ARES
/
Robot2016_2-0
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Dependencies: RoboClaw mbed StepperMotor
Fork of
RoboClaw
by 
Simon Emarre
Revision 72:b628daa54f3c, committed 2016-05-05
- Comitter:
- IceTeam
- Date:
- Thu May 05 05:36:01 2016 +0200
- Parent:
- 70:d70a6db1f635
- Child:
- 73:538d6627ae2f
- Commit message:
- Commit pr? changement odometrie
Changed in this revision
--- a/Map/map.cpp Thu May 05 03:22:43 2016 +0000
+++ b/Map/map.cpp Thu May 05 05:36:01 2016 +0200
@@ -270,6 +270,9 @@
if (formation == 2) {
Build_formation_2 (couleur);
}
+ if (formation == 3) {
+ Build_formation_3 (couleur);
+ }
else {
addObs(obsCarr (1250, 1000, 220, 220)); // Obstacles du test standard hors-coupe. A ignorer
addObs(obsCarr (1500, 750, 220, 220));
@@ -336,4 +339,30 @@
addObs(obsCarr (1800, 2000-350, 40, 40)); // Coquillage du milieu/bas droite
}
+}
+
+void map::Build_formation_3 (int couleur) {
+ if (couleur == VERT) {
+ addObs(obsCarr (200, 2000-450, 40, 40)); // Coquillage du haut gauche
+ addObs(obsCarr (200, 2000-750, 40, 40)); // Coquillage du haut droite
+
+ addObs(obsCarr (600, 2000-450, 40, 40)); // Coquillage du milieu/haut/haut droite
+ addObs(obsCarr (600, 2000-750, 40, 40)); // Coquillage du milieu/haut/haut sur le même axe horizontal
+
+ addObs(obsCarr (600, 2000-150, 40, 40)); // Coquillage du milieu/haut droite
+ }
+ else {
+ //addObs(obsCarr (200, 2000-450, 40, 40)); // Coquillages du haut droit
+ //addObs(obsCarr (200, 2000-750, 40, 40));
+
+ //addObs(obsCarr (900, 2000-550, 40, 40));
+ // Inverser bas et haut
+ addObs(obsCarr (3000-200, 2000-450, 40, 40)); // Coquillage du bas gauche
+ addObs(obsCarr (3000-200, 2000-750, 40, 40)); // Coquillage du bas droite
+
+ addObs(obsCarr (3000-600, 2000-450, 40, 40)); // Coquillage du milieu bas/bas droite
+ addObs(obsCarr (3000-600, 2000-750, 40, 40)); // Coquillage du milieu bas/bas sur le même axe horizontal
+
+ addObs(obsCarr (3000-600, 2000-150, 40, 40)); // Coquillage du milieu/bas droite
+ }
}
\ No newline at end of file
--- a/Map/map.h Thu May 05 03:22:43 2016 +0000
+++ b/Map/map.h Thu May 05 05:36:01 2016 +0200
@@ -48,7 +48,8 @@
void Build_formation_1 (int couleur);
void Build_formation_2 (int couleur);
-
+ void Build_formation_3 (int couleur);
+
void Build_Objectives ();
};
--- a/Map/obsCarr.h Thu May 05 03:22:43 2016 +0000
+++ b/Map/obsCarr.h Thu May 05 05:36:01 2016 +0200
@@ -5,7 +5,7 @@
#include "figure.h"
#include "point.h"
-#define TAILLE_SECURITE 110
+#define TAILLE_SECURITE 155
class obsCarr : public figure {
public: