diff --git a/stm32/include/asservissement.h b/stm32/include/asservissement.h
index f84184262e79862e908a4569a17868ebe56ab753..9edb002a93a2ad39795ff7d70cad56b6fb7148a1 100755
--- a/stm32/include/asservissement.h
+++ b/stm32/include/asservissement.h
@@ -34,7 +34,18 @@ class Asservissement{
short toto;
Odometrie* odometrie;
Command* command;
- Asservissement(Odometrie* _odemetrie, class Command* command);
+ Asservissement(Odometrie* _odometrie);
+
+ float getLinearSpeed()
+ {
+ return command->getLinearSpeed();
+ }
+
+ Angle getAngularSpeed()
+ {
+ return command->getAngularSpeed();
+ }
+
static Asservissement * asservissement;
static const uint16_t nb_ms_between_updates;
void update(void);
diff --git a/stm32/include/command.h b/stm32/include/command.h
index 7f5d5e170072c8478f09b080cab725ae1dc2c044..467dab1777f14dd8862e4997416279b9af55a33d 100644
--- a/stm32/include/command.h
+++ b/stm32/include/command.h
@@ -1,10 +1,13 @@
+#ifndef COMMAND_H_INCLUDED
+#define COMMAND_H_INCLUDED
+
#include "Angle.h"
#include "PositionPlusAngle.h"
-
class Command
{
public:
+ Command();
virtual void update(PositionPlusAngle positionPlusAngleActuelle, Angle vitesse_angulaire_atteinte, float vitesse_lineaire_atteinte) = 0;
virtual float getLinearSpeed() = 0;
@@ -49,3 +52,5 @@ public:
};
+#endif //COMMAND_H_INCLUDED
+
diff --git a/stm32/include/simul/robot.h b/stm32/include/simul/robot.h
index 95a086dcbc564473d09105f04b29bac23533b863..d02e09f2ec1008f8de07eb256c2ce21de362cf80 100644
--- a/stm32/include/simul/robot.h
+++ b/stm32/include/simul/robot.h
@@ -17,7 +17,7 @@ public:
PositionPlusAngle pos;
PositionPlusAngle deriv;
boost::circular_buffer<PositionPlusAngle> olds;
- class TrapezoidalCommand* command;
+ class Asservissement* asservissement;
class OdoRobot* odometrie;
class Strategie* strategie;
diff --git a/stm32/include/strategie.h b/stm32/include/strategie.h
index 3e2640dec6d21da3a8a608b9ee705a8facb78d8e..6df93bb59e4168a3358b826d1e4b688977642ec0 100755
--- a/stm32/include/strategie.h
+++ b/stm32/include/strategie.h
@@ -7,13 +7,11 @@
#include <stdint.h>
-class TrapezoidalCommand;
class Odometrie;
class Strategie {
private:
bool is_blue;
- TrapezoidalCommand* command;
void doNext();
int instruction_nb;
bool collision_detected;
@@ -21,7 +19,7 @@ class Strategie {
public:
void collisionDetected();
- Strategie(bool is_blue, TrapezoidalCommand* command, Odometrie* odometrie);
+ Strategie(bool is_blue, Odometrie* odometrie);
void foundOtherRobot();
void done();
void doNthInstruction(uint16_t n);
diff --git a/stm32/src/asservissement.cpp b/stm32/src/asservissement.cpp
index bd7a90c3030c5eb1419def238811a912eb688d55..3c2b7938a58376a77034a936af7fa18b11e73eca 100755
--- a/stm32/src/asservissement.cpp
+++ b/stm32/src/asservissement.cpp
@@ -9,7 +9,6 @@
#include "asservissement.h"
#include "strategie.h"
#include <math.h>
-//#include <stdlib.h>
#define STK_CTRL_ADDR 0xe000e010
#define STK_LOAD_ADDR (STK_CTRL_ADDR+0x04)
@@ -38,13 +37,13 @@ float angle[DBG_SIZE];
Asservissement * Asservissement::asservissement = NULL;
const uint16_t Asservissement::nb_ms_between_updates = 10;
uint32_t dbgInc = 0;
-Asservissement::Asservissement(Odometrie* _odometrie, Command* command) :
+Asservissement::Asservissement(Odometrie* _odometrie) :
seuil_collision(3.5),
buffer_collision(0xffffffff),
nb_echantillons_buffer_collision(10)
{
odometrie = _odometrie;
- this->command = command;
+ command = NULL;
toto = 0;
linearDutySent = 0;
angularDutySent = 0;
diff --git a/stm32/src/command.cpp b/stm32/src/command.cpp
index 8f301f0559d1b44539afe5164188fa6b54c5c26f..915773bd2c93ac87659b55e1dc33ff7f6afa5369 100644
--- a/stm32/src/command.cpp
+++ b/stm32/src/command.cpp
@@ -1,4 +1,5 @@
#include "command.h"
+#include "asservissement.h"
#include <math.h>
template<class T> T min(T a, T b)
@@ -11,6 +12,14 @@ template<class T> T max(T a, T b)
return a > b ? a : b;
}
+Command::Command()
+{
+ Command* & c = Asservissement::asservissement->command;
+ if(c)
+ delete c;
+ c = this;
+}
+
TrapezoidalCommand::TrapezoidalCommand() :
vitesse_lineaire_a_atteindre(0),
vitesse_angulaire_a_atteindre(0),
diff --git a/stm32/src/simul/robot.cpp b/stm32/src/simul/robot.cpp
index be62c536734d9eb695504707846b8f2f0764bd81..0b2e0e9bd63f95a5e13e469189ee72cfd3bf5bfd 100644
--- a/stm32/src/simul/robot.cpp
+++ b/stm32/src/simul/robot.cpp
@@ -51,9 +51,8 @@ Robot::Robot(b2World & world) : world(world), olds(10000)
level = 0;
odometrie = new OdoRobot(this);
- command = new TrapezoidalCommand;
- Asservissement* asservissement = new Asservissement(odometrie, command);
- strategie = new Strategie(true, command, odometrie);
+ asservissement = new Asservissement(odometrie);
+ strategie = new Strategie(true, odometrie);
asservissement->strategie = strategie;
pos = odometrie->getPos();
@@ -173,9 +172,9 @@ void Robot::paint(QPainter &p, int dt)
else
{
Asservissement::asservissement->update();
- deriv.position.x = command->getLinearSpeed();
+ deriv.position.x = asservissement->getLinearSpeed();
deriv.position.y = 0;
- deriv.angle = command->getAngularSpeed();
+ deriv.angle = asservissement->getAngularSpeed();
}
}
diff --git a/stm32/src/strategie.cpp b/stm32/src/strategie.cpp
index c8d51763ca85b2e5ceede8b71b1f2330bd93837e..6ec9ab1360b62b7c7d8fde7055410bb36e215c4d 100755
--- a/stm32/src/strategie.cpp
+++ b/stm32/src/strategie.cpp
@@ -12,11 +12,11 @@
#define INSTRUCTION_COLLISION 128
-Strategie::Strategie(bool is_blue, TrapezoidalCommand* command, Odometrie* odometrie) :
+Strategie::Strategie(bool is_blue, Odometrie* odometrie) :
collision_detected(false)
{
this->is_blue = is_blue;
-#ifdef NOBODY
+#ifdef NOBODY //FIXME: Ce code est-il encore vraiment utile ?
roueCodeuseDroite = new QuadratureCoderHandler(TIM2);
roueCodeuseGauche = new QuadratureCoderHandler(TIM1);
#endif
@@ -30,7 +30,6 @@ collision_detected(false)
positionDeDepart.y = positionDeDepart.y*(is_blue ? 1:-1);
angleDeDepart = angleDeDepart*(is_blue ? 1:-1);
//command = new Asservissement(PositionPlusAngle(Position(335, 400), Angle(M_PI_2)), roueCodeuseGauche, roueCodeuseDroite);
- this->command = command;
odometrie->setPos(PositionPlusAngle(positionDeDepart,angleDeDepart));
//command = new Asservissement(PositionPlusAngle(positionDeDepart, angleDeDepart), roueCodeuseGauche, roueCodeuseDroite);
//command = new Asservissement(PositionPlusAngle(Position(0, 0), Angle(0)), roueCodeuseGauche, roueCodeuseDroite);
@@ -66,14 +65,14 @@ void Strategie::doNthInstruction(uint16_t n){
int cote = (is_blue ? 1:-1);
if(n==1)
- command->goTo(Position(1500, 1000));
+ (new TrapezoidalCommand)->goTo(Position(1500, 1000));
return;
//rouleau.recracheBoule();
//return;
#ifdef DONTUSE
switch(n) {
case 1:
- command->goTo(Position(780, cote*780), false);
+ command->goTo(Position(780, cote*780), false);
break;
case 2:
rouleau.avaleBoule();
@@ -116,6 +115,7 @@ void Strategie::doNthInstruction(uint16_t n){
}
#endif
+#if (0)
switch(n) {
case 1:
//rouleau.avaleBoule();
@@ -150,6 +150,7 @@ void Strategie::doNthInstruction(uint16_t n){
break;
}
+#endif
/*
if(n==0)
{