Diff: Robot.cpp

Revision:

3:3f75a7741b8f

Parent:

2:c17925c0ce25

Child:

4:c8ae1b606d51

--- a/Robot.cpp	Thu Feb 09 14:35:59 2017 +0000
+++ b/Robot.cpp	Mon Feb 27 10:30:15 2017 +0000
@@ -1,12 +1,14 @@
 #include "Robot.h"
-
-    
+#include "m3pi.h"
+   
+   m3pi m3piR; 
 
    Robot::Robot(){
         obstacle = false;
         Affichage affichage;
         LED led;
         Deplacement deplacement;
+        Pattern pattern;
     }
     
    Robot::~Robot(){
@@ -24,5 +26,136 @@
     Deplacement Robot::getDeplacement(){
         return deplacement;
     }
-   
+    
+    Pattern Robot::getPattern(){
+        return pattern;
+    }
+    
+    void Robot::action(int idAction){
+     
+        switch(idAction){
+        
+            // deplacement simple
+            case 0 : 
+            {
+                this->deplacement.avancer();
+                break;
+            }
+               
+            case 1 :
+            {
+                this->deplacement.droite();
+                break;
+            }
+               
+            case 2 :
+            {
+                this->deplacement.reculer();
+                break;
+            }
+              
+            case 3 : 
+            {
+                this->deplacement.gauche();
+                break;
+            }
+                
+            case 4 : 
+            {
+                this->deplacement.tourner_gauche();
+                break;
+            }
+            
+            case 5 :
+            {
+                this->deplacement.tourner_droite();
+                break;
+            }
+            
+            // pattern
+            
+            case 6 :
+            {
+                this->pattern.carre();
+                break;
+            }
+            
+             case 7 :
+            {
+                this->pattern.triangle();
+                break;
+            }
+            
+            // led
+            case 8 :
+            {
+                this->led.K1000(1);
+                break;
+            }
+            
+            case 9 :
+            {
+                this->led.K2000(1);
+                break;
+            }
+            
+            case 10 :
+            {
+                this->led.K3000(1);
+                break;
+            }
+            
+            case 11 :
+            {
+                this->led.K4000(1);
+                break;
+            }
+            
+            case 12 :
+            {
+                this->led.LED_desynchrone(1);
+                break;
+            }
+            
+              case 13 :
+            {
+                this->led.LED_Blinking(DigitalOut (LED1),1);
+                break;
+            }
+            
+             case 14 :
+            {
+                this->led.LED_Blinking(DigitalOut (LED2),1);
+                break;
+            }
+            
+             case 15 :
+            {
+                this->led.LED_Blinking(DigitalOut (LED3),1);
+                break;
+            }
+            
+             case 16 :
+            {
+                this->led.LED_Blinking(DigitalOut (LED4),1);
+                break;
+            }
+            
+            
+            // affichage
+            
+             case 17 :
+            {
+                this->affichage.bonjour();
+                break;
+            }
+        }   
+        
+    }
+    
+   /* SRF05 Robot::getSrf(){
+          
+    }
+    */
+