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Fork of Robot2016_2-0 by
Map/Objectif/objectif.cpp
- Committer:
- IceTeam
- Date:
- 2016-05-05
- Revision:
- 64:24e1057a97f7
- Parent:
- 63:176d04975f06
- Child:
- 66:47353c8122de
File content as of revision 64:24e1057a97f7:
#include "objectif.h" /* Dernier Changement : Romain 0h20 */ objectif::objectif (int ntype, float nx_obj, float ny_obj, float nthet_obj, Odometry * nCodo, AX12 * np, ControlleurPince * npince) { Parasol = np; pince = npince; type = ntype; x_objectif = nx_obj; y_objectif = ny_obj; thet_objectif = nthet_obj; Codo = nCode; marche_arrière = arr; } bool objectif::Action () { switch(type) { case OBJ_BLOC: return obj_bloc_action(); break; case OBJ_PARA: return obj_para_action(); break; default: break; } if (marche_arrière != 0) { odo->GotoDist(-marche_arrière); } } bool objectif::obj_bloc_action () { /* Range : 0 -> 10 (cm). pince.home remet à 0 */ pince.home(); pince.setPos(3); } bool objectif::obj_para_action() { return true; }