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#include "KJ2016Tempo.h"
#include "interfaceServosNumeriques.h"
#include "actionneurs/fishingNet.h"
KJ2016Tempo::KJ2016Tempo(unsigned int leftServoID, unsigned int rightServoID):
LEFT_SERVO_ID(leftServoID), RIGHT_SERVO_ID(rightServoID), SERVO_SPEED_FACTOR((KJ2016Tempo::SERVO_MAX_RPM / 1024.f) * 60.f / (2.f*3.1415))
{}
KJ2016Tempo::~KJ2016Tempo()
{
enginesStop();
}
void KJ2016Tempo::run(bool isYellow)
{
/** ID for the driving servos **/
/* Left and right is relative to the starting position */
const unsigned int SERVO_ONE_ID = 0;
const unsigned int SERVO_TWO_ID = 1;
KJ2016Tempo KJ(isYellow?SERVO_ONE_ID:SERVO_TWO_ID, isYellow?SERVO_TWO_ID:SERVO_ONE_ID);
/** KJ Strategy **/
KJ.turn90(true); // First turn (now heading toward the tanks)
KJ.move(-50); // Back up for the turn
KJ.turn90(false); // Second turn (now parallel the tanks)
KJ.move(200); // Drive along the wall to the tanks
FishingNet::getSingleton()->deploy(); // Deploy the arm
FishingNet::getSingleton()->lowerNet(); // Deploy the net in the tank
FishingNet::getSingleton()->raiseNet(); // Raise the net
FishingNet::getSingleton()->raiseArm(); // Raise the arm a little (to avoid the tank's sides
KJ.move(100); // Get to the target area
FishingNet::getSingleton()->deploy(); // Lower the arm a bit
FishingNet::getSingleton()->lowerNet(); // Lower the net
}
void KJ2016Tempo::enginesStart()
{
ServosNumeriques::changeContinuousRotationMode(LEFT_SERVO_ID, true);
ServosNumeriques::changeContinuousRotationMode(RIGHT_SERVO_ID, true);
}
void KJ2016Tempo::enginesStop()
{
ServosNumeriques::changeContinuousRotationMode(LEFT_SERVO_ID, false);
ServosNumeriques::changeContinuousRotationMode(RIGHT_SERVO_ID, false);
}
void KJ2016Tempo::turn90(bool toLeft)
{
static const float alpha = (3.1415 * KJ2016Tempo::KJ_INTERAXIS * KJ2016Tempo::SERVO_SPEED_FACTOR) / (2 * KJ2016Tempo::KJ_WHEEL_DIAMETER);
ServosNumeriques::moveAtSpeed(0x0400 + angularSpeed, LEFT_SERVO_ID);
ServosNumeriques::moveAtSpeed(0x0400 + angularSpeed, RIGHT_SERVO_ID);
waitForArrival(static_cast<unsigned int>( alpha/(float)angularSpeed ));
enginesStop();
}
void KJ2016Tempo::move(int distance)
{
static const float beta = KJ2016Tempo::SERVO_SPEED_FACTOR * 2.f / KJ2016Tempo::KJ_WHEEL_DIAMETER;
ServosNumeriques::moveAtSpeed(0x0400 - angularSpeed, LEFT_SERVO_ID);
ServosNumeriques::moveAtSpeed(0x0400 + angularSpeed, RIGHT_SERVO_ID);
waitForArrival(static_cast<unsigned int>( beta * (float)distance / (float)angularSpeed ));
void KJ2016Tempo::waitForArrival(unsigned int duration)
{
static const unsigned int sensorCheckDelay = Clock::MS_PER_TICK * 10;
while(true)
{
unsigned int t = Clock::delay(sensorCheckDelay);
if(t >= duration)
break;
duration -= t;
while(Sensors::getSingleton()->sharpDetect()); // We wait for all sharps to be clear
}
}