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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

Map/Objectifs/Obj_clap.cpp@11:9c70a7f4d7aa, 2016-01-05 (annotated)

Committer:
IceTeam
Date:
Tue Jan 05 15:48:25 2016 +0100
Revision:
11:9c70a7f4d7aa
Ajout du fichier parent

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 11:9c70a7f4d7aa 1 #include "Obj_clap.h"
IceTeam 11:9c70a7f4d7aa 2
IceTeam 11:9c70a7f4d7aa 3 #ifdef PLAN_A
IceTeam 11:9c70a7f4d7aa 4 extern Asserv<float> asserv;
IceTeam 11:9c70a7f4d7aa 5 #else
IceTeam 11:9c70a7f4d7aa 6 extern aserv_planB asserv;
IceTeam 11:9c70a7f4d7aa 7 #endif
IceTeam 11:9c70a7f4d7aa 8
IceTeam 11:9c70a7f4d7aa 9 Obj_clap::Obj_clap(float x, float y, float theta, float x2, float y2, float theta2, AX12 *ax12_brasG, AX12 *ax12_brasD)
IceTeam 11:9c70a7f4d7aa 10 :Objectif(x,y,theta)
IceTeam 11:9c70a7f4d7aa 11 {
IceTeam 11:9c70a7f4d7aa 12 this->ax12_brasG = ax12_brasG;
IceTeam 11:9c70a7f4d7aa 13 this->ax12_brasD = ax12_brasD;
IceTeam 11:9c70a7f4d7aa 14 this->x2 = x2;
IceTeam 11:9c70a7f4d7aa 15 this->y2 = y2;
IceTeam 11:9c70a7f4d7aa 16 this->theta2 = theta2;
IceTeam 11:9c70a7f4d7aa 17 }
IceTeam 11:9c70a7f4d7aa 18
IceTeam 11:9c70a7f4d7aa 19 void Obj_clap::run()
IceTeam 11:9c70a7f4d7aa 20 {
IceTeam 11:9c70a7f4d7aa 21 if(theta2 == PI/2)
IceTeam 11:9c70a7f4d7aa 22 {
IceTeam 11:9c70a7f4d7aa 23 ax12_brasD->setMaxTorque(MAX_TORQUE);
IceTeam 11:9c70a7f4d7aa 24 ax12_brasD->setGoal(BRASD_OUVERT);
IceTeam 11:9c70a7f4d7aa 25 wait(1);
IceTeam 11:9c70a7f4d7aa 26 asserv.setGoal(x2,y2,theta2);
IceTeam 11:9c70a7f4d7aa 27 while(!asserv.isArrived())wait(0.1);
IceTeam 11:9c70a7f4d7aa 28 ax12_brasD->setGoal(BRASD_FERME);
IceTeam 11:9c70a7f4d7aa 29 wait(1);
IceTeam 11:9c70a7f4d7aa 30 ax12_brasD->setMaxTorque(0);
IceTeam 11:9c70a7f4d7aa 31 }
IceTeam 11:9c70a7f4d7aa 32 else
IceTeam 11:9c70a7f4d7aa 33 {
IceTeam 11:9c70a7f4d7aa 34 ax12_brasG->setMaxTorque(MAX_TORQUE);
IceTeam 11:9c70a7f4d7aa 35 ax12_brasG->setGoal(BRASG_OUVERT);
IceTeam 11:9c70a7f4d7aa 36 wait(1);
IceTeam 11:9c70a7f4d7aa 37 asserv.setGoal(x2,y2,theta2);
IceTeam 11:9c70a7f4d7aa 38 while(!asserv.isArrived())wait(0.1);
IceTeam 11:9c70a7f4d7aa 39 ax12_brasG->setGoal(BRASG_FERME);
IceTeam 11:9c70a7f4d7aa 40 wait(1);
IceTeam 11:9c70a7f4d7aa 41 ax12_brasG->setMaxTorque(0);
IceTeam 11:9c70a7f4d7aa 42 }
IceTeam 11:9c70a7f4d7aa 43
IceTeam 11:9c70a7f4d7aa 44 done = true;
IceTeam 11:9c70a7f4d7aa 45 }
IceTeam 11:9c70a7f4d7aa 46
IceTeam 11:9c70a7f4d7aa 47 int Obj_clap::isActive()
IceTeam 11:9c70a7f4d7aa 48 {
IceTeam 11:9c70a7f4d7aa 49 if(!active)
IceTeam 11:9c70a7f4d7aa 50 return false;
IceTeam 11:9c70a7f4d7aa 51
IceTeam 11:9c70a7f4d7aa 52 if(ax12_brasG->getGoal() == BRASG_OUVERT || ax12_brasD->getGoal() == BRASD_OUVERT)
IceTeam 11:9c70a7f4d7aa 53 return false;
IceTeam 11:9c70a7f4d7aa 54
IceTeam 11:9c70a7f4d7aa 55 return true;
IceTeam 11:9c70a7f4d7aa 56 }