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.hh | 56 ++++++++++++++++++++++++++++++++++ 1 file changed, 56 insertions(+) create mode 100644 digital/io-hub/src/apbirthday/strat.hh (limited to 'digital/io-hub/src/apbirthday/strat.hh') diff --git a/digital/io-hub/src/apbirthday/strat.hh b/digital/io-hub/src/apbirthday/strat.hh new file mode 100644 index 00000000..45737c65 --- /dev/null +++ b/digital/io-hub/src/apbirthday/strat.hh @@ -0,0 +1,56 @@ +#ifndef strat_hh +#define strat_hh +// 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 "defs.hh" +#include "playground_2013.hh" +#include "asserv.hh" + +/// High level strategy decision making. +class Strat +{ + public: + enum Decision + { + CANDLES, + }; + /// Information on a candle decision. + struct CandlesDecision + { + /// Movement direction. + Asserv::DirectionConsign direction; + /// Angle relative to cake to end the movement. + uint16_t end_angle; + }; + public: + /// Return new decision and associated position. + Decision decision (vect_t &pos); + /// Take a decision related to candles. + void decision_candles (CandlesDecision &decision, + uint16_t robot_angle); + /// Report a failure to apply the previous decision. + void failure (); +}; + +#endif // strat_hh -- cgit v1.2.3