Merge branch 'master' of /srv/git/hook_robotique/../repositories/gitRobotique

stm32/src/strategie/krabi2016.cpp

@@ -31,19 +31,22 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
     Position wd_position = Position(400,  500, true);
     int wd = Etape::makeEtape(wd_position);
 
+    int we = Etape::makeEtape(Position(900,  425, true));
+
     // On crée l'étape "pousse les cubes du début"
     int cd1 = Etape::makeEtape(new CubeDebut(Position(900, 900, true), wa_position));
 
 
     /** Actions **/
     // Zone de construction
-    int zc1 = Etape::makeEtape(new ZoneConstruction(Position(1000, 600, true), benne));
-    int zc2 = Etape::makeEtape(new ZoneConstruction(Position(1050, 600, true), benne));
+    int zc1 = Etape::makeEtape(new ZoneConstruction(Position(1050, 600, true), benne));
+    int zc2 = Etape::makeEtape(new ZoneConstruction(Position(1150, 600, true), benne));
 
 
     // Pieds
-    int pa = Etape::makeEtape(new RamasserPied(Position(1100,  280, true)));
-    int pb = Etape::makeEtape(new RamasserPied(Position(1300, 280, true)));
+    int pa = Etape::makeEtape(new RamasserPied(Position(1200,  280, true)));
+    int pb = Etape::makeEtape(new RamasserPied(Position(1400, 280, true)));
+    int pc = Etape::makeEtape(new RamasserPied(Position(900, 280, true)));
 
     // Cabines de plage
     int cp1 = Etape::makeEtape(new Cabine(Position(250, 50, true), wd_position));
@@ -54,6 +57,7 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
     // [WIP]
     Etape::get(start)   ->addVoisin(wa);
     Etape::get(wa)      ->addVoisin(wb);
+    Etape::get(wa)      ->addVoisin(wd);
     Etape::get(cd1)     ->addVoisin(wa);
 
     Etape::get(wc)      ->addVoisin(zc1);
@@ -66,6 +70,22 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
     Etape::get(wd)      ->addVoisin(wb);
     Etape::get(pa)      ->addVoisin(wb);
     Etape::get(pb)      ->addVoisin(pa);
+    Etape::get(pc)      ->addVoisin(pa);
+    Etape::get(pc)      ->addVoisin(we);
+
+    Etape::get(we)      ->addVoisin(wa);
+    Etape::get(we)      ->addVoisin(wb);
+    Etape::get(we)      ->addVoisin(wc);
+    Etape::get(we)      ->addVoisin(wd);
+    Etape::get(we)      ->addVoisin(pa);
+
+    Etape::get(zc1)     ->addVoisin(pa);
+    Etape::get(zc1)     ->addVoisin(pb);
+    Etape::get(zc1)     ->addVoisin(pc);
+
+    Etape::get(zc2)     ->addVoisin(pa);
+    Etape::get(zc2)     ->addVoisin(pb);
+    Etape::get(zc2)     ->addVoisin(pc);
 
 #ifndef ROBOTHW
     qDebug() << Etape::getTotalEtapes();