From 4956dfb3efbd85d4c36cec61c642f7ccdfa4852a Mon Sep 17 00:00:00 2001
From: Arnaud Cadot <arnaud.cadot@telecom-bretagne.eu>
Date: Thu, 17 Mar 2016 19:08:30 +0100
Subject: [PATCH] Added FishingNet class for KJ (WIP)

---
 .../paprikaSimulateur/paprikaSimulateur.pro   |  6 ++-
 stm32/include/actionneurs/fishingNet.h        | 45 +++++++++++++++++++
 stm32/paprika_krabi_h107.cbp                  |  5 +++
 3 files changed, 54 insertions(+), 2 deletions(-)
 create mode 100644 stm32/include/actionneurs/fishingNet.h

diff --git a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
index f275f31a..0fe5aa40 100644
--- a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
+++ b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
@@ -104,7 +104,8 @@ HEADERS += \
     ../../include/initialisation.h \
     ../../include/vector.h \
     ../../include/strategie/krabijunior2016.h \
-    ../../include/strategie/krabi2016.h
+    ../../include/strategie/krabi2016.h \
+    ../../stm32/include/actionneurs/fishingNet.h
 
 
 SOURCES += \
@@ -183,7 +184,8 @@ SOURCES += \
     ../../src/strategie/krabijunior2016.cpp \
     ../../src/strategie/krabi2016.cpp \
     ../../src/strategie/cabine.cpp \
-    ../../src/strategie/zoneConstruction.cpp
+    ../../src/strategie/zoneConstruction.cpp \
+    ../../src/actionneurs/fishingNet.cpp
 
 FORMS += \
     ../../include/simul/remotedebug.ui \
diff --git a/stm32/include/actionneurs/fishingNet.h b/stm32/include/actionneurs/fishingNet.h
new file mode 100644
index 00000000..62cf10cb
--- /dev/null
+++ b/stm32/include/actionneurs/fishingNet.h
@@ -0,0 +1,45 @@
+#ifndef FICHINGNET_H
+#define FICHINGNET_H
+
+class FishingNet
+{
+    static const int SERVO_INT_ID = 0; // To update
+    static const int SERVO_EXT_ID = 1;
+
+    static const int SERVO_EXT_CLOSED_POS   = 0x00;
+    static const int SERVO_EXT_DEPLOYED_POS = 0x00;
+    static const int SERVO_EXT_RAISED_POS   = 0x00;
+
+    static const int SERVO_INT_RAISED_POS   = 0x00;
+    static const int SERVO_INT_LOWERED_POS  = 0x00;
+
+    public:      
+        FishingNet();
+
+        enum NET_STATE
+        {
+            CLOSED,
+            OPENED,
+            RAISED,
+            NET_LOWERED
+        };
+
+        static FishingNet* getSingleton();
+
+        void close();
+        void deploy();
+
+        void lowerNet();
+        void raiseNet();
+
+        void raiseArm();
+
+    private:
+
+        void moveArm(int destAngle);
+        void rotateArm(int destAngle);
+
+        NET_STATE m_currentState;
+};
+
+#endif
diff --git a/stm32/paprika_krabi_h107.cbp b/stm32/paprika_krabi_h107.cbp
index cdddd498..2ef58317 100644
--- a/stm32/paprika_krabi_h107.cbp
+++ b/stm32/paprika_krabi_h107.cbp
@@ -75,6 +75,8 @@
 		<Unit filename="include/actionneurs/brasKrabi.h" />
 		<Unit filename="include/actionneurs/brasLateraux.h" />
 		<Unit filename="include/actionneurs/brasTapis.h" />
+		<Unit filename="include/actionneurs/fichingNet" />
+		<Unit filename="include/actionneurs/fishingNet.h" />
 		<Unit filename="include/actionneurs/moteur.h" />
 		<Unit filename="include/actionneurs/pinces.h" />
 		<Unit filename="include/actionneurs/roues.h" />
@@ -134,6 +136,7 @@
 		<Unit filename="include/strategie/strategieV2.h" />
 		<Unit filename="include/strategie/strategiev3.h" />
 		<Unit filename="include/strategie/tapis.h" />
+		<Unit filename="include/strategie/zoneConstruction.h" />
 		<Unit filename="include/vector.h" />
 		<Unit filename="src/actionneurs/anciennes_classes_actionneurs/brak (copie).cpp.victor" />
 		<Unit filename="src/actionneurs/anciennes_classes_actionneurs/roues.cpp.victor" />
@@ -144,6 +147,7 @@
 		<Unit filename="src/actionneurs/brasKrabi.cpp" />
 		<Unit filename="src/actionneurs/brasLateraux.cpp" />
 		<Unit filename="src/actionneurs/brasTapis.cpp" />
+		<Unit filename="src/actionneurs/fishingNet.cpp" />
 		<Unit filename="src/actionneurs/moteur.cpp" />
 		<Unit filename="src/actionneurs/pinces.cpp" />
 		<Unit filename="src/actionneurs/roues.cpp" />
@@ -209,6 +213,7 @@
 		<Unit filename="src/strategie/strategieV2.cpp" />
 		<Unit filename="src/strategie/strategiev3.cpp" />
 		<Unit filename="src/strategie/tapis.cpp" />
+		<Unit filename="src/strategie/zoneConstruction.cpp" />
 		<Unit filename="src/stub.c">
 			<Option compilerVar="CC" />
 		</Unit>
-- 
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