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Dependencies:   RoboClaw mbed

Fork of Timer by ARES

Files at this revision

API Documentation at this revision

Revision 60:8d2320a54a32, committed 2016-05-04

Comitter:
IceTeam
Date:
Wed May 04 23:35:03 2016 +0200
Parent:
57:86f491f5b25d
Child:
61:4a414820870f
Commit message:
Commit de test map/objectif

Changed in this revision

Map/Objectif/objectif.cpp Show annotated file Show diff for this revision Revisions of this file
Map/Objectif/objectif.h Show annotated file Show diff for this revision Revisions of this file
Map/Objectif/objectif_type.h Show annotated file Show diff for this revision Revisions of this file
Map/map.cpp Show annotated file Show diff for this revision Revisions of this file
Map/map.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Map/Objectif/objectif.cpp	Wed May 04 21:04:50 2016 +0200
+++ b/Map/Objectif/objectif.cpp	Wed May 04 23:35:03 2016 +0200
@@ -2,13 +2,31 @@
 
 /* Dernier Changement : Romain 20h20 */
 
-Objectif::Objectif (int type, float x_obj, float y_obj, float thet_obj, AX12 * nA1, AX12 * nA2, AX12 * nA3, Stepper * nS1, Stepper * nS2);
+objectif::objectif (int ntype, float nx_obj, float ny_obj, float nthet_obj, AX12 * np, ControlleurPince * npince) {
+	Parasol = np;
+	pince = npince;
+	type = ntype;
+	x_objectif = nx_obj;
+	y_objectif = ny_obj;
+	thet_objectif = nthet_obj;
+}
 bool Objectif::Action () {
 	switch(type) {
 		case OBJ_BLOC:
-		break;
+			return obj_bloc_action();
+			break;
+		case OBJ_PARA:
+			return obj_para_action();
+			break;
 		default:
-		break;
+			break;
 	}
+}
+
+bool Objectif::obj_bloc_action () {
+	return true;
+}
+
+bool Objectif::obj_para_action(); () {
 	return true;
 }
\ No newline at end of file

--- a/Map/Objectif/objectif.h	Wed May 04 21:04:50 2016 +0200
+++ b/Map/Objectif/objectif.h	Wed May 04 23:35:03 2016 +0200
@@ -9,19 +9,19 @@
 
 class objectif {
 public:
-	objectif (int type, float x_obj, float y_obj, float thet_obj, AX12 * nA1, AX12 * nA2, AX12 * nA3, Stepper * nS1, Stepper * nS2);
+	objectif (int ntype, float nx_obj, float ny_obj, float nthet_obj, AX12 * np, ControlleurPince npince);
 	bool Action ();
 	float getX() { return x_objectif; }
 	float getY() { return y_objectif; }
-	float getThet() { return thet_object; }
+	float getThet() { return thet_objectif; }
 
 private:
 	bool obj_bloc_action();
-
+	bool obj_para_action();
+	
 	int type;
-	float x_objectif, y_objectif, thet_object;
-	AX12 * A1, * A2, * A3;
-	Stepper * S1, * S2;
-};
+	float x_objectif, y_objectif, thet_objectif;
+	AX12 * Parasol;
+	ControlleurPince pince;
 
 #endif
\ No newline at end of file

--- a/Map/Objectif/objectif_type.h	Wed May 04 21:04:50 2016 +0200
+++ b/Map/Objectif/objectif_type.h	Wed May 04 23:35:03 2016 +0200
@@ -2,5 +2,6 @@
 #define OBJECTIF_TYPE_H
 
 #define OBJ_BLOC 1
+#define OBJ_PARA 2
 
 #endif
\ No newline at end of file

--- a/Map/map.cpp	Wed May 04 21:04:50 2016 +0200
+++ b/Map/map.cpp	Wed May 04 23:35:03 2016 +0200
@@ -5,52 +5,12 @@
 map::map (Odometry* nodo) : Codo(nodo) {
 }
 
-void map::Build (int couleur, int formation) {
-    if (couleur == VERT) {
-        max_x_table = 2800;
-        max_y_table = 1800;
-        min_x_table = 0;
-        min_y_table = 0;
-    }
-
-    addObs(obsCarr (800, 100, 100, 15));
-    addObs(obsCarr (2200, 100, 100, 15));
-    
-    addObs(obsCarr (1500, 750, 1100, 15));
-    addObs(obsCarr (1500, 1050, 20, 300));
-    
-    if (formation == 1) { 
-        addObs(obsCarr (0, 2000, 250, 150));  // Coté haut droite
-        addObs(obsCarr (200, 2000, 200, 50));
-        
-        addObs(obsCarr (3000, 2000, 250, 150));     // Coté bas droite
-        addObs(obsCarr (2800, 2000, 200, 50));
-        
-        addObs(obsCarr (200, 2000-450, 40, 40));   // Coquillages du haut droit
-        addObs(obsCarr (200, 2000-750, 40, 40));
-        
-        addObs(obsCarr (900, 2000-550, 40, 40));
-        addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
-        
-        addObs(obsCarr (1500, 2000-550, 40, 40));
-        addObs(obsCarr (1500, 2000-350, 40, 40)); 
-        
-        addObs(obsCarr (3000-900, 2000-550, 40, 40));
-        addObs(obsCarr (3000-1200, 2000-350, 40, 40));   
-        
-        addObs(obsCarr (3000-200, 2000-450, 40, 40));   // Coquillages du bas droite
-        addObs(obsCarr (3000-200, 2000-750, 40, 40));
-    }
-    else {
-        addObs(obsCarr (1250, 1000, 220, 220));
-        addObs(obsCarr (1500, 750, 220, 220));
-        addObs(obsCarr (1500, 1250, 220, 220));   
-    }
-}
-
 void map::addObs (obsCarr nobs) {
     obs.push_back (nobs);
 }
+void map::addObj (objectif nobj) {
+    objectifs.push_back(nobj);
+}
 
 void map::FindWay (float depX, float depY, float arrX, float arrY) {
     point depart(depX, depY);
@@ -212,9 +172,9 @@
     endedParc = false;
 }
 
-void map::Execute(float XObjectif, float YObjectif) {
+void map::Execute(int obj) {
     // logger.printf("Findway %f-%f -> %f-%f\n\r", Codo->getX(), Codo->getY(), XObjectif, YObjectif);
-    Objectif o;
+    Objectif o = objectifs[obj];
     FindWay (Codo->getX(), Codo->getY(), o.getX(), o.getY());
     
     if (endedParc) {
@@ -225,11 +185,123 @@
             Codo->GotoXY((double)path[i].getX(), (double)path[i].getY());
             // logger.printf("Goto Fini\n\r");
         }
-
+        Codo->gotoThet(o.getThet());
+        o.Action();
         //logger.printf("Chemin fini !\n\r");
     }
     else {
         logger.printf("Chemin pas trouve ...\n\r");
     }
     endedParc = false;
+}
+
+void map::Build (int couleur, int formation) {
+    if (couleur == VERT) {
+        max_x_table = 1400;
+        max_y_table = 1800;
+        min_x_table = 0;
+        min_y_table = 0;
+    }
+    else {
+        max_x_table = 2900;
+        max_y_table = 1800;
+        min_x_table = 1600;
+        min_y_table = 0;
+    }
+
+    if (couleur == VERT)
+        addObs(obsCarr (0, 2000, 250, 150));  // Coté haut droite
+        addObs(obsCarr (200, 2000, 200, 50));
+        addObs(obsCarr (800, 100, 100, 15));
+    }
+    else {
+        addObs(obsCarr (3000, 2000, 250, 150));     // Coté bas droite
+        addObs(obsCarr (2800, 2000, 200, 50));
+        addObs(obsCarr (2200, 100, 100, 15));
+    }
+
+    addObs(obsCarr (1500, 750, 1100, 15));
+    addObs(obsCarr (1500, 1050, 20, 300));
+    
+    if (formation == 1) { 
+        Build_formation_1 (couleur);
+    }
+    else {
+        addObs(obsCarr (1250, 1000, 220, 220));
+        addObs(obsCarr (1500, 750, 220, 220));
+        addObs(obsCarr (1500, 1250, 220, 220));   
+    }
+}
+
+void map::Build_formation_1 (int couleur) {
+    if (couleur == VERT) {
+        addObs(obsCarr (200, 2000-450, 40, 40));   // Coquillages du haut droit
+        addObs(obsCarr (200, 2000-750, 40, 40));
+        
+        addObs(obsCarr (900, 2000-550, 40, 40));
+        addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+        
+        addObs(obsCarr (1500, 2000-550, 40, 40));
+        addObs(obsCarr (1500, 2000-350, 40, 40)); 
+        
+        //addObs(obsCarr (3000-900, 2000-550, 40, 40));
+        addObs(obsCarr (3000-1200, 2000-350, 40, 40));   
+        
+        //addObs(obsCarr (3000-200, 2000-450, 40, 40));   // Coquillages du bas droite
+        //addObs(obsCarr (3000-200, 2000-750, 40, 40));        
+    }
+    else {
+        //addObs(obsCarr (200, 2000-450, 40, 40));   // Coquillages du haut droit
+        //addObs(obsCarr (200, 2000-750, 40, 40));
+        
+        //addObs(obsCarr (900, 2000-550, 40, 40));
+        addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+        
+        addObs(obsCarr (1500, 2000-550, 40, 40));
+        addObs(obsCarr (1500, 2000-350, 40, 40)); 
+        
+        addObs(obsCarr (3000-900, 2000-550, 40, 40));
+        addObs(obsCarr (3000-1200, 2000-350, 40, 40));   
+        
+        addObs(obsCarr (3000-200, 2000-450, 40, 40));   // Coquillages du bas droite
+        addObs(obsCarr (3000-200, 2000-750, 40, 40));        
+    }
+}
+
+void map::Build_formation_2 (int couleur) {
+    if (couleur == VERT) {
+        addObs(obsCarr (200, 2000-450, 40, 40));   // Coquillages du haut droit
+        addObs(obsCarr (200, 2000-750, 40, 40));
+
+        addObs(obsCarr (600, 2000-450, 40, 40));   // Coquillages du milieu haut
+        addObs(obsCarr (600, 2000-750, 40, 40));
+
+        addObs(obsCarr (900, 2000-550, 40, 40));
+        addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+        
+        addObs(obsCarr (1500, 2000-550, 40, 40));
+        addObs(obsCarr (1500, 2000-350, 40, 40)); 
+        
+        //addObs(obsCarr (3000-900, 2000-550, 40, 40));
+        addObs(obsCarr (3000-1200, 2000-350, 40, 40));   
+        
+        //addObs(obsCarr (3000-200, 2000-450, 40, 40));   // Coquillages du bas droite
+        //addObs(obsCarr (3000-200, 2000-750, 40, 40));        
+    }
+    else {
+        //addObs(obsCarr (200, 2000-450, 40, 40));   // Coquillages du haut droit
+        //addObs(obsCarr (200, 2000-750, 40, 40));
+        
+        //addObs(obsCarr (900, 2000-550, 40, 40));
+        addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+        
+        addObs(obsCarr (1500, 2000-550, 40, 40));
+        addObs(obsCarr (1500, 2000-350, 40, 40)); 
+        
+        addObs(obsCarr (3000-900, 2000-550, 40, 40));
+        addObs(obsCarr (3000-1200, 2000-350, 40, 40));   
+        
+        addObs(obsCarr (3000-200, 2000-450, 40, 40));   // Coquillages du bas droite
+        addObs(obsCarr (3000-200, 2000-750, 40, 40));        
+    }
 }
\ No newline at end of file

--- a/Map/map.h	Wed May 04 21:04:50 2016 +0200
+++ b/Map/map.h	Wed May 04 23:35:03 2016 +0200
@@ -21,6 +21,7 @@
 public:
     map (Odometry* nodo, AX12 * nA1, AX12 * nA2, AX12 * nA3, Stepper * nS1, Stepper * nS2);
     void addObs (obsCarr nobs);
+    void addObj (objectif nobj);
     void FindWay (point dep, point arr);
     void FindWay (float depX, float depY, float arrX, float arrY);
     void Execute (int obj);
@@ -40,6 +41,8 @@
     Stepper * S1, * S2;
 
     float min_x_table, min_y_table, max_x_table, max_y_table;
+
+    void Build_formation_1 (int couleur);
 };
 
 #endif
\ No newline at end of file