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Em6
robotique
Commits
1e549049
Commit
1e549049
authored
Apr 07, 2016
by
root
Browse files
Merge branch 'master' of /srv/git/hook_robotique/../repositories/gitRobotique
parents
bdbee7e6
4a8c2a17
Changes
14
Hide whitespace changes
Inline
Side-by-side
simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
View file @
1e549049
...
...
@@ -88,9 +88,6 @@ HEADERS += \
..
/../
include
/
simul
/
asservwindow
.
h
\
..
/../
include
/
simul
/
sharpwindow
.
h
\
..
/../
include
/
simul
/
watchwindow
.
h
\
..
/../
include
/
strategie
/
manipulationCoinGaucheHaut
.
h
\
..
/../
include
/
strategie
/
manipulationCoinGaucheBas
.
h
\
..
/../
include
/
strategie
/
manipulationCoinGaucheHautPiedSolitaire
.
h
\
..
/../
include
/
vec3d
.
h
\
..
/../
include
/
vec2d
.
h
\
..
/../
include
/
interfaceServosNumeriques
.
h
\
...
...
@@ -168,9 +165,6 @@ SOURCES += \
..
/../
src
/
simul
/
asservwindow
.
cpp
\
..
/../
src
/
simul
/
sharpwindow
.
cpp
\
..
/../
src
/
simul
/
watchwindow
.
cpp
\
..
/../
src
/
strategie
/
manipulationCoinGaucheHaut
.
cpp
\
..
/../
src
/
strategie
/
manipulationCoinGaucheBas
.
cpp
\
..
/../
src
/
strategie
/
manipulationCoinGaucheHautPiedSolitaire
.
cpp
\
..
/../
src
/
vec3d
.
cpp
\
..
/../
src
/
vec2d
.
cpp
\
..
/../
src
/
InitKrabiJunior
.
cpp
\
...
...
stm32/include/strategie/etape.h
View file @
1e549049
...
...
@@ -28,18 +28,7 @@ public:
POINT_PASSAGE
=
0
,
COLLECT
=
1
,
DEPART
=
5
,
COIN_GAUCHE_HAUT
=
24
,
COIN_GAUCHE_BAS
=
25
,
SPOT_SOLITAIRE_COIN
=
26
,
ROBOT_POINT_PASSAGE
=
POINT_PASSAGE
+
ROBOT_VU_ICI
,
ROBOT_DEPART
=
DEPART
+
ROBOT_VU_ICI
,
ROBOT_COIN_GAUCHE_HAUT
=
COIN_GAUCHE_HAUT
+
ROBOT_VU_ICI
,
ROBOT_COIN_GAUCHE_BAS
=
COIN_GAUCHE_BAS
+
ROBOT_VU_ICI
,
ROBOT_SPOT_SOLITAIRE_COIN
=
SPOT_SOLITAIRE_COIN
+
ROBOT_VU_ICI
DEPART
=
5
};
...
...
stm32/include/strategie/krabi2016.h
View file @
1e549049
...
...
@@ -9,9 +9,6 @@
#include "etape.h"
#include "zoneConstruction.h"
#include "cabine.h"
#include "manipulationCoinGaucheBas.h"
#include "manipulationCoinGaucheHaut.h"
#include "manipulationCoinGaucheHautPiedSolitaire.h"
#include "benne.h"
#include "dune.h"
#include "cubeDebut.h"
...
...
stm32/include/strategie/manipulationCoinGaucheBas.h
deleted
100644 → 0
View file @
bdbee7e6
#ifndef MANIPULATION_COIN_GAUCHE_BAS_H
#define MANIPULATION_COIN_GAUCHE_BAS_H
#include "position.h"
#include "mediumLevelAction.h"
#include "command.h"
class
ManipulationCoinGaucheBas
:
public
MediumLevelAction
{
public
:
ManipulationCoinGaucheBas
(
Position
positionDepart
,
bool
isYellow
);
~
ManipulationCoinGaucheBas
();
int
update
();
Etape
::
EtapeType
getType
();
private
:
bool
isYellow
;
};
#endif // MANIPULATION_COIN_GAUCHE_BAS_H
stm32/include/strategie/manipulationCoinGaucheHaut.h
deleted
100644 → 0
View file @
bdbee7e6
#ifndef MANIPULATION_COIN_GAUCHE_HAUT_H
#define MANIPULATION_COIN_GAUCHE_HAUT_H
#include "position.h"
#include "mediumLevelAction.h"
#include "command.h"
class
ManipulationCoinGaucheHaut
:
public
MediumLevelAction
{
public
:
ManipulationCoinGaucheHaut
(
Position
positionDepart
,
bool
isYellow
);
~
ManipulationCoinGaucheHaut
();
int
update
();
Etape
::
EtapeType
getType
();
private
:
bool
isYellow
;
};
#endif // MANIPULATION_COIN_GAUCHE_HAUT_H
stm32/include/strategie/manipulationCoinGaucheHautPiedSolitaire.h
deleted
100644 → 0
View file @
bdbee7e6
#ifndef MANIPULATION_COIN_GAUCHE_HAUT_PIED_SOLITAIRE_H
#define MANIPULATION_COIN_GAUCHE_HAUT_PIED_SOLITAIRE_H
#include "position.h"
#include "mediumLevelAction.h"
#include "command.h"
class
ManipulationCoinGaucheHautPiedSolitaire
:
public
MediumLevelAction
{
public
:
ManipulationCoinGaucheHautPiedSolitaire
(
Position
positionDepart
,
bool
isYellow
);
~
ManipulationCoinGaucheHautPiedSolitaire
();
int
update
();
Etape
::
EtapeType
getType
();
private
:
bool
isYellow
;
};
#endif // MANIPULATION_COIN_GAUCHE_HAUT_PIED_SOLITAIRE_H
stm32/src/strategie/cabine.cpp
View file @
1e549049
...
...
@@ -28,6 +28,8 @@ int Cabine::update()
if
(
status
==
0
)
//Début
{
// A faire : Desactiver le Sharp avant
StrategieV2
::
setCurrentGoal
(
this
->
getGoalPosition
(),
false
,
VITESSE_LINEAIRE_MAX
,
-
100.0
,
200.
f
);
#ifndef ROBOTHW
qDebug
()
<<
"On se prepare a pousser une porte"
;
...
...
stm32/src/strategie/cubeDebut.cpp
View file @
1e549049
...
...
@@ -36,6 +36,8 @@ int CubeDebut::update()
}
else
if
(
status
==
1
)
{
// A faire : Desactiver le Sharp avant
if
(
Command
::
isNear
(
this
->
getGoalPosition
(),
100.0
f
))
// le second paramètre est la distance a l'objectif
{
// après avoir poussé les cubes on revient en marche arrière
...
...
stm32/src/strategie/dune.cpp
View file @
1e549049
...
...
@@ -39,6 +39,8 @@ int Dune::update()
else
if
(
status
==
1
)
{
// A faire : Desactiver le Sharp avant
StrategieV2
::
setCurrentGoal
(
this
->
getGoalPosition
(),
false
,
VITESSE_LINEAIRE_MAX
,
-
100.0
,
200.
f
);
status
++
;
}
...
...
@@ -56,7 +58,7 @@ int Dune::update()
else
if
(
status
==
3
)
{
#ifndef ROBOTHW
qDebug
()
<<
"Etape dune finie"
;
qDebug
()
<<
"Benne pleine"
;
#endif
benne_locale
->
setBenneFull
();
status
=
-
1
;
...
...
stm32/src/strategie/krabi2016.cpp
View file @
1e549049
...
...
@@ -22,20 +22,20 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
int
start
=
Etape
::
makeEtape
(
Position
(
250
,
900
,
true
),
Etape
::
DEPART
);
// départ au fond de la zone de départ
/** Points de passage **/
Position
wa
_position
=
Position
(
600
,
900
,
true
);
int
wa
=
Etape
::
makeEtape
(
wa
_position
);
Position
p1
_position
=
Position
(
600
,
900
,
true
);
int
p1
=
Etape
::
makeEtape
(
p1
_position
);
int
wb
=
Etape
::
makeEtape
(
Position
(
680
,
700
,
true
));
int
wc
=
Etape
::
makeEtape
(
Position
(
1000
,
500
,
true
));
int
p2
=
Etape
::
makeEtape
(
Position
(
680
,
700
,
true
));
int
p3
=
Etape
::
makeEtape
(
Position
(
1000
,
500
,
true
));
Position
wd
_position
=
Position
(
400
,
500
,
true
);
int
wd
=
Etape
::
makeEtape
(
wd
_position
);
Position
p4
_position
=
Position
(
400
,
500
,
true
);
int
p4
=
Etape
::
makeEtape
(
p4
_position
);
int
we
=
Etape
::
makeEtape
(
Position
(
950
,
425
,
true
));
int
wf
=
Etape
::
makeEtape
(
Position
(
1400
,
425
,
true
));
int
p5
=
Etape
::
makeEtape
(
Position
(
950
,
425
,
true
));
int
p6
=
Etape
::
makeEtape
(
Position
(
1400
,
425
,
true
));
// On crée l'étape "pousse les cubes du début"
int
c
d1
=
Etape
::
makeEtape
(
new
CubeDebut
(
Position
(
900
,
900
,
true
),
wa
_position
));
int
c
ubedebut
=
Etape
::
makeEtape
(
new
CubeDebut
(
Position
(
900
,
900
,
true
),
p1
_position
));
/** Actions **/
...
...
@@ -45,51 +45,51 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
// Dune
int
d
a
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
1200
,
280
,
true
),
benne
));
int
d
b
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
1400
,
280
,
true
),
benne
));
int
d
c
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
950
,
250
,
true
),
benne
));
int
d
d
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
1500
,
280
,
true
),
benne
));
int
d
une1
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
1200
,
280
,
true
),
benne
));
int
d
une2
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
1400
,
280
,
true
),
benne
));
int
d
une3
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
950
,
250
,
true
),
benne
));
int
d
une4
=
Etape
::
makeEtape
(
new
Dune
(
Position
(
1500
,
280
,
true
),
benne
));
// Cabines de plage
int
c
p
1
=
Etape
::
makeEtape
(
new
Cabine
(
Position
(
250
,
50
,
true
),
wd
_position
));
int
c
p
2
=
Etape
::
makeEtape
(
new
Cabine
(
Position
(
500
,
50
,
true
),
wd
_position
));
int
c
abine
1
=
Etape
::
makeEtape
(
new
Cabine
(
Position
(
250
,
50
,
true
),
p4
_position
));
int
c
abine
2
=
Etape
::
makeEtape
(
new
Cabine
(
Position
(
500
,
50
,
true
),
p4
_position
));
/** Liens **/
// [WIP]
Etape
::
get
(
start
)
->
addVoisin
(
wa
);
Etape
::
get
(
wa
)
->
addVoisin
(
wb
);
Etape
::
get
(
wa
)
->
addVoisin
(
wd
);
Etape
::
get
(
c
d1
)
->
addVoisin
(
wa
);
Etape
::
get
(
start
)
->
addVoisin
(
p1
);
Etape
::
get
(
p1
)
->
addVoisin
(
p2
);
Etape
::
get
(
p1
)
->
addVoisin
(
p4
);
Etape
::
get
(
c
ubedebut
)
->
addVoisin
(
p1
);
Etape
::
get
(
wc
)
->
addVoisin
(
zc1
);
Etape
::
get
(
wc
)
->
addVoisin
(
zc2
);
Etape
::
get
(
wc
)
->
addVoisin
(
d
a
);
Etape
::
get
(
p3
)
->
addVoisin
(
zc1
);
Etape
::
get
(
p3
)
->
addVoisin
(
zc2
);
Etape
::
get
(
p3
)
->
addVoisin
(
d
une4
);
Etape
::
get
(
c
p
1
)
->
addVoisin
(
wd
);
Etape
::
get
(
c
p
2
)
->
addVoisin
(
wd
);
Etape
::
get
(
c
abine
1
)
->
addVoisin
(
p4
);
Etape
::
get
(
c
abine
2
)
->
addVoisin
(
p4
);
Etape
::
get
(
wd
)
->
addVoisin
(
wb
);
Etape
::
get
(
d
a
)
->
addVoisin
(
wb
);
Etape
::
get
(
d
b
)
->
addVoisin
(
d
a
);
Etape
::
get
(
d
c
)
->
addVoisin
(
we
);
Etape
::
get
(
p4
)
->
addVoisin
(
p2
);
Etape
::
get
(
d
une1
)
->
addVoisin
(
p2
);
Etape
::
get
(
d
une2
)
->
addVoisin
(
d
une1
);
Etape
::
get
(
d
une3
)
->
addVoisin
(
p5
);
Etape
::
get
(
we
)
->
addVoisin
(
wa
);
Etape
::
get
(
we
)
->
addVoisin
(
wb
);
Etape
::
get
(
we
)
->
addVoisin
(
wc
);
Etape
::
get
(
we
)
->
addVoisin
(
wd
);
Etape
::
get
(
we
)
->
addVoisin
(
d
a
);
Etape
::
get
(
p5
)
->
addVoisin
(
p1
);
Etape
::
get
(
p5
)
->
addVoisin
(
p2
);
Etape
::
get
(
p5
)
->
addVoisin
(
p3
);
Etape
::
get
(
p5
)
->
addVoisin
(
p4
);
Etape
::
get
(
p5
)
->
addVoisin
(
d
une1
);
Etape
::
get
(
wf
)
->
addVoisin
(
d
b
);
Etape
::
get
(
wf
)
->
addVoisin
(
d
d
);
Etape
::
get
(
wf
)
->
addVoisin
(
wc
);
Etape
::
get
(
p5
)
->
addVoisin
(
d
une2
);
Etape
::
get
(
p5
)
->
addVoisin
(
d
une4
);
Etape
::
get
(
p5
)
->
addVoisin
(
p3
);
Etape
::
get
(
zc1
)
->
addVoisin
(
d
a
);
Etape
::
get
(
zc1
)
->
addVoisin
(
d
b
);
Etape
::
get
(
zc1
)
->
addVoisin
(
d
une1
);
Etape
::
get
(
zc1
)
->
addVoisin
(
d
une2
);
Etape
::
get
(
zc2
)
->
addVoisin
(
d
a
);
Etape
::
get
(
zc2
)
->
addVoisin
(
d
b
);
Etape
::
get
(
zc2
)
->
addVoisin
(
wf
);
Etape
::
get
(
zc2
)
->
addVoisin
(
d
une1
);
Etape
::
get
(
zc2
)
->
addVoisin
(
d
une2
);
Etape
::
get
(
zc2
)
->
addVoisin
(
p5
);
#ifndef ROBOTHW
qDebug
()
<<
Etape
::
getTotalEtapes
();
...
...
@@ -115,6 +115,9 @@ int Krabi2016::getScoreEtape(int i)
/*case Etape::TYPE_ACTION:
return NB_POINTS_ACTION; */
// A faire : remplacer la priorite par le nombre de points obtenables a l'etape
case
Etape
::
DEPART
:
return
0
;
case
Etape
::
POINT_PASSAGE
:
...
...
@@ -128,18 +131,21 @@ int Krabi2016::getScoreEtape(int i)
}
}
case
Etape
::
CABINE
:
return
400
;
case
Etape
::
CUBE_DEBUT
:
return
100
00
;
return
5
00
;
case
Etape
::
DUNE
:
{
// On fait comme si on avait rammasé un cube, du coup la benne est pleine, en vrai on fera
// tout ça dans la future classe cube
// le probleme avec le setter est que dans la recherche de meilleur itineraire la methode est exectuee
if
(
benne
->
getIsBenneEmpty
()
)
{
return
400
;
}
// benne->setBenneFull();
return
100
;
else
{
return
1
;
}
}
default
:
...
...
stm32/src/strategie/manipulationCoinGaucheBas.cpp
deleted
100644 → 0
View file @
bdbee7e6
#include "manipulationCoinGaucheBas.h"
#include "ascenseur.h"
#include "strategieV2.h"
#include "mediumLevelAction.h"
#include "command.h"
#include "pinces.h"
//MLA : Medium Level Action
#define ATTENTE 20
#ifndef ROBOTHW
#include <QDebug>
#endif
ManipulationCoinGaucheBas
::
ManipulationCoinGaucheBas
(
Position
positionDepart
,
bool
isYellow
)
:
MediumLevelAction
(
positionDepart
){
Pinces
::
getSingleton
()
->
ouvrirPinces
();
Ascenseur
::
getSingleton
()
->
leverAscenseur
();
this
->
isYellow
=
isYellow
;
}
ManipulationCoinGaucheBas
::~
ManipulationCoinGaucheBas
(){}
Etape
::
EtapeType
ManipulationCoinGaucheBas
::
getType
()
{
return
Etape
::
COIN_GAUCHE_BAS
;
}
int
ManipulationCoinGaucheBas
::
update
()
{
if
(
status
==
0
)
{
StrategieV2
::
setCurrentGoal
(
this
->
goalPosition
);
status
++
;
}
else
if
(
status
==
1
)
{
if
(
Command
::
isNear
(
this
->
goalPosition
))
{
status
++
;
}
}
else
if
(
status
==
2
)
{
#ifndef ROBOTHW
qDebug
()
<<
"action ManipulationCoinGaucheBas"
;
#endif
this
->
goalPosition
=
Position
(
86
,
1755
,
true
);
StrategieV2
::
setCurrentGoal
(
this
->
goalPosition
);
status
++
;
}
else
if
(
status
==
3
)
{
if
(
Command
::
isNear
(
goalPosition
,
200.0
f
))
{
StrategieV2
::
lookAt
(
this
->
goalPosition
);
status
++
;
}
}
else
if
(
status
==
4
)
{
if
(
Command
::
isLookingAt
(
this
->
goalPosition
))
{
Pinces
::
getSingleton
()
->
fermerPinces
();
status
++
;
}
}
else
if
(
status
<
4
+
ATTENTE
)
{
status
++
;
}
else
if
(
status
==
4
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
ouvrirAscenseur
();
status
++
;
}
else
if
(
status
<
4
+
ATTENTE
+
ATTENTE
)
{
status
++
;
}
else
if
(
status
==
4
+
ATTENTE
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
baisserAscenseur
();
status
++
;
}
else
if
(
status
==
5
+
ATTENTE
+
ATTENTE
)
{
if
(
Ascenseur
::
getSingleton
()
->
estEnBas
())
{
status
++
;
}
}
else
if
(
status
==
6
+
ATTENTE
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
fermerAscenseur
();
status
++
;
}
else
if
(
status
<
6
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
status
++
;
}
else
if
(
status
==
6
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
leverAscenseur
();
Ascenseur
::
getSingleton
()
->
addPied
();
status
++
;
}
else
if
(
status
==
7
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
if
(
Ascenseur
::
getSingleton
()
->
estEnHaut
())
{
status
++
;
}
}
else
if
(
status
==
7
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
if
(
Ascenseur
::
getSingleton
()
->
getNbrPiedsStockes
()
==
3
)
{
status
=
-
1
;
}
else
{
#ifndef ROBOTHW
qDebug
()
<<
"Etape ManipulationCoinGaucheBas part2"
;
#endif
this
->
goalPosition
=
Position
(
86
,
1855
,
true
);
StrategieV2
::
setCurrentGoal
(
this
->
goalPosition
,
this
->
goBack
);
Pinces
::
getSingleton
()
->
ouvrirPinces
();
status
++
;
}
}
else
if
(
status
==
8
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
if
(
Command
::
isNear
(
goalPosition
,
200.0
f
))
{
StrategieV2
::
lookAt
(
goalPosition
);
status
++
;
}
}
else
if
(
status
==
9
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
if
(
Command
::
isLookingAt
(
this
->
goalPosition
))
{
Pinces
::
getSingleton
()
->
fermerPinces
();
status
++
;
}
}
else
if
(
status
<
9
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
status
++
;
}
else
if
(
status
==
9
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
ouvrirAscenseur
();
status
++
;
}
else
if
(
status
<
9
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
status
++
;
}
else
if
(
status
==
9
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
baisserAscenseur
();
status
++
;
}
else
if
(
status
==
9
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
if
(
Ascenseur
::
getSingleton
()
->
estEnBas
())
{
status
++
;
}
}
else
if
(
status
==
10
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
fermerAscenseur
();
status
++
;
}
else
if
(
status
<
10
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
status
++
;
}
else
if
(
status
==
10
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
Ascenseur
::
getSingleton
()
->
leverAscenseur
();
Ascenseur
::
getSingleton
()
->
addPied
();
this
->
goBack
=
true
;
status
++
;
}
else
if
(
status
==
11
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
if
(
Ascenseur
::
getSingleton
()
->
estEnHaut
())
{
status
++
;
}
}
else
if
(
status
==
12
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
#ifndef ROBOTHW
qDebug
()
<<
"Le robot se recentre"
;
#endif
this
->
goalPosition
=
Position
(
260
,
1575
,
true
);
StrategieV2
::
setCurrentGoal
(
goalPosition
,
this
->
goBack
);
status
++
;
}
else
if
(
status
==
13
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
+
ATTENTE
)
{
if
(
Command
::
isNear
(
goalPosition
))
{
this
->
goBack
=
false
;
status
++
;
}
}
else
{
status
=
-
1
;
}
return
status
;
}
stm32/src/strategie/manipulationCoinGaucheHaut.cpp
deleted
100644 → 0
View file @
bdbee7e6
#include "manipulationCoinGaucheHaut.h"
#include "ascenseur.h"
#include "strategieV2.h"
#include "mediumLevelAction.h"
#include "command.h"
#include "pinces.h"
//MLA : Medium Level Action
#define ATTENTE 20
#ifndef ROBOTHW
#include <QDebug>
#endif
ManipulationCoinGaucheHaut
::
ManipulationCoinGaucheHaut
(
Position
positionDepart
,
bool
isYellow
)
:
MediumLevelAction
(
positionDepart
){
Pinces
::
getSingleton
()
->
ouvrirPinces
();
Ascenseur
::
getSingleton
()
->
leverAscenseur
();
this
->
isYellow
=
isYellow
;
}
ManipulationCoinGaucheHaut
::~
ManipulationCoinGaucheHaut
(){}
Etape
::
EtapeType
ManipulationCoinGaucheHaut
::
getType
()
{
return
Etape
::
COIN_GAUCHE_HAUT
;
}
int
ManipulationCoinGaucheHaut
::
update
()
{
if
(
status
==
0
)
{
StrategieV2
::
setCurrentGoal
(
this
->
goalPosition
);
status
++
;
}
else
if
(
status
==
1
)