Romain Ame
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Stressed
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Robot2016_2-0
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ARES
Map/Objectif/objectif.cpp@76:cd8c7da76768, 2016-05-05 (annotated)
- Committer:
- IceTeam
- Date:
- Thu May 05 08:46:03 2016 +0000
- Revision:
- 76:cd8c7da76768
- Parent:
- 75:195dd2bb13a3
test
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| IceTeam | 57:86f491f5b25d | 1 | #include "objectif.h" |
| IceTeam | 57:86f491f5b25d | 2 | |
| IceTeam | 64:24e1057a97f7 | 3 | /* Dernier Changement : Romain 0h20 */ |
| IceTeam | 57:86f491f5b25d | 4 | |
| IceTeam | 66:47353c8122de | 5 | objectif::objectif (int ntype, float nx_obj, float ny_obj, float nthet_obj, Odometry * nCodo, AX12 * np, ControlleurPince * npince, float arr) { |
| IceTeam | 60:8d2320a54a32 | 6 | Parasol = np; |
| IceTeam | 60:8d2320a54a32 | 7 | pince = npince; |
| IceTeam | 60:8d2320a54a32 | 8 | type = ntype; |
| IceTeam | 60:8d2320a54a32 | 9 | x_objectif = nx_obj; |
| IceTeam | 60:8d2320a54a32 | 10 | y_objectif = ny_obj; |
| IceTeam | 60:8d2320a54a32 | 11 | thet_objectif = nthet_obj; |
| IceTeam | 66:47353c8122de | 12 | Codo = nCodo; |
| IceTeam | 66:47353c8122de | 13 | marche_arriere = arr; |
| IceTeam | 60:8d2320a54a32 | 14 | } |
| IceTeam | 62:80a81e4ad9f8 | 15 | |
| IceTeam | 62:80a81e4ad9f8 | 16 | bool objectif::Action () { |
| IceTeam | 57:86f491f5b25d | 17 | switch(type) { |
| IceTeam | 75:195dd2bb13a3 | 18 | case OBJ_BLOC_PRISE: |
| IceTeam | 60:8d2320a54a32 | 19 | return obj_bloc_action(); |
| IceTeam | 75:195dd2bb13a3 | 20 | case OBJ_BLOC_LACHE: |
| IceTeam | 75:195dd2bb13a3 | 21 | return obj_para_lache_action(); |
| IceTeam | 60:8d2320a54a32 | 22 | case OBJ_PARA: |
| IceTeam | 60:8d2320a54a32 | 23 | return obj_para_action(); |
| IceTeam | 57:86f491f5b25d | 24 | default: |
| IceTeam | 75:195dd2bb13a3 | 25 | return true; |
| IceTeam | 57:86f491f5b25d | 26 | } |
| IceTeam | 64:24e1057a97f7 | 27 | |
| IceTeam | 66:47353c8122de | 28 | if (marche_arriere != 0) { |
| IceTeam | 66:47353c8122de | 29 | Codo->GotoDist(-marche_arriere); |
| IceTeam | 64:24e1057a97f7 | 30 | } |
| IceTeam | 60:8d2320a54a32 | 31 | } |
| IceTeam | 60:8d2320a54a32 | 32 | |
| IceTeam | 62:80a81e4ad9f8 | 33 | bool objectif::obj_bloc_action () { |
| IceTeam | 75:195dd2bb13a3 | 34 | front_Sharp_activated = false; |
| IceTeam | 75:195dd2bb13a3 | 35 | return true; |
| IceTeam | 60:8d2320a54a32 | 36 | } |
| IceTeam | 60:8d2320a54a32 | 37 | |
| IceTeam | 63:176d04975f06 | 38 | bool objectif::obj_para_action() { |
| IceTeam | 57:86f491f5b25d | 39 | return true; |
| IceTeam | 75:195dd2bb13a3 | 40 | } |
| IceTeam | 75:195dd2bb13a3 | 41 | |
| IceTeam | 75:195dd2bb13a3 | 42 | bool objectif::obj_para_lache_action() { |
| IceTeam | 75:195dd2bb13a3 | 43 | Codo->GotoDist(-80); |
| IceTeam | 75:195dd2bb13a3 | 44 | front_Sharp_activated = true; |
| IceTeam | 75:195dd2bb13a3 | 45 | return true; |
| IceTeam | 57:86f491f5b25d | 46 | } |