diff --git a/stm32/include/strategie/deposerPied.h b/stm32/include/strategie/deposerPied.h deleted file mode 100644 index ea0ff8ca291e0b2cfd77f5a609ba4ea78333a6ce..0000000000000000000000000000000000000000 --- a/stm32/include/strategie/deposerPied.h +++ /dev/null @@ -1,22 +0,0 @@ -#ifndef DEPOSERPIED_H -#define DEPOSERPIED_H - -#include "position.h" -#include "mediumLevelAction.h" -#include "command.h" - -class DeposerPied : public MediumLevelAction -{ -public: - DeposerPied(); - DeposerPied(Position position); - ~DeposerPied(); - Etape::EtapeType getType(); - int update(); - -private : - Position positionRetournement; -}; - - -#endif // DEPOSERPIED_H diff --git a/stm32/include/strategie/krabi2015.h b/stm32/include/strategie/krabi2015.h index 449659590db548d52946977e030ef352d26ede12..239d218a4a1b871bf9e61881d9133b2194a178a6 100644 --- a/stm32/include/strategie/krabi2015.h +++ b/stm32/include/strategie/krabi2015.h @@ -13,7 +13,6 @@ #include "gobelet.h" #include "tapis.h" #include "ramasserPied.h" -#include "deposerPied.h" #include "deposerGobelet.h" #include "manipulationCoinGaucheBas.h" #include "manipulationCoinGaucheHaut.h" diff --git a/stm32/paprika_krabi_h107.depend b/stm32/paprika_krabi_h107.depend index 1d83c95bcd96bde7e8306add7c07b48ea425ee55..2ea2d2194dad62528c9bb3420638f2ea8ab11960 100644 --- a/stm32/paprika_krabi_h107.depend +++ b/stm32/paprika_krabi_h107.depend @@ -1,82 +1,82 @@ # depslib dependency file v1.0 -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c "misc.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h "stm32f10x.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/stm32f10x.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/stm32f10x.h "core_cm3.h" "system_stm32f10x.h" "stm32f10x_conf.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/core_cm3.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/core_cm3.h -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/system_stm32f10x.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/system_stm32f10x.h -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c "stm32f10x_adc.h" "stm32f10x_rcc.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h "stm32f10x.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h "stm32f10x.h" -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c "stm32f10x_dma.h" "stm32f10x_rcc.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h "stm32f10x.h" -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c "stm32f10x_exti.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h "stm32f10x.h" -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c "stm32f10x_gpio.h" "stm32f10x_rcc.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h "stm32f10x.h" -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c "stm32f10x_rcc.h" -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c "stm32f10x_tim.h" "stm32f10x_rcc.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h "stm32f10x.h" -1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c +1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c "stm32f10x_usart.h" "stm32f10x_rcc.h" -1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h +1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h "stm32f10x.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/ascenseur.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/ascenseur.cpp "ascenseur.h" "table.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/ascenseur.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/ascenseur.h "interfaceServosNumeriques.h" "servo.h" "microSwitch.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/interfaceServosNumeriques.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/interfaceServosNumeriques.h "stm32f4xx_rcc.h" "stm32f4xx_gpio.h" "stm32f4xx_usart.h" @@ -85,94 +85,94 @@ "stm32f10x_usart.h" "ax12api.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ax12api.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ax12api.h "memory.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/memory.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/memory.h -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/servo.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/servo.h "pwmHandler.h" "angle.h" "memory.h" "constantes.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/pwmHandler.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/pwmHandler.h "stm32f4xx_tim.h" "stm32f10x_tim.h" "timerHandler.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/timerHandler.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/timerHandler.h "stm32f4xx_tim.h" "stm32f4xx_rcc.h" "stm32f10x_tim.h" "stm32f10x_rcc.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/angle.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/angle.h -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/constantes.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/constantes.h -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/microSwitch.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/microSwitch.h "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasKrabi.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasKrabi.cpp -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasLateraux.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasLateraux.cpp "brasLateraux.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasLateraux.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasLateraux.h "servo.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasTapis.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasTapis.cpp "brasTapis.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasTapis.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasTapis.h "interfaceServosNumeriques.h" "servo.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/moteur.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/moteur.cpp "moteur.h" "constantes.h" "timerHandler.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/moteur.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/moteur.h "pwmHandler.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/pinces.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/pinces.cpp "pinces.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/pinces.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/pinces.h "interfaceServosNumeriques.h" "servo.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/roues.cpp +1457196820 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/roues.cpp "roues.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/roues.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/roues.h "roue.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/roue.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/roue.h "constantes.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" "moteur.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensor.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensor.cpp "sensor.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensor.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensor.h -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensors.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensors.cpp "sensors.h" "leds.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensors.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensors.h "sharpSensor.h" "ultrasoundSensor.h" "ligthBarrierSensor.h" @@ -180,11 +180,11 @@ "vector.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/sharpSensor.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/sharpSensor.h "analogSensor.h" "constantes.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/analogSensor.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/analogSensor.h "sensor.h" "stm32f4xx_gpio.h" @@ -194,32 +194,32 @@ "stm32f10x_dma.h" "stm32f10x_gpio.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ultrasoundSensor.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ultrasoundSensor.h "analogSensor.h" "constantes.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ligthBarrierSensor.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ligthBarrierSensor.h "sensor.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/limitSwitchSensor.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/limitSwitchSensor.h "sensor.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/vector.h +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/vector.h -1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/leds.h +1456591018 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/leds.h "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/servo.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/servo.cpp "stm32f4xx_gpio.h" "stm32f10x_gpio.h" "servo.h" -1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/angle.cpp +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/angle.cpp "angle.h" @@ -254,7 +254,7 @@ -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/loop.h +1457889917 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/loop.h 1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/asservissement/odometrie.h "constantes.h" @@ -300,7 +300,7 @@ "positionPlusAngle.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/remote.h +1457803906 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/remote.h "misc.h" "stm32f4xx_rcc.h" "stm32f4xx_gpio.h" @@ -310,11 +310,11 @@ "stm32f10x_usart.h" "krabipacket.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/krabipacket.h +1457196820 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/krabipacket.h -1456394594 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/strategieV2.h +1457892858 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/strategieV2.h "command.h" "ramasserVerreV2.h" "mediumLevelAction.h" @@ -334,11 +334,11 @@ "etape.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/etape.h +1457892882 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/etape.h "position.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/strategiev3.h +1457802252 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/strategiev3.h "actionGoTo.h" "mediumLevelAction.h" "dijkstra.h" @@ -350,27 +350,28 @@ "mediumLevelAction.h" "position.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/dijkstra.h +1457803902 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/dijkstra.h "etape.h" -1435002254 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/tourelle.h +1457889914 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/tourelle.h "stm32f4xx_rcc.h" "stm32f4xx_gpio.h" "stm32f4xx_usart.h" "stm32f10x_rcc.h" "stm32f10x_gpio.h" "stm32f10x_usart.h" + 1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/capteurCouleur.h "stm32f4xx_tim.h" "stm32f10x_tim.h" "command.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/command.cpp +1457889917 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/command.cpp "command.h" "asservissement.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/commandAllerA.cpp +1457889917 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/commandAllerA.cpp "commandAllerA.h" "odometrie.h" "strategieV2.h" @@ -402,16 +403,16 @@ 1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/asservissement/commandTournerVers.h "command.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/odometrie.cpp +1457803906 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/odometrie.cpp "odometrie.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" "robot.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/pidFilterAngle.cpp +1457889917 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/pidFilterAngle.cpp "pidFilterAngle.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/pidFilterDistance.cpp +1457889917 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/asservissement/pidFilterDistance.cpp "pidFilterDistance.h" 1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/debug.cpp @@ -447,7 +448,7 @@ "brasLateraux.h" "remote.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/initialisation.h +1457803906 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/initialisation.h "positionPlusAngle.h" "tirette.h" "quadratureCoderHandler.h" @@ -465,7 +466,7 @@ "distance.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/analogSensor.cpp +1456591018 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/analogSensor.cpp "analogSensor.h" 1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/ax12api.cpp @@ -493,7 +494,7 @@ "stm32f10x_dma.h" "stm32f10x_gpio.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/krabipacket.cpp +1457196820 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/krabipacket.cpp "krabipacket.h" @@ -523,7 +524,7 @@ "quadratureCoderHandler.h" "timerHandler.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/remote.cpp +1457803906 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/remote.cpp "remote.h" "krabipacket.h" "strategieV2.h" @@ -553,14 +554,16 @@ "remote.h" "leds.h" -1456394615 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/tourelle.cpp +1457806023 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/tourelle.cpp "tourelle.h" + "../simul/table.h" + 1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/hardware/ultrasoundSensor.cpp "ultrasoundSensor.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/initialisation.cpp +1457889917 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/initialisation.cpp "stm32f4xx_rcc.h" "stm32f4xx_gpio.h" "stm32f4xx_tim.h" @@ -568,13 +571,14 @@ "stm32f10x_gpio.h" "stm32f10x_tim.h" "initialisation.h" + "hardware/tourelle.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/initkrabi.cpp +1457889917 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/initkrabi.cpp "initkrabi.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/initkrabi.h +1457803906 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/initkrabi.h "initialisation.h" 1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/interfaceServosNumeriques.cpp @@ -583,41 +587,10 @@ 1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/loop.cpp "loop.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/main.cpp - "stm32f10x_gpio.h" - "stm32f4xx_conf.h" - "system_stm32f4xx.h" - "stm32f4xx_rcc.h" - "stm32f4xx_gpio.h" - "initkrabi.h" - "InitKrabiJunior.h" +1457803906 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/main.cpp + "hardware/remote.h" + "initKrabiJunior.h" "initkrabi.h" - "actionneurs/servo.h" - "memory.h" - "servo.h" - "odometrie.h" - "asservissement.h" - "sensors.h" - "quadratureCoderHandler.h" - "ascenseur.h" - "pinces.h" - "roues.h" - "roue.h" - "strategieV2.h" - "sharpSensor.h" - "ax12api.h" - "interfaceServosNumeriques.h" - "capteurCouleur.h" - "tirette.h" - "leds.h" - "commandAllerA.h" - "etape.h" - "dijkstra.h" - "microSwitch.h" - "accelerometer.h" - "MPU9150.h" - "brasTapis.h" - "debug.h" 1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/InitKrabiJunior.h "initialisation.h" @@ -690,7 +663,7 @@ "dijkstra.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/etape.cpp +1457892882 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/etape.cpp "etape.h" "dijkstra.h" "actionGoTo.h" @@ -710,19 +683,18 @@ "mediumLevelAction.h" "command.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/krabi2015.cpp +1457893215 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/krabi2015.cpp "krabi2015.h" "ascenseur.h" "pinces.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/krabi2015.h +1457893197 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/krabi2015.h "strategiev3.h" "etape.h" "clap.h" "gobelet.h" "tapis.h" "ramasserPied.h" - "deposerPied.h" "deposerGobelet.h" "manipulationCoinGaucheBas.h" "manipulationCoinGaucheHaut.h" @@ -1756,3 +1728,140 @@ "etape.h" +1456408016 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/simul/table.h + + + + "TableGraphics.h" + "XMLReader.h" + "sensors.h" + "position.h" + "robot.h" + "contactlistener.h" + "objet.h" + "../hardware/tourelle.h" + + "krabipacket.h" + +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/simul/TableGraphics.h + + + + + + + + "XMLReader.h" + +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/simul/XMLReader.h + + + + +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/simul/robot.h + + + + + "positionPlusAngle.h" + "odometrie.h" + "userdata.h" + "leds.h" + +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/simul/userdata.h + +1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/simul/contactlistener.h + + +1457806265 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/simul/objet.h + "position.h" + "angle.h" + + + +1457803906 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/initKrabiJunior.h + "initialisation.h" + +1457803902 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/strategieV2.cpp + "strategieV2.h" + "krabijunior2016.h" + "krabi2016.h" + "leds.h" + "positionPlusAngle.h" + "asservissement.h" + "memory.h" + "actionGoTo.h" + "recalibrerOdometrie.h" + "commandAllerA.h" + "commandAllerEnArcA.h" + "commandTournerVers.h" + "sensors.h" + "remote.h" + "tourelle.h" + "tirette.h" + + +1456348098 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/krabijunior2016.h + "strategiev3.h" + "etape.h" + "clap.h" + +1457892882 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/krabi2016.h + "strategiev3.h" + "etape.h" + "clap.h" + "gobelet.h" + "tapis.h" + "cabine.h" + "ramasserPied.h" + "deposerGobelet.h" + "manipulationCoinGaucheBas.h" + "manipulationCoinGaucheHaut.h" + "manipulationCoinGaucheHautPiedSolitaire.h" + +1457892882 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/strategie/cabine.h + "position.h" + "mediumLevelAction.h" + "command.h" + +1457803906 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/strategiev3.cpp + "strategiev3.h" + "strategieV2.h" + "actionGoTo.h" + "leds.h" + "odometrie.h" + "asservissement.h" + "dijkstra.h" + "etape.h" + + +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/tapis.cpp + "tapis.h" + "strategieV2.h" + "mediumLevelAction.h" + "command.h" + "position.h" + + +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/stub.c + + + + +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/vec2d.cpp + + "vec2d.h" + "position.h" + +1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/vec3d.cpp + "vec3d.h" + "positionPlusAngle.h" + +1457892882 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/krabi2016.cpp + "krabi2016.h" + "ascenseur.h" + "pinces.h" + +1457806265 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/strategie/krabijunior2016.cpp + "krabijunior2016.h" + diff --git a/stm32/src/strategie/deposerPied.cpp b/stm32/src/strategie/deposerPied.cpp deleted file mode 100644 index e65d20b76d2fd8562fd6d31376b85a16ef06835d..0000000000000000000000000000000000000000 --- a/stm32/src/strategie/deposerPied.cpp +++ /dev/null @@ -1,165 +0,0 @@ -#include "deposerPied.h" -#include "ascenseur.h" -#include "pinces.h" -#include "strategieV2.h" -#include "mediumLevelAction.h" -#include "command.h" - -#ifndef ROBOTHW - #include -#endif - -DeposerPied::DeposerPied(){} - -DeposerPied::DeposerPied(Position goalposition):MediumLevelAction(goalposition){ - if (goalposition == Position(500, 1000)) - { - this->positionRetournement = Position(700, 1000); - } - else // ne sert à rien normalement - { - this->positionRetournement = goalPosition; - } -} - -DeposerPied::~DeposerPied(){} - -Etape::EtapeType DeposerPied::getType() -{ - return Etape::DEPOSER_PIED; -} - -int DeposerPied::update() -{ - if (status == 0) - { -#ifndef ROBOTHW - qDebug() << "deposerPied"; -#endif - status++; - } - - else if (status == 1) - { - StrategieV2::setCurrentGoal(this->goalPosition, this->goBack); - status++; - } - - else if (status == 2) - { - if (Command::isNear(goalPosition)) - { - StrategieV2::lookAt(goalPosition); - status++; - } - } - - else if (status == 3) - { - if (Command::isLookingAt(goalPosition)) - { - Pinces::getSingleton()->ouvrirPinces(); - status++; - } - } - - else if ((status <23) && (status > 0)) //On attend que les pinces soient ouvertes - { - status++; - } - - else if ((status ==23) && (status > 0)) //On baisse l'ascenseur - { - Ascenseur::getSingleton()->baisserAscenseur(); - status++; - } - - else if ((status == 24) && (status > 0)) //On attend que l'ascenseur se baisse - { - if (Ascenseur::getSingleton()->estEnBas()) - { - status++; - } - } - - else if ((status ==25) && (status > 0)) //On ouvre l'ascenseur - { - Ascenseur::getSingleton()->ouvrirAscenseur(); - status++; - } - - - else if ((status <45) && (status > 0)) //On attend que l'ascenseur soit ouvert - { - status++; - } - - else if ((status ==45) && (status > 0)) //On dit à Krabi de se déplacer à partir de maintenant à l'envers - { -#ifndef ROBOTHW - qDebug() << "Etape deposerPied finie"; -#endif - this->goBack = true; - status++; - } - - - else if ((status ==46) && (status > 0)) //Le robot se déplace jusqu'à un autre point du graphe en arrière. - { - StrategieV2::setCurrentGoal(this->positionRetournement, this->goBack); - status++;; - } - - else if ((status ==47) && (status > 0)) //Le robot se déplace jusqu'à un autre point du graphe en arrière. - { - if (Command::isNear(positionRetournement)) - { - this->goBack = false; - status++; - } - } - - else if ((status ==48) && (status > 0)) //On ferme l'ascenceur - { - Ascenseur::getSingleton()->fermerAscenseur(); - status++; - } - - else if ((status <68) && (status > 0)) //On attend que l'ascenseur soit ferme - { - status++; - } - - else if ((status ==68) && (status > 0)) - { - Ascenseur::getSingleton()->leverAscenseur(); - status++; - } - - else if ((status ==69) && (status > 0)) - { - if (Ascenseur::getSingleton()->estEnHaut()) - { - status++; - } - } - - else if ((status ==70) && (status > 0)) //Les pinces se ferment - { - Pinces::getSingleton()->fermerPinces(); - status++; - } - - else if ((status <90) && (status > 0)) //On attend que les pinces soient fermees - { - status++; - } - - else if (status == 90) //action finie - { - status = -1; - } - - return status; -} - diff --git a/stm32/src/strategie/krabi2015.cpp b/stm32/src/strategie/krabi2015.cpp index c06dacc7ba0f12cf5e96f45dec1df3c29257941e..f512138014824e5770c80e2b7ae70a4d6c68cdfa 100644 --- a/stm32/src/strategie/krabi2015.cpp +++ b/stm32/src/strategie/krabi2015.cpp @@ -113,9 +113,6 @@ Krabi2015::Krabi2015(bool isYellow) : StrategieV3(isYellow) Etape::get(47)->setNumeroEtapeFinAction(-1); Etape::get(48)->setNumeroEtapeFinAction(-1); - //Deposer Pieds - new Etape(41, new DeposerPied(Position(500, 1000, true)) ); - // pousser pied // Etape::get(2)->addVoisin(11); @@ -270,15 +267,6 @@ int Krabi2015::getScoreEtape(int i){ // return 100000; else return 0; - case Etape::DEPOSER_PIED : - if (Ascenseur::getSingleton()->getNbrPiedsStockes()==3) - return 10000;//STRATEGIE -// return 0; - else if (Ascenseur::getSingleton()->getNbrPiedsStockes()==2) - return 5;//STRATEGIE -// return 0; - else - return 0; case Etape::DEPOSER_GOBELET : /*if (!Pinces::getSingleton()->getEstDispo()) return 40;