ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Map/Objectifs/Obj_depot.cpp

Revision:
117:f8c147141a0c
Child:
119:c45efcd706d9
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map/Objectifs/Obj_depot.cpp	Wed May 06 11:22:17 2015 +0000
@@ -0,0 +1,35 @@
+#include "Obj_depot.h"
+
+extern Motor motorL;
+extern Motor motorR;
+
+Obj_depot::Obj_depot(float x, float y, float theta, AX12 *ax12_pince)
+:Objectif(x,y,theta)
+{
+    this->ax12_pince = ax12_pince;
+    desactivate();
+}
+
+void Obj_depot::run()
+{
+    ax12_pince->setGoal(PINCE_OUVERTE);
+    
+    motorL.setSpeed(-0.3);
+    motorR.setSpeed(-0.3);
+    wait(0.5);
+    motorL.setSpeed(0);
+    motorR.setSpeed(0);
+    
+    done = true;
+}
+
+int Obj_depot::isActive()
+{
+    if(!active)
+        return false;
+    
+    if(ax12_pince->getGoal() == PINCE_OUVERTE)
+        return false;
+    
+    return true;
+}