From 4654f5ce8140b371f5401ae40f90c2446e4d432e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 7 Apr 2013 10:31:24 +0200 Subject: digital/io-hub/src/apbirthday: first TOP FSM action, work in progress --- digital/io-hub/src/apbirthday/strat.cc | 54 ++++++++++++++++++++++++++++++++++ 1 file changed, 54 insertions(+) create mode 100644 digital/io-hub/src/apbirthday/strat.cc (limited to 'digital/io-hub/src/apbirthday/strat.cc') diff --git a/digital/io-hub/src/apbirthday/strat.cc b/digital/io-hub/src/apbirthday/strat.cc new file mode 100644 index 00000000..95518d09 --- /dev/null +++ b/digital/io-hub/src/apbirthday/strat.cc @@ -0,0 +1,54 @@ +// 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 () +{ +} + -- cgit v1.2.3