public static void loadActions()
{
ACTION_PER_TYPE.Clear();
StrategieGrosRobot strategieGR = new StrategieGrosRobot();
setMotherAction(ModeOperatoire.COMPETITION, TypeRobot.GRAND_ROBOT, CouleurEquipe.VERT, strategieGR.GetMotherActionForCouleurVerte());
setMotherAction(ModeOperatoire.COMPETITION, TypeRobot.GRAND_ROBOT, CouleurEquipe.ORANGE, strategieGR.GetMotherActionForCouleurOrange());
StrategiePetitRobot strategiePR = new StrategiePetitRobot();
setMotherAction(ModeOperatoire.COMPETITION, TypeRobot.PETIT_ROBOT, CouleurEquipe.VERT, strategiePR.GetMotherActionPRCompetitionForCouleurVerte());
setMotherAction(ModeOperatoire.COMPETITION, TypeRobot.PETIT_ROBOT, CouleurEquipe.ORANGE, strategiePR.GetMotherActionPRCompetitionForCouleurOrange());
TestRobots testRobots = new TestRobots();
setMotherAction(ModeOperatoire.TEST1, TypeRobot.PETIT_ROBOT, CouleurEquipe.VERT, testRobots.TestPRAscenseurDroit());
setMotherAction(ModeOperatoire.TEST1, TypeRobot.PETIT_ROBOT, CouleurEquipe.ORANGE, testRobots.TestPRAscenseurDroit());
setMotherAction(ModeOperatoire.TEST1, TypeRobot.GRAND_ROBOT, CouleurEquipe.VERT, testRobots.GetActionTestScore());
setMotherAction(ModeOperatoire.TEST1, TypeRobot.GRAND_ROBOT, CouleurEquipe.ORANGE, testRobots.TestRecallage());
GestionnaireServosGR gestio = new GestionnaireServosGR();
setMotherAction(ModeOperatoire.HOMOLOGATION, TypeRobot.GRAND_ROBOT, CouleurEquipe.VERT, gestio.GR_PLATEAU_LIBERATION_TUBE_UNICOULEUR());
setMotherAction(ModeOperatoire.HOMOLOGATION, TypeRobot.GRAND_ROBOT, CouleurEquipe.ORANGE,
new ActionBuilder("Test").Add(gestio.GR_TRAPPE_FERMER).Add(gestio.GR_PLATEAU_RECOLTE)
.Add(gestio.GR_PLATEAU_LIBERATION_BALLES_COULEUR_OPPOSEE()).BuildActionEnSerie());
if (Robot.robot.TypeRobot == TypeRobot.PETIT_ROBOT)
{
setMotherAction(ModeOperatoire.HOMOLOGATION, TypeRobot.PETIT_ROBOT, CouleurEquipe.ORANGE, testRobots.TestCodesCouleurs());
setMotherAction(ModeOperatoire.HOMOLOGATION, TypeRobot.PETIT_ROBOT, CouleurEquipe.VERT, testRobots.TestCodesCouleurs());
}
//setMotherAction(ModeOperatoire.TEST1, TypeRobot.GRAND_ROBOT, CouleurEquipe.ORANGE, gestio.GR_PLATEAU_LIBERATION_BALLES_TUBE_MIXTE_NOTRE_COULEUR());
Informations.printInformations(Priority.HIGH, "actions chargees");
}
public Action GetMotherActionForCouleurVerte()
{
ActionBuilder MotherActionBuilder = new ActionBuilder("Gros robot - mother action couleur verte");
//double positionInitialeGR_X = dimensionGR_X / 2;
double positionInitialeGR_X = 390 - dimensionGR_Y / 2;
double positionInitialeGR_Y = -(630 - dimensionGR_X / 2);
double positionInitialieTheta = -90;
PointOriente point_tube_uni_intermediaire_1 = new PointOriente(positionInitialeGR_X + 200, positionInitialeGR_Y, 0);
PointOriente point_tube_uni_intermediaire_2 = new PointOriente(200 + dimensionGR_X / 2, -845, 0);
PointOriente point_tube_uni_final = new PointOriente(100, -845, 0); // direction arriere, adjust to angle
PointOriente point_tube_uni_lancement = new PointOriente(710 - 168, -845, 110 - 90);
PointOriente point_abeille_intermediaire_1 = new PointOriente(1060, -845, -90);
PointOriente point_abeille_intermediaire_2 = new PointOriente(400, -2000 + 400, -130);
PointOriente point_abeille_final = new PointOriente(dimensionGR_Y / 2 + 40, 10 - 2000 + dimensionGR_X / 2, -90);
PointOriente point_tube_mixte_intermediaire_1 = new PointOriente(400, -2000 + 820, 0); // Parcourir la map
PointOriente point_tube_mixte_intermediaire_2 = new PointOriente(2400, -2000 + 820, 180); // Parcourir la map => IR = on
PointOriente point_tube_mixte_intermediaire_3 = new PointOriente(2400, -1600, 90); // Parcourir la map => IR = on
PointOriente point_tube_mixte_final = new PointOriente(2400, -2000 + dimensionGR_X / 2 - 10 - 100, 90); // direction arriere, adjust to angle
//PointOriente point_tube_mixte_final = new PointOriente(3000 - 2400 /*- 80*/ /* 7 cm de trop */, -2000 + dimensionGR_X / 2 - 10, 90+180); // direction avant, adjust to angle
PointOriente point_tube_mixte_envoi_balles_vertes = new PointOriente(2390, -2000 + 400, 50); // adjust to angle, (direction avant ?) 45 avannt
GestionnaireServosGR gestio = new GestionnaireServosGR();
ActionEnSerie ViderTubeUni = new ActionBuilder("Vider le tube uni")
.Add(new ActionBuilder("Ajouter score").BuildActionAddScore(10))
.Add(new ActionBuilder("Regler vitese drive").BuildActionDelegate(() => Robot.robot.BASE_ROULANTE.speedDrive = 300))
.Add(new ActionBuilder("Desactiver IR").BuildActionSetDetecteurObstacle(false))
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_tube_uni_intermediaire_2))
.Add(gestio.GR_PLATEAU_AVANT_VERT)
.Add(new ActionBuilder("Regler vitese drive").BuildActionDelegate(() => Robot.robot.BASE_ROULANTE.speedDrive = 300))
.Add(new ActionBuilder("Deplacement 2").BuildActionBaseRoulante_GOTO_ANGLE(point_tube_uni_final, OBSTACLE_DIRECTION.ARRIERE))
//.Add(new ActionBuilder("Recule un peu").BuildActionBaseRoulante_DRIVE(3, 100))
.Add(gestio.GR_TRAPPE_FERMER)
.Add(gestio.GR_PLATEAU_RECOLTE)
.Add(gestio.GR_PLATEAU_SLOT0)
//.Add(new ActionWait("Wait a bit...", 500))
.Add(new ActionBuilder("piche").BuildActionBaseRoulante_GOTO_ANGLE(point_tube_uni_lancement, OBSTACLE_DIRECTION.AVANT))
.Add(gestio.GR_PLATEAU_LIBERATION_TUBE_UNICOULEUR())
.Add(new ActionBuilder("Ajouter score").BuildActionAddScore(45))
.BuildActionEnSerie();
ActionEnSerie ActiverAbeille = new ActionBuilder("Activer l'abeille")
.Add(new ActionBuilder("Regler vitese drive").BuildActionDelegate(() => Robot.robot.BASE_ROULANTE.speedDrive = 800))
//.Add(new ActionBuilder("Recule un peu").BuildActionBaseRoulante_DRIVE(200, 100 * 200))
.Add(new ActionBuilder("Activer IR").BuildActionSetDetecteurObstacle(false))
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_abeille_intermediaire_1))
.Add(new ActionBuilder("Activer IR").BuildActionSetDetecteurObstacle(true))
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_abeille_intermediaire_2, OBSTACLE_DIRECTION.AVANT)) // change orange
.Add(new ActionBuilder("Activer IR").BuildActionSetDetecteurObstacle(false))
.Add(new ActionBuilder("Regler vitese drive").BuildActionDelegate(() => Robot.robot.BASE_ROULANTE.speedDrive = 350))
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ANGLE(point_abeille_final, OBSTACLE_DIRECTION.AVANT))
//.Add(new ActionDelegate("Reinit kangaroo", () => { Robot.robot.SWITCH_GLOBAL.Activate(); Thread.Sleep(300); Robot.robot.SWITCH_GLOBAL.Desactivate(); Thread.Sleep(300); }))
//.Add(new ActionBuilder("Recule un peu").BuildActionBaseRoulante_DRIVE(-200, 100 * 100))
.Add(new ActionBuilder("Deplacement").BuildActionRecallageAxeX(-2000 + dimensionGR_X / 2, 400, 300 * 100, 600 * 100, -90))
//.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_abeille_final, OBSTACLE_DIRECTION.AVANT))
//.Add(new ActionDelegate("Reinit kangaroo", () => { Thread.Sleep(50); Robot.robot.SWITCH_GLOBAL.Activate(); Thread.Sleep(50); Robot.robot.SWITCH_GLOBAL.Desactivate(); Thread.Sleep(1500); }))
.Add(gestio.GR_ABEILLE_DECLENCHER)
.Add(new ActionBuilder("Ajouter score").BuildActionAddScore(50))
.Add(gestio.GR_PLATEAU_AVANT_VERT)
.Add(gestio.GR_ABEILLE_REPLIER)
.Add(new ActionBuilder("Recule un peu").BuildActionBaseRoulante_DRIVE(-200, 300))
/* Ajouter servoMoteur */
.BuildActionEnSerie();
ActionEnSerie ViderTubeMixte = new ActionBuilder("Vider le tube mixte")
.Add(new ActionBuilder("Activer IR").BuildActionSetDetecteurObstacle(false))
.Add(new ActionBuilder("Regler vitese drive").BuildActionDelegate(() => Robot.robot.BASE_ROULANTE.speedDrive = 800)) // 700-800
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_tube_mixte_intermediaire_1))
.Add(new ActionBuilder("Activer IR").BuildActionSetDetecteurObstacle(true))
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_tube_mixte_intermediaire_2, OBSTACLE_DIRECTION.ARRIERE))
.Add(new ActionBuilder("Regler vitese drive").BuildActionDelegate(() => Robot.robot.BASE_ROULANTE.speedDrive = 600))
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_tube_mixte_intermediaire_3, OBSTACLE_DIRECTION.ARRIERE))
.Add(new ActionBuilder("Desactiver IR").BuildActionSetDetecteurObstacle(false))
.Add(new ActionBuilder("Regler vitese drive").BuildActionDelegate(() => Robot.robot.BASE_ROULANTE.speedDrive = 200))
.Add(gestio.GR_TRAPPE_FERMER)
//.Add(gestio.GR_PLATEAU_AVANT_VERT)
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ONLY(point_tube_mixte_final, OBSTACLE_DIRECTION.ARRIERE))
//.Add(new ActionBuilder("Recule un peu").BuildActionBaseRoulante_DRIVE(3, 100))
.Add(gestio.GR_PLATEAU_RECOLTE)
.Add(new ActionBuilder("ouverture recolte mixte").BuildActionAddScore(10))
.Add(gestio.GR_PLATEAU_LIBERATION_BALLES_COULEUR_OPPOSEE())
.Add(new ActionBuilder("Deplacement").BuildActionBaseRoulante_GOTO_ANGLE(point_tube_mixte_envoi_balles_vertes, OBSTACLE_DIRECTION.AVANT))
.Add(gestio.GR_PLATEAU_LIBERATION_BALLES_TUBE_MIXTE_NOTRE_COULEUR())
.BuildActionEnSerie();
Action MOTHER_ACTION = new ActionBuilder("Mother action - competition Gros Robot")
.Add(new ActionJack())
.Add(new ActionBuilder("Position initiale GR Vert").BuildActionSetPositionInitiale(positionInitialeGR_X, positionInitialeGR_Y, positionInitialieTheta))
//.Add(new ActionBuilder("Position initiale GR Vert").BuildActionSetPositionInitiale(point_tube_uni_final.x, point_tube_uni_final.y, point_tube_uni_final.theta))
//.Add(new ActionBuilder("Recule un peu").BuildActionBaseRoulante_DRIVE(50, 100 * 200))
.Add(ViderTubeUni)
.Add(ActiverAbeille)
.Add(ViderTubeMixte)
.BuildActionEnSerie();
return(MOTHER_ACTION);
}
