inline void Rds::update(void) {
u8 n;
u8 d, a;
_data.rds_io << 'p';
_data.rds_io >> n;
_values.flush();
for(u8 i = 0 ; i < n ; i++) {
Vect<2, s32> v;
_data.rds_io >> a;
_data.rds_io >> d;
v.coord(0) = d;
v.coord(1) = a * 2;
_values.append(v);
}
}
enum Error HuntAction::doAction(void) {
io << "DO HUNT\n";
// Let Benoit do its job !
Pin<36> sortie("PE4");//PE4, green
sortie.setMode(PinMode::OUTPUT);
Pin<38> entree("PE6");//PE6, yellow
entree.setMode(PinMode::INPUT);
/*Pin<38> entree2("PE6");
entree.setMode(PinMode::INPUT);
while(1) {
io << entree.getValue() << " " << entree2.getValue() << "\n";
}*/
trajectoryManager().lookAt(_mamouth);
while(!trajectoryManager().isEnded()) {
if(robot().getValue()) {
return SKATING;
}
}
Vect<2, s32> look = _mamouth;
for (int i=0; i<_number && nb_balls > 0; i++, nb_balls--) {
//io << "sending " << i << " soon\n";
// trajectoryManager().gotoDistance(20);
// while(!trajectoryManager().isEnded()) {}
// Vect<2, s32> look = _mamouth;
// look[0] -= OFFSET*_number/2;
// //int look = 85-(OFFSET*_number/2)/10;
// trajectoryManager().lookAt(look);
// //trajectoryManager().gotoAngle(look);
// while(!trajectoryManager().isEnded()) {
// if (robot().getValue()) {
// trajectoryManager().gotoDistance(-50);
// while(!trajectoryManager().isEnded()) {
// robot().unlock();
// }
// }
// }
look.coord(0) += _mamouth.coord(0) + i * 12;
trajectoryManager().lookAt(look);
while(!trajectoryManager().isEnded()) {
if(robot().getValue()) {
return SKATING;
}
}
io << "start sending" << i<<"\n";
sortie.setValue(true);
s16 anti_bounce = 0;
while(anti_bounce < ANTI_BOUNCE_LIMIT) {
if(entree.getValue() == true) {
//attendre que la carte lanceballe commence
anti_bounce++;
}
else {
anti_bounce = 0;
}
}
sortie.setValue(false);
anti_bounce = 0;
while(anti_bounce < ANTI_BOUNCE_LIMIT) {
if(entree.getValue() == false) {
//attendre que la carte lanceballe finisse
anti_bounce++;
}
else {
anti_bounce = 0;
}
}
look[0]+=OFFSET;
look += OFFSET/10;
}
//io << "finished\n";
trajectoryManager().gotoDistance(-150);
while(trajectoryManager().isEnded()){
if (robot().getValue()) {
robot().unlock();
}
if (check_for_collision(60)) {
return IMPOSSIBLE;
}
};
_static_priority = 0;
return SUCCESS;
}
