ + diff --git a/i/chuck/src/es/es.hh b/i/chuck/src/es/es.hh index 9096dec..7acde3e 100644 --- a/i/chuck/src/es/es.hh +++ b/i/chuck/src/es/es.hh @@ -117,9 +117,10 @@ class Es : public Proto::Receiver void bouge_ascenceur(int sens,uint8_t vit,uint8_t tps); ///rotate Left or Right int setcolorsens(void); - //a faire + //a finir pour def le vit void roulo_roule(int vit); - + //le roulo tombe + void roulo_tombe(void); private: /// Update system for one sensor void updateAnalysisSensor (int value, int index, int threshold); diff --git a/i/chuck/src/motor/motor.cc b/i/chuck/src/motor/motor.cc index f6e23bd..c322ff5 100644 --- a/i/chuck/src/motor/motor.cc +++ b/i/chuck/src/motor/motor.cc @@ -161,7 +161,8 @@ Motor::receivePos (double x, double y, double a) bool docrenO(void) { - + static bool place; + return place; } void diff --git a/i/chuck/src/motor/motor.hh b/i/chuck/src/motor/motor.hh index 9c4e4f9..6f9b00a 100644 --- a/i/chuck/src/motor/motor.hh +++ b/i/chuck/src/motor/motor.hh @@ -69,9 +69,9 @@ class Motor : public Asserv::Receiver void reset (void); /// get the position of robal void getPosition(double & x, double & y, double & a) const; - /* /// DO the super Crénaux + /// DO the super Crénaux bool docrenO(); - */ + private: /// Next seq number. -- cgit v1.2.3