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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 * 2*3.1415)/(1024*60))
ServosNumeriques::changeContinuousRotationMode(LEFT_SERVO_ID, true);
ServosNumeriques::changeContinuousRotationMode(RIGHT_SERVO_ID, true);
}
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 = 69;
const unsigned int SERVO_TWO_ID = 15;
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
}
{
m_leftServoSpeed = 0;
m_rightServoSpeed = 0;
ServosNumeriques::moveAtSpeed(0, LEFT_SERVO_ID);
ServosNumeriques::moveAtSpeed(0, RIGHT_SERVO_ID);
}
void KJ2016Tempo::pause()
ServosNumeriques::moveAtSpeed(0, LEFT_SERVO_ID);
ServosNumeriques::moveAtSpeed(0, RIGHT_SERVO_ID);
void KJ2016Tempo::resume()
{
ServosNumeriques::moveAtSpeed(m_leftServoSpeed, LEFT_SERVO_ID);
ServosNumeriques::moveAtSpeed(m_rightServoSpeed, RIGHT_SERVO_ID);
}
static const float alpha = (1000.f * KJ2016Tempo::KJ_INTERAXIS * 3.1415)/(KJ2016Tempo::SERVO_SPEED_FACTOR * KJ2016Tempo::KJ_WHEEL_DIAMETER * 2.f);
m_leftServoSpeed = (toLeft?0:1023) + angularSpeed;
m_rightServoSpeed = (toLeft?0:1023) + angularSpeed;
resume();
waitForArrival(static_cast<unsigned int>( alpha/(float)angularSpeed ));
static const float beta = (1000.f * 2.f)/(KJ2016Tempo::SERVO_SPEED_FACTOR * KJ2016Tempo::KJ_WHEEL_DIAMETER);
m_leftServoSpeed = (distance<0?1023:0) + angularSpeed;
m_rightServoSpeed = (distance>0?1023:0) + angularSpeed;
resume();
waitForArrival(static_cast<unsigned int>( beta * (float)((distance<0)?-distance:distance) / (float)angularSpeed ));
stop();
void KJ2016Tempo::waitForArrival(unsigned int duration)
{
unsigned int sensorCheckDelay = Clock::MS_PER_TICK * 10;
if(sensorCheckDelay > duration)
sensorCheckDelay = duration;
unsigned int t = Clock::delay(sensorCheckDelay);
if(t >= duration)
break;
duration -= t;
while(Sensors::getSingleton()->sharpDetect()) // We wait for all sharps to be clear
pause();
resume();