Revision 115:c88c058ced64, committed 2015-05-06

Comitter:

Jagang

Date:

Wed May 06 06:51:49 2015 +0000

Parent:

113:a30ae31795e8

Parent:

114:be06d518b4a7

Child:

116:73d7d87e0299

Child:

117:f8c147141a0c

Commit message:

Merge

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map/Objectifs/Obj_pince.cpp	Wed May 06 06:51:49 2015 +0000
@@ -0,0 +1,1 @@
+#include "Obj_pince.h"
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map/Objectifs/Obj_pince.h	Wed May 06 06:51:49 2015 +0000
@@ -0,0 +1,27 @@
+#ifndef OBJ_PINCE_H
+#define OBJ_PINCE_H
+
+
+#include "defines.h"
+
+#include "AX12.h"
+#include "Objectif.h"
+
+class Obj_clap: public Objectif
+{
+public:
+    #ifdef PLAN_A
+        Obj_clap(float x, float y, float theta, Asserv<float> *asserv, AX12 *ax12_brasG, AX12 *ax12_brasD);
+    #else
+        Obj_clap(float x, float y, float theta, aserv_planB *asserv, AX12 *ax12_brasG, AX12 *ax12_brasD);
+    #endif
+    virtual void run();
+    virtual int isActive();
+private:
+    AX12 *ax12_brasG;
+    AX12 *ax12_brasD;
+};
+
+
+
+#endif

--- a/main.cpp	Tue May 05 17:00:55 2015 +0000
+++ b/main.cpp	Wed May 06 06:51:49 2015 +0000
@@ -218,7 +218,7 @@
     #define IA
     #ifdef IA
     
-        logger.printf("Pathfinding ... ");
+        /*logger.printf("Pathfinding ... ");
         Timer t;
         t.start();
         int i = terrain.AStar(1000,300,1750,450,10);
@@ -227,18 +227,18 @@
         
         logger.printf("Return : %d in %.3fms\r\n",i,t.read()*1000);
         
-        for(i=0;i<terrain.path.size();i++)
+        for(i=0;i<terrain.path.size()-1;i++)
         {
             logger.printf("%d\t%.3f\t%.3f\r\n",i,terrain.path[i].x,terrain.path[i].y);
             asserv.setGoal(terrain.path[i].x,terrain.path[i].y);
             while(!asserv.isArrived())wait(0.1);
         }
+        asserv.setGoal(terrain.path[i].x,terrain.path[i].y);
+        while(!asserv.isArrived())wait(0.1);
         
         logger.printf("Finit !! \r\n");
         
-        while(1);
-    
-    #endif
+        while(1);*/
     
     while(continuer)
     {
@@ -261,17 +261,27 @@
         
         if(newObj)
         {
+            /* Déplacement vers le nouvel objectif */
+            for(i=0;i<terrain.path.size()-1;i++)
+            {
+                logger.printf("%d\t%.3f\t%.3f\r\n",i,terrain.path[i].x,terrain.path[i].y);
+                asserv.setGoal(terrain.path[i].x,terrain.path[i].y);
+                while(!asserv.isArrived())wait(0.1);
+            }
+            asserv.setGoal(objectifs[objAct]->getX(),objectifs[objAct]->getY(),objectifs[objAct]->getTheta());
+            while(!asserv.isArrived())wait(0.1);
             
-            
+            objectifs[objAct]->run();
         }
         else
         {
             logger.printf("Nothind to be done ... :( \r\n");
             wait(1);
         }
-        
     }
     
+    #endif
+    
     #ifdef PLAN_A
         asserv.setGoal(300.0f,200.0f,0.0f);
         logger.printf("GOAL SET... RUNNING!\r\n");