Diff: Map/Objectifs/Obj_clap.cpp

Revision:

20:30942f018252

Parent:

18:0f1fefe78266

--- a/Map/Objectifs/Obj_clap.cpp	Thu Jan 07 15:54:49 2016 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,56 +0,0 @@
-#include "Obj_clap.h"
-
-#ifdef PLAN_A
-    extern Asserv<float> asserv;
-#else
-    extern aserv_planB asserv;
-#endif
-
-Obj_clap::Obj_clap(float x, float y, float theta, float x2, float y2, float theta2, AX12 *ax12_brasG, AX12 *ax12_brasD)
-:Objectif(x,y,theta)
-{
-    this->ax12_brasG = ax12_brasG;
-    this->ax12_brasD = ax12_brasD;
-    this->x2 = x2;
-    this->y2 = y2;
-    this->theta2 = theta2;
-}
-
-void Obj_clap::run()
-{
-    if(theta2 == PI/2)
-    {
-        ax12_brasD->setMaxTorque(MAX_TORQUE);
-        ax12_brasD->setGoal(BRASD_OUVERT);
-        wait(1);
-        asserv.setGoal(x2,y2,theta2);
-        while(!asserv.isArrived())wait(0.1);
-        ax12_brasD->setGoal(BRASD_FERME);
-        wait(1);
-        ax12_brasD->setMaxTorque(0);
-    }
-    else
-    {
-        ax12_brasG->setMaxTorque(MAX_TORQUE);
-        ax12_brasG->setGoal(BRASG_OUVERT);
-        wait(1);
-        asserv.setGoal(x2,y2,theta2);
-        while(!asserv.isArrived())wait(0.1);
-        ax12_brasG->setGoal(BRASG_FERME);
-        wait(1);
-        ax12_brasG->setMaxTorque(0);
-    }
-    
-    done = true;
-}
-
-int Obj_clap::isActive()
-{
-    if(!active)
-        return false;
-    
-    if(ax12_brasG->getGoal() == BRASG_OUVERT || ax12_brasD->getGoal() == BRASD_OUVERT)
-        return false;
-    
-    return true;
-}