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#include "deposerGobelet.h"
#include "strategieV2.h"
#include "mediumLevelAction.h"
#include "command.h"
#ifndef ROBOTHW
#include <QDebug>
#endif
DeposerGobelet::DeposerGobelet(){}
DeposerGobelet::DeposerGobelet(Position goalposition):MediumLevelAction(goalposition){}
DeposerGobelet::~DeposerGobelet(){}
Etape::EtapeType DeposerGobelet::getType()
{
Cecile Bouette
committed
return Etape::DEPOSER_GOBELET;
}
int DeposerGobelet::update()
{
if (status == 0)
{
#ifndef ROBOTHW
qDebug() << "deposerGobelet";
#endif
status++;
status = -1;
}
else if (status == 1)
{
StrategieV2::setCurrentGoal(this->goalPosition, this->goBack);
status++;
}
else if (status == 2)
{
if (Command::isNear(goalPosition))
{
StrategieV2::lookAt(goalPosition);
status++;
}
}
else if (status == 3)
{
if (Command::isLookingAt(goalPosition))
{
#ifndef ROBOTHW
qDebug() << "On lache le gobelet";
#endif
Pinces::getSingleton()->ouvrirPinces();
status++;
}
}
else if ((status <23) && (status > 0)) //On attend que les pinces aient laché le gobelet.
{
status++;
}
else if (status == 23)
{
#ifndef ROBOTHW
qDebug() << "On referme les pinces";
#endif
Pinces::getSingleton()->fermerPinces();
status++;
}
else if ((status <63) && (status > 0)) //On attend que l'ascenseur ferme ses pinces
{
status++;
}
else if (status == 63)
{
status = -1;
}
return status;
}