ARES
Time is good
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Robot2016_2-0
by 
ARES
Diff: Map/map.cpp
- Revision:
- 60:8d2320a54a32
- Parent:
- 57:86f491f5b25d
- Child:
- 63:176d04975f06
--- a/Map/map.cpp Wed May 04 21:04:50 2016 +0200
+++ b/Map/map.cpp Wed May 04 23:35:03 2016 +0200
@@ -5,52 +5,12 @@
map::map (Odometry* nodo) : Codo(nodo) {
}
-void map::Build (int couleur, int formation) {
- 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));
-
- addObs(obsCarr (1500, 750, 1100, 15));
- addObs(obsCarr (1500, 1050, 20, 300));
-
- if (formation == 1) {
- addObs(obsCarr (0, 2000, 250, 150)); // Coté haut droite
- addObs(obsCarr (200, 2000, 200, 50));
-
- addObs(obsCarr (3000, 2000, 250, 150)); // Coté bas droite
- addObs(obsCarr (2800, 2000, 200, 50));
-
- 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));
- addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
-
- addObs(obsCarr (1500, 2000-550, 40, 40));
- addObs(obsCarr (1500, 2000-350, 40, 40));
-
- addObs(obsCarr (3000-900, 2000-550, 40, 40));
- addObs(obsCarr (3000-1200, 2000-350, 40, 40));
-
- addObs(obsCarr (3000-200, 2000-450, 40, 40)); // Coquillages du bas droite
- addObs(obsCarr (3000-200, 2000-750, 40, 40));
- }
- else {
- addObs(obsCarr (1250, 1000, 220, 220));
- addObs(obsCarr (1500, 750, 220, 220));
- addObs(obsCarr (1500, 1250, 220, 220));
- }
-}
-
void map::addObs (obsCarr nobs) {
obs.push_back (nobs);
}
+void map::addObj (objectif nobj) {
+ objectifs.push_back(nobj);
+}
void map::FindWay (float depX, float depY, float arrX, float arrY) {
point depart(depX, depY);
@@ -212,9 +172,9 @@
endedParc = false;
}
-void map::Execute(float XObjectif, float YObjectif) {
+void map::Execute(int obj) {
// logger.printf("Findway %f-%f -> %f-%f\n\r", Codo->getX(), Codo->getY(), XObjectif, YObjectif);
- Objectif o;
+ Objectif o = objectifs[obj];
FindWay (Codo->getX(), Codo->getY(), o.getX(), o.getY());
if (endedParc) {
@@ -225,11 +185,123 @@
Codo->GotoXY((double)path[i].getX(), (double)path[i].getY());
// logger.printf("Goto Fini\n\r");
}
-
+ Codo->gotoThet(o.getThet());
+ o.Action();
//logger.printf("Chemin fini !\n\r");
}
else {
logger.printf("Chemin pas trouve ...\n\r");
}
endedParc = false;
+}
+
+void map::Build (int couleur, int formation) {
+ if (couleur == VERT) {
+ max_x_table = 1400;
+ max_y_table = 1800;
+ min_x_table = 0;
+ min_y_table = 0;
+ }
+ else {
+ max_x_table = 2900;
+ max_y_table = 1800;
+ min_x_table = 1600;
+ min_y_table = 0;
+ }
+
+ if (couleur == VERT)
+ addObs(obsCarr (0, 2000, 250, 150)); // Coté haut droite
+ addObs(obsCarr (200, 2000, 200, 50));
+ addObs(obsCarr (800, 100, 100, 15));
+ }
+ else {
+ addObs(obsCarr (3000, 2000, 250, 150)); // Coté bas droite
+ addObs(obsCarr (2800, 2000, 200, 50));
+ addObs(obsCarr (2200, 100, 100, 15));
+ }
+
+ addObs(obsCarr (1500, 750, 1100, 15));
+ addObs(obsCarr (1500, 1050, 20, 300));
+
+ if (formation == 1) {
+ Build_formation_1 (couleur);
+ }
+ else {
+ addObs(obsCarr (1250, 1000, 220, 220));
+ addObs(obsCarr (1500, 750, 220, 220));
+ addObs(obsCarr (1500, 1250, 220, 220));
+ }
+}
+
+void map::Build_formation_1 (int couleur) {
+ if (couleur == VERT) {
+ 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));
+ addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+
+ addObs(obsCarr (1500, 2000-550, 40, 40));
+ addObs(obsCarr (1500, 2000-350, 40, 40));
+
+ //addObs(obsCarr (3000-900, 2000-550, 40, 40));
+ addObs(obsCarr (3000-1200, 2000-350, 40, 40));
+
+ //addObs(obsCarr (3000-200, 2000-450, 40, 40)); // Coquillages du bas droite
+ //addObs(obsCarr (3000-200, 2000-750, 40, 40));
+ }
+ 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));
+ addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+
+ addObs(obsCarr (1500, 2000-550, 40, 40));
+ addObs(obsCarr (1500, 2000-350, 40, 40));
+
+ addObs(obsCarr (3000-900, 2000-550, 40, 40));
+ addObs(obsCarr (3000-1200, 2000-350, 40, 40));
+
+ addObs(obsCarr (3000-200, 2000-450, 40, 40)); // Coquillages du bas droite
+ addObs(obsCarr (3000-200, 2000-750, 40, 40));
+ }
+}
+
+void map::Build_formation_2 (int couleur) {
+ if (couleur == VERT) {
+ addObs(obsCarr (200, 2000-450, 40, 40)); // Coquillages du haut droit
+ addObs(obsCarr (200, 2000-750, 40, 40));
+
+ addObs(obsCarr (600, 2000-450, 40, 40)); // Coquillages du milieu haut
+ addObs(obsCarr (600, 2000-750, 40, 40));
+
+ addObs(obsCarr (900, 2000-550, 40, 40));
+ addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+
+ addObs(obsCarr (1500, 2000-550, 40, 40));
+ addObs(obsCarr (1500, 2000-350, 40, 40));
+
+ //addObs(obsCarr (3000-900, 2000-550, 40, 40));
+ addObs(obsCarr (3000-1200, 2000-350, 40, 40));
+
+ //addObs(obsCarr (3000-200, 2000-450, 40, 40)); // Coquillages du bas droite
+ //addObs(obsCarr (3000-200, 2000-750, 40, 40));
+ }
+ 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));
+ addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+
+ addObs(obsCarr (1500, 2000-550, 40, 40));
+ addObs(obsCarr (1500, 2000-350, 40, 40));
+
+ addObs(obsCarr (3000-900, 2000-550, 40, 40));
+ addObs(obsCarr (3000-1200, 2000-350, 40, 40));
+
+ addObs(obsCarr (3000-200, 2000-450, 40, 40)); // Coquillages du bas droite
+ addObs(obsCarr (3000-200, 2000-750, 40, 40));
+ }
}
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