directive.h

00001 /**
00002   * @file       directive.h
00003   * @brief      Cette classe est le modele des 3 taches de controle.
00004   * @author     Salco
00005   * @version    2.00
00006   * @date       11 mars 2015
00007   */
00008 #ifndef DIRECTIVE_H
00009 #define DIRECTIVE_H
00010 
00011 
00012                                     
00013 
00014 #define mvToADC(value)((value*1.023)/5)
00015 #define ADCTomv(value)((value*5)/1.023)
00016 #define ultrasonicToInch(value)(ADCTomv(value)/9.8)
00017 
00018 #define inchToCm(value)(value*2.54)
00019 #define mvToInch(value)(value/9.8)
00020 
00021 
00022 
00023 #include "mbed.h"
00024 #include "debug.h"
00025 #include "source/Task/TTask.h"
00026 #include "Motrice/mouvement.h"
00027 #include <stdlib.h>     /* srand, rand */
00028 #include <list>
00029 #include <time.h>       /* time */
00030 #include "labyrinthe.h"
00031 #include "settingDebug.h"
00032 
00033     //////////////////////////////
00034     // 00 - Nothing             //
00035     //X01 - Calibration(milieu) //
00036     //X02 - Debout              //
00037     //X03 - Coucher             //
00038     //X04 - Tourne Gauche       //
00039     //X05 - Tourne Droite       //
00040     // 06 - Marche              //
00041     // 07 - Recule              //
00042     // 08 - Repositioner  legs  //
00043     // 09 - Crabe  Gauche       // Dont use Crabe because it's really anoying
00044     // 10 - Crabe  Droite       // Dont use Crabe because it's really anoying
00045     // 11 - Position naturel    //
00046     //////////////////////////////
00047     #define TBL_CMD_NOTHING     0
00048     #define TBL_CMD_CALIBRATION 1
00049     #define TBL_CMD_DEBOUT      2
00050     #define TBL_CMD_COUCHER     3
00051     #define TBL_CMD_TURN_LEFT   4
00052     #define TBL_CMD_TURN_RIGHT  5
00053     #define TBL_CMD_MARCHE      6
00054     #define TBL_CMD_RECULE      7
00055     #define TBL_CMD_REPOSITIONE 8
00056     #define TBL_CMD_CRAB_LEFT   9
00057     #define TBL_CMD_CRAB_RIGHT  10
00058     #define TBL_CMD_DEFAULT_POS 11
00059     
00060 class Directive : public TTask
00061 {
00062     //CtrlBridge* m_CtrlBridge;
00063     Faculter_motrice *ctrDesPattes;
00064     /*Serial*//*Raw*/Serial *ssc32;
00065     string m_capteurUltrasonic,m_capteurIR,m_capteurProximiter;
00066     //char c;
00067     Labyrinthe* myMaze;
00068     bool followThePath;
00069     
00070     struct positionXY
00071     {
00072         signed char posX;
00073         signed char posY;
00074         char direction;
00075     };
00076    std::list<positionXY> bufferNewWay;
00077     
00078     double m_valueCapteurUltrasonic,m_valueCapteurIR;
00079     int m_valueCapteurProximiter;
00080     unsigned char tableauDeCommange[DIRECTIVE_TABLEAUDECOMMANDE_SIZE];
00081     unsigned char size_tableauDeCommange;
00082     void updateModuleValue(void);
00083     void turnRightDirection(char currentDir, char nextDir);
00084     
00085     
00086 protected:
00087 /*
00088     * Tache principale de la classe
00089     */
00090     virtual void task(void);
00091     void updateMaze(void);
00092     void analiseMaze(void);
00093     char checkOtherWay(char dir, bool checkExplorer=false);
00094     void checkOtherWay(char &caseFront, char &caseBack, char &caseLeft, char &caseRight);
00095     
00096     bool searchNewWay(void);
00097     
00098         bool isAnotherWay(void);
00099 public:
00100     Directive();
00101     virtual~Directive();
00102     double IRToCm (double miliVolt);
00103     void addTableauDeCommande(unsigned char value);
00104 
00105 };
00106 #endif // DIRECTIVE_H