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Em6
robotique
Commits
307f084d
Commit
307f084d
authored
Mar 31, 2016
by
root
Browse files
Merge branch 'master' of /srv/git/hook_robotique/../repositories/gitRobotique
parents
bcdc501a
2835d630
Changes
1
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Inline
Side-by-side
stm32/src/strategie/krabi2016.cpp
View file @
307f084d
...
...
@@ -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
(
10
0
0
,
600
,
true
),
benne
));
int
zc2
=
Etape
::
makeEtape
(
new
ZoneConstruction
(
Position
(
1
0
50
,
600
,
true
),
benne
));
int
zc1
=
Etape
::
makeEtape
(
new
ZoneConstruction
(
Position
(
10
5
0
,
600
,
true
),
benne
));
int
zc2
=
Etape
::
makeEtape
(
new
ZoneConstruction
(
Position
(
1
1
50
,
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
();
...
...
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