From 6fe702aef044bc557afbee3c4b915eedc13f2b19 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gr=C3=A9goire=20Payen=20de=20La=20Garanderie?=
<gregoire.payendelagaranderie@telecom-bretagne.eu>
Date: Thu, 12 May 2011 15:29:28 +0200
Subject: [PATCH] =?UTF-8?q?Cr=C3=A9ation=20de=20l=E2=80=99objet=20pince=20?=
=?UTF-8?q?pour=20la=20simul.=20Et=20:=20je=20m=E2=80=99appelle=20Emmanuel?=
=?UTF-8?q?=20Caill=C3=A9=20et=20...?=
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je met des #include "servo.h" toutes les deux lignes, histoire de casser
le code de la simulation. C’est mieux de compiler avant de commiter ...
---
stm32/include/element.h | 35 ++++++++++++++++++++++++++++++++++
stm32/include/pince.h | 26 +++++++++++++------------
stm32/include/simul/element.h | 32 +------------------------------
stm32/src/pince.cpp | 36 ++++++++++++++++++-----------------
stm32/src/simul/element.cpp | 2 +-
stm32/src/simul/robot.cpp | 5 +++--
stm32/src/simul/table.cpp | 2 ++
stm32/src/strategie.cpp | 4 ++--
8 files changed, 77 insertions(+), 65 deletions(-)
create mode 100644 stm32/include/element.h
diff --git a/stm32/include/element.h b/stm32/include/element.h
new file mode 100644
index 00000000..f180aaef
--- /dev/null
+++ b/stm32/include/element.h
@@ -0,0 +1,35 @@
+#ifndef PION_H_INCLUDED
+#define PION_H_INCLUDED
+
+#include "Position.h"
+#include <QPainter>
+#include "Box2D.h"
+
+class Element
+{
+public:
+ Position p;
+ enum Type
+ {
+ Pawn = 0,
+ Queen = 1,
+ King = 2
+ };
+
+ Type type;
+ unsigned int multiplier;
+
+#ifndef ROBOTHW
+ // /!\ Internal data for the simulation, don't use inside the Strategy class
+
+ b2Body* body;
+
+ Element(b2World & world, Position p, Type t);
+
+ void paint(QPainter & pa);
+
+ void updatePos();
+#endif
+};
+
+#endif //PION_H_INCLUDED
diff --git a/stm32/include/pince.h b/stm32/include/pince.h
index 0054901a..a260b4e5 100644
--- a/stm32/include/pince.h
+++ b/stm32/include/pince.h
@@ -2,22 +2,24 @@
#define PINCE_H_INCLUDED
#include"Angle.h"
+#ifdef ROBOTHW
#include"servo.h"
+#endif //ROBOTHW
#ifdef ROBOTHW //vrai robot
-class Pince
-{
- private:
-
- Servo serv1;
- Servo serv2;
-
- public:
- Pince(Servo serv1, Servo serv2);
- void pivote(Angle angle);
- ~Pince();
-
+class Pince
+{
+ private:
+
+ Servo serv1;
+ Servo serv2;
+
+ public:
+ Pince(Servo serv1, Servo serv2);
+ void pivote(Angle angle);
+ ~Pince();
+
};
diff --git a/stm32/include/simul/element.h b/stm32/include/simul/element.h
index c6f63fee..7fb7edbc 100644
--- a/stm32/include/simul/element.h
+++ b/stm32/include/simul/element.h
@@ -1,31 +1 @@
-#ifndef PION_H_INCLUDED
-#define PION_H_INCLUDED
-
-#include "Position.h"
-#include <QPainter>
-#include "Box2D.h"
-
-class Element
-{
-public:
- Position p;
- enum Type
- {
- Pawn = 0,
- Queen = 1,
- King = 2
- };
-
- Type type;
- unsigned int multiplier;
-
- b2Body* body;
-
- Element(b2World & world, Position p, Type t);
-
- void paint(QPainter & pa);
-
- void updatePos();
-};
-
-#endif //PION_H_INCLUDED
+//Empty file, just to make the QT moc happy.
diff --git a/stm32/src/pince.cpp b/stm32/src/pince.cpp
index 88aaccf8..4cbb52be 100644
--- a/stm32/src/pince.cpp
+++ b/stm32/src/pince.cpp
@@ -1,28 +1,30 @@
#include "pince.h"
+#ifdef ROBOTHW
#include"servo.h"
+#endif
#ifdef ROBOTHW // vrai robot
-
+
Pince::Pince(Servo serv1, Servo serv2) : serv1(1),serv2(2)
-{
-
-
-}
-
-void Pince::pivote(Angle angle)
-{
- serv1.goToAngle(angle);
- serv2.goToAngle(-angle);
-
-}
-
-Pince::~Pince()
-{
-
-}
+{
+
+
+}
+
+void Pince::pivote(Angle angle)
+{
+ serv1.goToAngle(angle);
+ serv2.goToAngle(-angle);
+
+}
+
+Pince::~Pince()
+{
+
+}
diff --git a/stm32/src/simul/element.cpp b/stm32/src/simul/element.cpp
index 2672011c..07ecde1f 100644
--- a/stm32/src/simul/element.cpp
+++ b/stm32/src/simul/element.cpp
@@ -1,4 +1,4 @@
-#include "simul/element.h"
+#include "element.h"
Element::Element(b2World & world, Position p, Type t)
{
diff --git a/stm32/src/simul/robot.cpp b/stm32/src/simul/robot.cpp
index 97262af5..23c0bafc 100644
--- a/stm32/src/simul/robot.cpp
+++ b/stm32/src/simul/robot.cpp
@@ -1,5 +1,6 @@
#include "simul/robot.h"
-#include "simul/element.h"
+#include "element.h"
+#include "pince.h"
#include <cmath>
@@ -48,7 +49,7 @@ Robot::Robot(b2World & world) : world(world), olds(10000)
odometrie = new Odometrie(this);
asservissement = new Asservissement(odometrie);
- strategie = new Strategie(true, odometrie);
+ strategie = new Strategie(true, odometrie, new Pince(this));
asservissement->strategie = strategie;
pos = odometrie->getPos();
diff --git a/stm32/src/simul/table.cpp b/stm32/src/simul/table.cpp
index c6516870..dc5f1803 100644
--- a/stm32/src/simul/table.cpp
+++ b/stm32/src/simul/table.cpp
@@ -1,5 +1,7 @@
#include "simul/table.h"
#include "simul/robot.h"
+#include "element.h"
+
#include <iostream>
#include <QPainter>
diff --git a/stm32/src/strategie.cpp b/stm32/src/strategie.cpp
index 4cb48748..30a136b8 100755
--- a/stm32/src/strategie.cpp
+++ b/stm32/src/strategie.cpp
@@ -6,10 +6,10 @@
#include "stm32f10x_tim.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_gpio.h"
+#include "servo.h"
#endif
#include "command.h"
#include "pince.h"
-#include "servo.h"
#include <math.h>
#define INSTRUCTION_COLLISION 128
@@ -75,7 +75,7 @@ void Strategie::doNthInstruction(uint16_t n){
switch(n) {
case 1:
- pince->pivote(0.5);
+ //pince->pivote(0.5);
//(new TrapezoidalCommand)->goTo(Position(600, 200));
break;
case 2:
--
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