Diff: Map/map.cpp

Revision:

57:86f491f5b25d

Parent:

56:4fd9636dfb36

Child:

60:8d2320a54a32

--- a/Map/map.cpp	Wed May 04 19:43:53 2016 +0200
+++ b/Map/map.cpp	Wed May 04 21:04:50 2016 +0200
@@ -1,13 +1,17 @@
 #include "map.h"
 
+/* Dernier Changement : Romain 20h30 */
+
 map::map (Odometry* nodo) : Codo(nodo) {
 }
 
 void map::Build (int couleur, int formation) {
-    max_x_table = 2800;
-    max_y_table = 1800;
-    min_x_table = 0;
-    min_y_table = 0;
+    if (couleur == VERT) {
+        max_x_table = 2800;
+        max_y_table = 1800;
+        min_x_table = 0;
+        min_y_table = 0;
+    }
 
     addObs(obsCarr (800, 100, 100, 15));
     addObs(obsCarr (2200, 100, 100, 15));
@@ -15,7 +19,7 @@
     addObs(obsCarr (1500, 750, 1100, 15));
     addObs(obsCarr (1500, 1050, 20, 300));
     
-    if (formation == MAP_RIGHTSIDE) { 
+    if (formation == 1) { 
         addObs(obsCarr (0, 2000, 250, 150));  // Coté haut droite
         addObs(obsCarr (200, 2000, 200, 50));
         
@@ -206,4 +210,26 @@
         logger.printf("Chemin pas trouve ...\n\r");
     }
     endedParc = false;
+}
+
+void map::Execute(float XObjectif, float YObjectif) {
+    // logger.printf("Findway %f-%f -> %f-%f\n\r", Codo->getX(), Codo->getY(), XObjectif, YObjectif);
+    Objectif o;
+    FindWay (Codo->getX(), Codo->getY(), o.getX(), o.getY());
+    
+    if (endedParc) {
+        //logger.printf("\n\r");
+        for (int i = 0; i < path.size (); i++) {
+            // logger.printf("Goto %d/%d [%f, %f]... \n\r", i, path.size()-1, path[i].getX(), path[i].getY());
+            //the = (float) atan2((double) (p[i].gety() - odo.getY()), (double) (p[i].getx() - odo.getX())); 
+            Codo->GotoXY((double)path[i].getX(), (double)path[i].getY());
+            // logger.printf("Goto Fini\n\r");
+        }
+
+        //logger.printf("Chemin fini !\n\r");
+    }
+    else {
+        logger.printf("Chemin pas trouve ...\n\r");
+    }
+    endedParc = false;
 }
\ No newline at end of file