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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

Map/map.h@57:86f491f5b25d, 2016-05-04 (annotated)

Committer:
IceTeam
Date:
Wed May 04 21:04:50 2016 +0200
Revision:
57:86f491f5b25d
Parent:
56:4fd9636dfb36
Child:
60:8d2320a54a32
Rajout de la classe Objectif, petits changements dans le fonctionnement de map

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 46:be4eebf40568 1 #ifndef MAP_H
IceTeam 46:be4eebf40568 2 #define MAP_H
IceTeam 46:be4eebf40568 3
IceTeam 57:86f491f5b25d 4 /* Dernier Changement : Romain 20h30
IceTeam 57:86f491f5b25d 5 Inclu dans : main.cpp
IceTeam 57:86f491f5b25d 6 Il faut encore gerer les formations de coquillage */
IceTeam 57:86f491f5b25d 7
IceTeam 46:be4eebf40568 8 #include "obsCarr.h"
IceTeam 46:be4eebf40568 9 #include "pointParcours.h"
IceTeam 46:be4eebf40568 10 #include "nVector.h"
IceTeam 46:be4eebf40568 11 #include "controle.h"
IceTeam 57:86f491f5b25d 12 #include "Objectif/objectif.h"
IceTeam 57:86f491f5b25d 13 #include "../Odometry/Odometry.h"
IceTeam 56:4fd9636dfb36 14 #include "../AX12/AX12.h"
IceTeam 57:86f491f5b25d 15 #include "../../StepperMotor/Stepper.h"
IceTeam 46:be4eebf40568 16
IceTeam 51:98f8a6ccb6ae 17 #define MAP_RIGHTSIDE 1
IceTeam 51:98f8a6ccb6ae 18 #define MAP_LEFTSIDE 2
IceTeam 51:98f8a6ccb6ae 19
IceTeam 46:be4eebf40568 20 class map {
IceTeam 46:be4eebf40568 21 public:
IceTeam 57:86f491f5b25d 22 map (Odometry* nodo, AX12 * nA1, AX12 * nA2, AX12 * nA3, Stepper * nS1, Stepper * nS2);
IceTeam 46:be4eebf40568 23 void addObs (obsCarr nobs);
IceTeam 46:be4eebf40568 24 void FindWay (point dep, point arr);
IceTeam 46:be4eebf40568 25 void FindWay (float depX, float depY, float arrX, float arrY);
IceTeam 57:86f491f5b25d 26 void Execute (int obj);
IceTeam 46:be4eebf40568 27 void Execute (float XObjectif, float YObjectif);
IceTeam 55:dfeee9e5c0af 28 void Build(int couleur, int formation);
IceTeam 46:be4eebf40568 29 nVector<pointParcours>& getParc () { return path; }
IceTeam 46:be4eebf40568 30 bool& getEnded () { return endedParc; }
IceTeam 46:be4eebf40568 31
IceTeam 46:be4eebf40568 32 protected:
IceTeam 46:be4eebf40568 33 nVector<obsCarr> obs;
IceTeam 46:be4eebf40568 34 nVector<pointParcours> path;
IceTeam 57:86f491f5b25d 35 nVector<Objectif> objectifs;
IceTeam 57:86f491f5b25d 36
IceTeam 46:be4eebf40568 37 bool endedParc; // Definit s'il existe un chemin parcourable dans le dernier FindWay
IceTeam 46:be4eebf40568 38 Odometry* Codo;
IceTeam 57:86f491f5b25d 39 AX12 * A1, * A2, * A3;
IceTeam 57:86f491f5b25d 40 Stepper * S1, * S2;
IceTeam 56:4fd9636dfb36 41
IceTeam 56:4fd9636dfb36 42 float min_x_table, min_y_table, max_x_table, max_y_table;
IceTeam 46:be4eebf40568 43 };
IceTeam 46:be4eebf40568 44
IceTeam 46:be4eebf40568 45 #endif