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#include <Arduino.h>
#include "Scarabi.h"
#include "Move.h"
//#include "Diode.h"
#include <Servo.h>
// PROTOPTYPES DES FONCTIONS //
void setup() //premiere fonction appelée.
{
// Debug
pinMode(13, OUTPUT);
// Initialize serial communication:
Serial.begin(115200);
Serial.println("Starting Up...");
Scarabi::singleton()->waitTirette(false);
//Move::singleton()->addAction(DELAY,50);
//Move::singleton()->addAction(MOVE_45CLOCK,0.5);
if (Scarabi::singleton()->getColor()==Scarabi::colorRed)
Move::singleton()->setInversedSense(true);
if (true)
{
//Sortie de la zone de départ
Move::singleton()->addAction(MOVE_FORWARD,45);
//Move::singleton()->addAction(MOVE_BACKWARD,40);
//Premier cadeau
Move::singleton()->addAction(MOVE_45CLOCK,2);
Move::singleton()->addAction(DISABLE_SHARPS);
Move::singleton()->addAction(MOVE_FORWARD,40);
Move::singleton()->addAction(ENABLE_SHARPS);
Move::singleton()->addAction(MOVE_BACKWARD,15);
Move::singleton()->addAction(MOVE_45ANTICLOCK,2);
Move::singleton()->addAction(MOVE_FORWARD,55);
//Deuxième cadeau
Move::singleton()->addAction(MOVE_45CLOCK,2);
Move::singleton()->addAction(DISABLE_SHARPS);
Move::singleton()->addAction(MOVE_FORWARD,40);
Move::singleton()->addAction(ENABLE_SHARPS);
Move::singleton()->addAction(MOVE_BACKWARD,15);
Move::singleton()->addAction(MOVE_45ANTICLOCK,2);
Move::singleton()->addAction(MOVE_FORWARD,56);
//Troisième cadeau
Move::singleton()->addAction(MOVE_45CLOCK,2);
Move::singleton()->addAction(DISABLE_SHARPS);
Move::singleton()->addAction(MOVE_FORWARD,40);
Move::singleton()->addAction(ENABLE_SHARPS);
Move::singleton()->addAction(MOVE_BACKWARD,15);
Move::singleton()->addAction(MOVE_45ANTICLOCK,2.2);
Move::singleton()->addAction(MOVE_FORWARD,64);
//Quatrième cadeau
Move::singleton()->addAction(MOVE_45CLOCK,2.4);
Move::singleton()->addAction(DISABLE_SHARPS);
Move::singleton()->addAction(MOVE_FORWARD,40);
Move::singleton()->addAction(ENABLE_SHARPS);
Move::singleton()->addAction(MOVE_BACKWARD,40);
/*Move::singleton()->addAction(MOVE_45ANTICLOCK,4);
Move::singleton()->addAction(MOVE_FORWARD,5);
Move::singleton()->addAction(MOVE_45ANTICLOCK,1.1);
Move::singleton()->addAction(MOVE_FORWARD,45);
Move::singleton()->addAction(MOVE_45ANTICLOCK,2.5);
Move::singleton()->addAction(MOVE_FORWARD,45);
Move::singleton()->addAction(MOVE_45CLOCK,1.5);
Move::singleton()->addAction(MOVE_FORWARD,210);
Move::singleton()->addAction(MOVE_BACKWARD,25);
Move::singleton()->addAction(MOVE_45ANTICLOCK,4.2);
Move::singleton()->addAction(MOVE_FORWARD,90);
Move::singleton()->addAction(MOVE_45ANTICLOCK,1);
Move::singleton()->addAction(MOVE_FORWARD,7);
Move::singleton()->addAction(MOVE_45ANTICLOCK,1);
Move::singleton()->addAction(MOVE_FORWARD,7);
Move::singleton()->addAction(MOVE_45ANTICLOCK,1);
Move::singleton()->addAction(MOVE_FORWARD,7);
Move::singleton()->addAction(MOVE_45ANTICLOCK,1.5);
Move::singleton()->addAction(MOVE_FORWARD,120);*/
//Verres retour zone de départ
Move::singleton()->addAction(MOVE_45CLOCK,2);
Move::singleton()->addAction(MOVE_FORWARD,75);
Move::singleton()->addAction(MOVE_45CLOCK,0.35);
Move::singleton()->addAction(MOVE_FORWARD,75);
Move::singleton()->addAction(MOVE_45CLOCK,0.35);
Move::singleton()->addAction(MOVE_FORWARD,50);
//Aller ligne 2 de verres
Move::singleton()->addAction(MOVE_BACKWARD,200);
//Retour ligne 2 de verres
Move::singleton()->addAction(MOVE_45CLOCK,2);
Move::singleton()->addAction(MOVE_FORWARD,25);
Move::singleton()->addAction(MOVE_45ANTICLOCK,2);
Move::singleton()->addAction(MOVE_FORWARD,50);
Move::singleton()->addAction(MOVE_45CLOCK,0.25);
Move::singleton()->addAction(MOVE_FORWARD,150);
//Aller ligne 3 de verres
Move::singleton()->addAction(MOVE_BACKWARD,200);
//Retour ligne 3 de verres
Move::singleton()->addAction(MOVE_45CLOCK,2);
Move::singleton()->addAction(MOVE_FORWARD,35);
Move::singleton()->addAction(MOVE_45ANTICLOCK,2);
Move::singleton()->addAction(MOVE_FORWARD,200);
/*Move::singleton()->addAction(MOVE_FORWARD,50);
Move::singleton()->addAction(MOVE_45CLOCK,0.25);
Move::singleton()->addAction(MOVE_FORWARD,50);*/
/*Move::singleton()->addAction(MOVE_BACKWARD,25);
Move::singleton()->addAction(MOVE_45ANTICLOCK,4);
Move::singleton()->addAction(MOVE_FORWARD,90);
Move::singleton()->addAction(MOVE_45ANTICLOCK,1);
Move::singleton()->addAction(MOVE_FORWARD,40);
Move::singleton()->addAction(MOVE_45ANTICLOCK,3);
Move::singleton()->addAction(MOVE_FORWARD,125);
/*Move::singleton()->addAction(MOVE_BACKWARD,25);
Move::singleton()->addAction(MOVE_45ANTICLOCK,4.2);
Move::singleton()->addAction(MOVE_FORWARD,120);
Move::singleton()->addAction(MOVE_45ANTICLOCK,1);
Move::singleton()->addAction(MOVE_FORWARD,25);
Move::singleton()->addAction(MOVE_45ANTICLOCK,3.5);
Move::singleton()->addAction(MOVE_FORWARD,150);*/
}
/*else
{
Move::singleton()->addAction(MOVE_FORWARD,2);
Move::singleton()->addAction(DISABLE_SHARPS);
Move::singleton()->addAction(MOVE_FORWARD,2);
Move::singleton()->addAction(ENABLE_SHARPS);
Move::singleton()->addAction(MOVE_FORWARD,60);
}*/
}
void loop()
{
Scarabi::singleton()->update();
if (false)
{
//Sortie de la zone de départ
Move::singleton()->perform(MOVE_FORWARD,45);
//Move::singleton()->perform(MOVE_BACKWARD,40);
//Premier cadeau
Move::singleton()->perform(MOVE_45CLOCK,2);
Move::singleton()->perform(DISABLE_SHARPS);
Move::singleton()->perform(MOVE_FORWARD,45);
Move::singleton()->perform(ENABLE_SHARPS);
Move::singleton()->perform(MOVE_BACKWARD,15);
Move::singleton()->perform(MOVE_45ANTICLOCK,2);
Move::singleton()->perform(MOVE_FORWARD,55);
//Deuxième cadeau
Move::singleton()->perform(MOVE_45CLOCK,2);
Move::singleton()->perform(DISABLE_SHARPS);
Move::singleton()->perform(MOVE_FORWARD,45);
Move::singleton()->perform(ENABLE_SHARPS);
Move::singleton()->perform(MOVE_BACKWARD,15);
Move::singleton()->perform(MOVE_45ANTICLOCK,2);
Move::singleton()->perform(MOVE_FORWARD,56);
//Troisième cadeau
Move::singleton()->perform(MOVE_45CLOCK,2);
Move::singleton()->perform(DISABLE_SHARPS);
Move::singleton()->perform(MOVE_FORWARD,45);
Move::singleton()->perform(ENABLE_SHARPS);
Move::singleton()->perform(MOVE_BACKWARD,15);
Move::singleton()->perform(MOVE_45ANTICLOCK,2.2);
Move::singleton()->perform(MOVE_FORWARD,60);
//Quatrième cadeau
Move::singleton()->perform(MOVE_45CLOCK,2.4);
Move::singleton()->perform(DISABLE_SHARPS);
Move::singleton()->perform(MOVE_FORWARD,35);
Move::singleton()->perform(ENABLE_SHARPS);
Move::singleton()->perform(MOVE_BACKWARD,40);
/*Move::singleton()->perform(MOVE_45ANTICLOCK,4);
Move::singleton()->perform(MOVE_FORWARD,5);
Move::singleton()->perform(MOVE_45ANTICLOCK,1.1);
Move::singleton()->perform(MOVE_FORWARD,45);
Move::singleton()->perform(MOVE_45ANTICLOCK,2.5);
Move::singleton()->perform(MOVE_FORWARD,45);
Move::singleton()->perform(MOVE_45CLOCK,1.5);
Move::singleton()->perform(MOVE_FORWARD,210);
Move::singleton()->perform(MOVE_BACKWARD,25);
Move::singleton()->perform(MOVE_45ANTICLOCK,4.2);
Move::singleton()->perform(MOVE_FORWARD,90);
Move::singleton()->perform(MOVE_45ANTICLOCK,1);
Move::singleton()->perform(MOVE_FORWARD,7);
Move::singleton()->perform(MOVE_45ANTICLOCK,1);
Move::singleton()->perform(MOVE_FORWARD,7);
Move::singleton()->perform(MOVE_45ANTICLOCK,1);
Move::singleton()->perform(MOVE_FORWARD,7);
Move::singleton()->perform(MOVE_45ANTICLOCK,1.5);
Move::singleton()->perform(MOVE_FORWARD,120);*/
//Verres retour zone de départ
Move::singleton()->perform(MOVE_45CLOCK,2);
Move::singleton()->perform(MOVE_FORWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,0.25);
Move::singleton()->perform(MOVE_FORWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,0.25);
Move::singleton()->perform(MOVE_FORWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,0.25);
Move::singleton()->perform(MOVE_FORWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,2);
Move::singleton()->perform(MOVE_BACKWARD,50);
Move::singleton()->perform(MOVE_45ANTICLOCK,0.25);
Move::singleton()->perform(MOVE_BACKWARD,50);
Move::singleton()->perform(MOVE_45ANTICLOCK,0.25);
Move::singleton()->perform(MOVE_BACKWARD,50);
Move::singleton()->perform(MOVE_45ANTICLOCK,0.25);
Move::singleton()->perform(MOVE_BACKWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,2);
Move::singleton()->perform(MOVE_FORWARD,30);
Move::singleton()->perform(MOVE_45CLOCK,2);
/*Move::singleton()->perform(MOVE_FORWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,0.25);
Move::singleton()->perform(MOVE_FORWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,0.25);
Move::singleton()->perform(MOVE_FORWARD,50);
Move::singleton()->perform(MOVE_45CLOCK,0.25);
Move::singleton()->perform(MOVE_FORWARD,50);*/
/*Move::singleton()->perform(MOVE_BACKWARD,25);
Move::singleton()->perform(MOVE_45ANTICLOCK,4);
Move::singleton()->perform(MOVE_FORWARD,90);
Move::singleton()->perform(MOVE_45ANTICLOCK,1);
Move::singleton()->perform(MOVE_FORWARD,40);
Move::singleton()->perform(MOVE_45ANTICLOCK,3);
Move::singleton()->perform(MOVE_FORWARD,125);
/*Move::singleton()->perform(MOVE_BACKWARD,25);
Move::singleton()->perform(MOVE_45ANTICLOCK,4.2);
Move::singleton()->perform(MOVE_FORWARD,120);
Move::singleton()->perform(MOVE_45ANTICLOCK,1);
Move::singleton()->perform(MOVE_FORWARD,25);
Move::singleton()->perform(MOVE_45ANTICLOCK,3.5);
Move::singleton()->perform(MOVE_FORWARD,150);*/
}
}