From 0272e1202e9f34167c0067bdfc8c67729d63e109 Mon Sep 17 00:00:00 2001 From: Guillaume Buret Date: Thu, 24 Mar 2016 15:42:59 +0100 Subject: [PATCH] Added link in graph --- stm32/src/strategie/cabine.cpp | 2 -- stm32/src/strategie/krabi2016.cpp | 18 +++++++++++------- 2 files changed, 11 insertions(+), 9 deletions(-) diff --git a/stm32/src/strategie/cabine.cpp b/stm32/src/strategie/cabine.cpp index 15523e09..eca81a3d 100644 --- a/stm32/src/strategie/cabine.cpp +++ b/stm32/src/strategie/cabine.cpp @@ -49,8 +49,6 @@ int Cabine::update() else if (status == 2) { - // A faire, ne pas hardcoder la position - if (Command::isNear(position_depart, 10.0f)) // le second paramètre est la distance a l'objectif { #ifndef ROBOTHW diff --git a/stm32/src/strategie/krabi2016.cpp b/stm32/src/strategie/krabi2016.cpp index 61035bd2..7183656e 100644 --- a/stm32/src/strategie/krabi2016.cpp +++ b/stm32/src/strategie/krabi2016.cpp @@ -42,8 +42,8 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow) // Pieds - int pa = Etape::makeEtape(new RamasserPied(Position(970, 260, true))); - int pb = Etape::makeEtape(new RamasserPied(Position(1200, 260, true))); + int pa = Etape::makeEtape(new RamasserPied(Position(1100, 280, true))); + int pb = Etape::makeEtape(new RamasserPied(Position(1300, 280, true))); // Cabines de plage int cp1 = Etape::makeEtape(new Cabine(Position(250, 50, true), wd_position)); @@ -53,15 +53,19 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow) /** Liens **/ // [WIP] Etape::get(start) ->addVoisin(wa); - Etape::get(wa) ->addVoisin(wb, zc2); - Etape::get(wc) ->addVoisin(zc1); + Etape::get(wa) ->addVoisin(wb); Etape::get(cd1) ->addVoisin(wa); + + Etape::get(wc) ->addVoisin(zc1); + Etape::get(wc) ->addVoisin(zc2); + Etape::get(wc) ->addVoisin(pa); + Etape::get(cp1) ->addVoisin(wd); Etape::get(cp2) ->addVoisin(wd); - Etape::get(wc) ->addVoisin(zc2); + Etape::get(wd) ->addVoisin(wb); - Etape::get(pa) ->addVoisin(wb, zc2); - Etape::get(pb) ->addVoisin(pa, zc2); + Etape::get(pa) ->addVoisin(wb); + Etape::get(pb) ->addVoisin(pa); #ifndef ROBOTHW qDebug() << Etape::getTotalEtapes(); -- GitLab