ShootingSystem.h

00001 #ifndef INCLUDED_SHOOTING_SYSTEM_H
00002 #define INCLUDED_SHOOTING_SYSTEM_H
00003 
00004 class I2CServo;
00005 class I2CMotor;
00006 class Command;
00007 class AmmoPusher;
00008 class AmmoSupplier;
00009 class AmmoSupplierManager;
00010 class Shooter;
00011 #include "mbed.h"
00012 
00013 class ShootingSystem{
00014 public:
00015     enum AimState{
00016         AIM_OWN_POLE            = 0x00,
00017         AIM_CENTER_MIDDLE_POLE  = 0x40,
00018         AIM_CENTER_SIDE_POLE    = 0x80,
00019         AIM_ENEMYS_POLE         = 0xC0
00020     };
00021     
00022     enum State{
00023         WAITING,
00024         SHOOTING,
00025         SHOOT_PREPARATION,
00026         SHOOT_WAITING,
00027         AMMO_SUPPLYING
00028     };
00029     
00030     static bool isShootable(){
00031         return mIsShootable;
00032     }
00033     
00034     ShootingSystem( I2CServo* angleManagerServo, AmmoPusher* ammoPusher,
00035                     AmmoSupplier* ammoSupplier, Shooter* shooter,
00036                     I2CServo* positoinManager );
00037     ~ShootingSystem();
00038         
00039     void update( Command command );
00040     
00041 private:
00042     void waiting( Command command );
00043     void shooting();
00044     void shootWaiting();
00045     void shootPreparation();
00046     void ammoSupply();
00047 
00048     static bool mIsShootable;
00049     
00050     I2CServo*       mShooterAngleServo;
00051     AmmoPusher*     mAmmoPusher;
00052     AmmoSupplier*   mAmmoSupplier;
00053     Shooter*        mShooter;
00054     I2CServo*       mPositionManager;
00055     State mState;
00056     Timer mTimer;
00057 };
00058 
00059 #endif