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Dependencies:   RoboClaw mbed

Fork of Timer by ARES

Map/Objectif/objectif.cpp

Committer:
IceTeam
Date:
2016-05-05
Revision:
70:d70a6db1f635
Parent:
66:47353c8122de
Child:
75:195dd2bb13a3

File content as of revision 70:d70a6db1f635:

#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, float arr) {
	Parasol = np;
	pince = npince;
	type = ntype;
	x_objectif = nx_obj;
	y_objectif = ny_obj;
	thet_objectif = nthet_obj;
	Codo = nCodo;
	marche_arriere = 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_arriere != 0) {
		Codo->GotoDist(-marche_arriere);
	}
}

bool objectif::obj_bloc_action () {
	/* Range : 0 -> 100 (mm). pince.home remet à 0 */
	pince->home();
	pince->setPos(30,0,0);
}

bool objectif::obj_para_action() {
	return true;
}