Romain Ame
/
Timer71pt
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Diff: Map/Objectif/objectif.cpp
- Revision:
- 64:24e1057a97f7
- Parent:
- 63:176d04975f06
- Child:
- 66:47353c8122de
diff -r 176d04975f06 -r 24e1057a97f7 Map/Objectif/objectif.cpp
--- a/Map/Objectif/objectif.cpp Wed May 04 21:51:00 2016 +0000
+++ b/Map/Objectif/objectif.cpp Thu May 05 01:30:14 2016 +0200
@@ -1,14 +1,16 @@
#include "objectif.h"
-/* Dernier Changement : Romain 20h20 */
+/* Dernier Changement : Romain 0h20 */
-objectif::objectif (int ntype, float nx_obj, float ny_obj, float nthet_obj, AX12 * np, ControlleurPince * npince) {
+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 () {
@@ -22,10 +24,16 @@
default:
break;
}
+
+ if (marche_arrière != 0) {
+ odo->GotoDist(-marche_arrière);
+ }
}
bool objectif::obj_bloc_action () {
- return true;
+ /* Range : 0 -> 10 (cm). pince.home remet à 0 */
+ pince.home();
+ pince.setPos(3);
}
bool objectif::obj_para_action() {