Diff: Map/map.h

Revision:

57:86f491f5b25d

Parent:

56:4fd9636dfb36

Child:

60:8d2320a54a32

--- a/Map/map.h	Wed May 04 19:43:53 2016 +0200
+++ b/Map/map.h	Wed May 04 21:04:50 2016 +0200
@@ -1,22 +1,29 @@
 #ifndef MAP_H
 #define MAP_H
 
+/* Dernier Changement : Romain 20h30 
+Inclu dans : main.cpp 
+Il faut encore gerer les formations de coquillage */
+
 #include "obsCarr.h"
 #include "pointParcours.h"
 #include "nVector.h"
 #include "controle.h"
-#include "Odometry.h"
+#include "Objectif/objectif.h"
+#include "../Odometry/Odometry.h"
 #include "../AX12/AX12.h"
+#include "../../StepperMotor/Stepper.h"
 
 #define MAP_RIGHTSIDE 1
 #define MAP_LEFTSIDE 2
 
 class map {
 public:
-    map (Odometry* nodo);
+    map (Odometry* nodo, AX12 * nA1, AX12 * nA2, AX12 * nA3, Stepper * nS1, Stepper * nS2);
     void addObs (obsCarr nobs);
     void FindWay (point dep, point arr);
     void FindWay (float depX, float depY, float arrX, float arrY);
+    void Execute (int obj);
     void Execute (float XObjectif, float YObjectif);
     void Build(int couleur, int formation);
     nVector<pointParcours>& getParc () { return path; }
@@ -25,8 +32,12 @@
 protected:
     nVector<obsCarr> obs;
     nVector<pointParcours> path;
+    nVector<Objectif> objectifs;
+
     bool endedParc; // Definit s'il existe un chemin parcourable dans le dernier FindWay
     Odometry* Codo;
+    AX12 * A1, * A2, * A3;
+    Stepper * S1, * S2;
 
     float min_x_table, min_y_table, max_x_table, max_y_table;
 };