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#include "tapis.h"
#include "strategieV2.h"
#include "mediumLevelAction.h"
#include "command.h"
#include "position.h"
Tapis::Tapis(Position position):MediumLevelAction(position)
if (position == Position(1060, 848))
if (position == Position(1342, 848))
}
Tapis::~Tapis(){}
Etape::EtapeType Tapis::getType()
{
return Etape::TAPIS;
}
int Tapis::update()
{
if (status == 0)
{
qDebug() << "tapis";
status++;
}
else if (status == 1)
{
StrategieV2::setCurrentGoal(goalPosition, goBack);
status++;
}
else if (status == 2)
{
if (Command::isNear(goalPosition))
{
status++;
}
}
else if (status == 3)
{
{
//ouvrir le bras
Cecile Bouette
committed
qDebug() << "On ouvre le bras";
BrasTapis::getSingleton(cote)->ouvrirBras();
status++;
}
}
else if (status < 3 + GRANDE_ATTENTE)
{
status++;
}
else if (status == 3 + GRANDE_ATTENTE)
{
//fermer bras
qDebug() << "On ferme le bras";
BrasTapis::getSingleton(cote)->fermerBras();
status++;
}
else if (status < 3 + GRANDE_ATTENTE + GRANDE_ATTENTE)
{
status++;
}
else if (status == 3 + GRANDE_ATTENTE + GRANDE_ATTENTE) //On attend que les bras se ferment.
{
#ifndef ROBOTHW
qDebug() << "Etape tapis finie";
#endif
Cecile Bouette
committed
status = -1;
}
return status;
}