restart using more attractors (up to 16)

stm32/src/strategie/goldo2018.cpp

@@ -127,18 +127,19 @@ Goldo2018::Goldo2018(bool isYellow) : StrategieV3(isYellow)
 #else
 
     //positionsCart.push_back(std::make_pair(300, 300));//OK        test left
-    //positionsCart.push_back(std::make_pair(301, 450));//OK                mid-red
+    positionsCart.push_back(std::make_pair(301, 450));//OK                mid-red
     positionsCart.push_back(std::make_pair(700, 450));//OK          out of red
-    positionsCart.push_back(std::make_pair(700, 750));//OK          out of green
-    positionsCart.push_back(std::make_pair(300, 750));//OK          mid green
-    //positionsCart.push_back(std::make_pair(300, 1200));//         mid blue
-    //positionsCart.push_back(std::make_pair(700, 1200));//           out of blue
+    positionsCart.push_back(std::make_pair(700, 850));//OK          out of green
+    positionsCart.push_back(std::make_pair(300, 600));//OK          mid red/green
+    positionsCart.push_back(std::make_pair(300, 750));//           mid green
+    positionsCart.push_back(std::make_pair(700, 1300));//           out of blue
     positionsCart.push_back(std::make_pair(1700, 450));//           out of top of accel
     positionsCart.push_back(std::make_pair(1700, 300));//           in front of top of accel
     positionsCart.push_back(std::make_pair(2250, 450));//            out of goldenium
     positionsCart.push_back(std::make_pair(2250, 300));//            in front of goldenium
     positionsCart.push_back(std::make_pair(1500, 800));//          waypoint behind backhole
-    //positionsCart.push_back(std::make_pair(1000, 700));//         2nd waypoint behind backhole disabled because of weird bug
+    positionsCart.push_back(std::make_pair(2000, 800));//         2nd waypoint behind backhole
+    positionsCart.push_back(std::make_pair(1200, 450));//         waypoint begin
 
 
     //m_attractors = attractors;
@@ -150,28 +151,28 @@ Goldo2018::Goldo2018(bool isYellow) : StrategieV3(isYellow)
     // Création des étapes
     // Les étapes correspondant à des actions sont créées automatiquement lors de l'ajout d'actions
 
-    for (int i = 0; i < 12; i++) {
+    for (int i = 0; i < positionsCart.size(); i++) {
         positionFromAttractor(i);
     }
     // Initialisation in simulator in initKrabi.cpp
-    //int start = Etape::makeEtape(positionFromAttractor(0), Etape::DEPART); // départ au fond de la zone de départ
+int attractorId = 0;
+    int mid_red = Etape::makeEtape(positionFromAttractor(attractorId++), Etape::DEPART); // départ au fond de la zone de départ
     //int start = Etape::makeEtape(Position(200, 350, true), Etape::DEPART); // départ au fond de la zone de départ
 
     // COLORS
-int mid_red = Etape::makeEtape(Position(0,0, true), Etape::DEPART);
-int attractorId = 0;
+//int mid_red = Etape::makeEtape(Position(0,0, true), Etape::DEPART);
 int out_of_red = Etape::makeEtape(positionFromAttractor(attractorId++));
 Etape::get(mid_red)->addVoisins(out_of_red);// out of start
 
 int out_of_green = Etape::makeEtape(positionFromAttractor(attractorId++));
-int mid_green = Etape::makeEtape(new Abeille(positionFromAttractor(attractorId++)));
-Etape::get(mid_green)->addVoisins(out_of_green);// push greenium
+int middle_red_green = Etape::makeEtape(new Abeille(positionFromAttractor(attractorId++)));
+Etape::get(middle_red_green)->addVoisins(out_of_green);// push redium from greenium
 Etape::get(out_of_red)->addVoisins(out_of_green);// From red to green
 
-//int mid_blue = Etape::makeEtape(new Abeille(positionFromAttractor(attractorId++)));
-//int out_of_blue = Etape::makeEtape(positionFromAttractor(attractorId++));
-//Etape::get(mid_blue)->addVoisins(out_of_blue);// push blue
-//Etape::get(out_of_blue)->addVoisins(out_of_green);// from green to blue
+int mid_green = Etape::makeEtape(new Abeille(positionFromAttractor(attractorId++)));
+int out_of_blue = Etape::makeEtape(positionFromAttractor(attractorId++));
+Etape::get(mid_green)->addVoisins(out_of_blue);// push greenium from blue
+Etape::get(out_of_blue)->addVoisins(out_of_green);// from green to blue
 
 // ACCELERATOR
 int out_of_top_of_accel = Etape::makeEtape(positionFromAttractor(attractorId++));
@@ -191,10 +192,16 @@ Etape::get(out_of_green)->addVoisins(waypoint_behind_backhole);// green to waypo
 Etape::get(out_of_red)->addVoisins(waypoint_behind_backhole);// red to waypoint
 Etape::get(out_of_top_of_accel)->addVoisins(waypoint_behind_backhole);// accel to waypoint
 
-//int second_waypoint_behind_backhole = Etape::makeEtape(positionFromAttractor(11));
-//Etape::get(out_of_top_of_accel)->addVoisins(second_waypoint_behind_backhole);// accel to 2waypoint
-//Etape::get(waypoint_behind_backhole)->addVoisins(second_waypoint_behind_backhole);// waypoint to 2waypoint
+int second_waypoint_behind_backhole = Etape::makeEtape(positionFromAttractor(attractorId++));
+Etape::get(out_of_top_of_accel)->addVoisins(second_waypoint_behind_backhole);// accel to 2waypoint
+Etape::get(waypoint_behind_backhole)->addVoisins(second_waypoint_behind_backhole);// waypoint to 2waypoint
+Etape::get(out_of_goldenium)->addVoisins(second_waypoint_behind_backhole);// waypoint to 2waypoint
 
+int waypoint_begin = Etape::makeEtape(positionFromAttractor(attractorId++));
+Etape::get(out_of_top_of_accel)->addVoisins(waypoint_begin);// accel to 3waypoint
+Etape::get(waypoint_behind_backhole)->addVoisins(waypoint_begin);// waypoint to 3waypoint
+Etape::get(out_of_red)->addVoisins(waypoint_begin);// red to 3waypoint
+Etape::get(out_of_green)->addVoisins(waypoint_begin);// red to 3waypoint
     // Reservoir eau proche
     //int reservoirProche = Etape::makeEtape(new ReservoirEau(Position(220, 840, true)));