ARES / Mbed 2 deprecated Robot2016_2-0

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Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Files at this revision

API Documentation at this revision

Revision 52:98f8a6ccb6ae, committed 2016-05-03

Comitter:
IceTeam
Date:
Tue May 03 12:37:31 2016 +0000
Parent:
50:2dea82393beb
Child:
53:bef06d5e827d
Commit message:
Debut ajout obstacle;

Changed in this revision

Map/map.cpp Show annotated file Show diff for this revision Revisions of this file
Map/map.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Map/map.cpp	Mon May 02 08:35:56 2016 +0000
+++ b/Map/map.cpp	Tue May 03 12:37:31 2016 +0000
@@ -3,6 +3,42 @@
 map::map (Odometry* nodo) : Codo(nodo) {
 }
 
+void map::Build (int start_type) {
+    m.addObs(obsCarr (800, 100, 100, 15));
+    m.addObs(obsCarr (2200, 100, 100, 15));
+    
+    m.addObs(obsCarr (1500, 750, 1100, 15));
+    m.addObs(obsCarr (1500, 1050, 20, 300));
+    
+    if (start_type == MAP_RIGHTSIDE) { 
+        m.addObs(obsCarr (0, 2000, 250, 150));  // Coté haut droite
+        m.addObs(obsCarr (200, 2000, 200, 50));
+        
+        m.addObs(obsCarr (3000, 2000, 250, 150));     // Coté bas droite
+        m.addObs(obsCarr (2800, 2000, 200, 50));
+        
+        m.addObs(obsCarr (200, 2000-450, 40, 40));   // Coquillages du haut droit
+        m.addObs(obsCarr (200, 2000-750, 40, 40));
+        
+        m.addObs(obsCarr (900, 2000-550, 40, 40));
+        m.addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+        
+        m.addObs(obsCarr (1500, 2000-550, 40, 40));
+        m.addObs(obsCarr (1500, 2000-350, 40, 40)); 
+        
+        m.addObs(obsCarr (3000-900, 2000-550, 40, 40));
+        m.addObs(obsCarr (3000-1200, 2000-350, 40, 40));   
+        
+        m.addObs(obsCarr (3000-200, 2000-450, 40, 40));   // Coquillages du bas droite
+        m.addObs(obsCarr (3000-200, 2000-750, 40, 40));
+    }
+    else {
+        m.addObs(obsCarr (1250, 1000, 220, 220));
+        m.addObs(obsCarr (1500, 750, 220, 220));
+        m.addObs(obsCarr (1500, 1250, 220, 220));   
+    }
+}
+
 void map::addObs (obsCarr nobs) {
     obs.push_back (nobs);
 }

--- a/Map/map.h	Mon May 02 08:35:56 2016 +0000
+++ b/Map/map.h	Tue May 03 12:37:31 2016 +0000
@@ -7,6 +7,9 @@
 #include "controle.h"
 #include "Odometry.h"
 
+#define MAP_RIGHTSIDE 1
+#define MAP_LEFTSIDE 2
+
 class map {
 public:
     map (Odometry* nodo);
@@ -14,6 +17,7 @@
     void FindWay (point dep, point arr);
     void FindWay (float depX, float depY, float arrX, float arrY);
     void Execute (float XObjectif, float YObjectif);
+    void Build(int start_type);
     nVector<pointParcours>& getParc () { return path; }
     bool& getEnded () { return endedParc; }
 

--- a/main.cpp	Mon May 02 08:35:56 2016 +0000
+++ b/main.cpp	Tue May 03 12:37:31 2016 +0000
@@ -56,11 +56,9 @@
 {
     init();    
     
+    int cote = MAP_RIGHTSIDE;
     /*map m(&odo);
-    m.addObs(obsCarr (1250, 1000, 220, 220));
-    m.addObs(obsCarr (1500, 750, 220, 220));
-    m.addObs(obsCarr (1500, 1250, 220, 220));
-    
+    m.Build(cote);
     m.Execute(1000,1000);
     m.Execute(1500,1000);
     m.Execute(1500,1500);