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https://github.com/RobotechLille/cdf2018-principal
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50 lines
865 B
C
50 lines
865 B
C
#ifndef __PARCOURS_H__
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#define __PARCOURS_H__
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#include <stdbool.h>
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#include <math.h>
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#include "movement.h"
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#define TEMPS_PARCOURS 100
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#define NB_BALLES 8
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#define X_RECUP_1 1160
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#define Y_RECUP_1 210
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#define O_RECUP_1 -M_PI
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#define X_LANCER X_RECUP_1
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#define Y_LANCER Y_RECUP_1 + 100
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#define O_LANCER 3 * M_PI_4
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#define X_RECUP_2 610
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#define Y_RECUP_2 50
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// ↑
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#define O_RECUP_2 -M_PI_2
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#define X_EVIT X_RECUP_2
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#define Y_EVIT 1000
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#define O_EVIT ANGLE_INSIGNIFIANT
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#define X_ABEILLE 210
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#define Y_ABEILLE 50
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// ↑
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#define O_ABEILLE -M_PI_2
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#define X_USE 800
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// ↑
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#define Y_USE 100
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// ↑
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#define O_USE 0
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void configureParcours();
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void prepareParcours(bool orange);
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void startParcours();
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// Returns : -1 if parcours ended, N ms for the next time it should be checked
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int updateParcours();
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void stopParcours();
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void* TaskParcours(void* pdata);
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#endif
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