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authorNicolas Schodet2013-04-07 10:31:24 +0200
committerNicolas Schodet2013-04-07 19:56:48 +0200
commit4654f5ce8140b371f5401ae40f90c2446e4d432e (patch)
tree577e48bb234816dc0c6310466e102c54a87e4edc /digital/io-hub/src/apbirthday/strat.cc
parent93b6bbde3050ca00efccc46704bfbcab864370f2 (diff)
digital/io-hub/src/apbirthday: first TOP FSM action, work in progress
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+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// 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.
+//
+// }}}
+#include "strat.hh"
+
+Strat::Decision
+Strat::decision (vect_t &pos)
+{
+ // TODO: this is a stub.
+ pos = pg_cake_pos;
+ return CANDLES;
+}
+
+void
+Strat::decision_candles (CandlesDecision &decision, uint16_t robot_angle)
+{
+ // TODO: this is a stub.
+ if (robot_angle > G_ANGLE_UF016_DEG (-90))
+ {
+ decision.direction = Asserv::BACKWARD;
+ decision.end_angle = G_ANGLE_UF016_DEG (180 + 180. / 6);
+ }
+ else
+ {
+ decision.direction = Asserv::FORWARD;
+ decision.end_angle = G_ANGLE_UF016_DEG (-180. / 6);
+ }
+}
+
+void
+Strat::failure ()
+{
+}
+