move stopRobot in FutureAction class

LudovaTech · Jun 8, 2024 · 7179412 · 7179412
1 parent 3ec2c1e
commit 7179412
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Showing 2 changed files with 13 additions and 4 deletions.
diff --git a/src/strategy.cpp b/src/strategy.cpp
@@ -1,5 +1,7 @@
 #include "strategy.h"
 
+//////// FutureAction
+
 FutureAction::FutureAction(
     Vector2 target,
     int celerity,
@@ -10,26 +12,31 @@ FutureAction::FutureAction(
       _rotation(rotation),
       _activeKicker(activeKicker) {}
 
-////////
+FutureAction FutureAction::stopRobot() {
+  return FutureAction(Vector2(0, 0), 0, 0, false);
+}
+
+//////// Functions
+
+//TODO: remove parameters
 const int criticalWallDistance = 25;
 const int goalMinDistance = 90;  // 85 pour SN10 et 95 pour SN9
 const int myGoalMinDistance = 82;
 const int speedmotors = 120;
 const int shootSpeed = 180;
-const FutureAction stopRobot = FutureAction(Vector2(0, 0), 0, 0, false);
 
 FutureAction chooseStrategy(FieldProperties fP, RobotState cS, FutureAction lA) {
   if (robotIsLost(fP, cS)) {
     if (leavingField(fP, cS)) {
       return refrainFromLeavingStrategy(fP, cS);
     } else if (!ballIsDetected(fP, cS)) {
       SerialDebug.println("stopRobotStrategy");
-      return stopRobot;
+      return FutureAction::stopRobot();
 
     } else if (ballIsCaught(fP, cS)) {
       if (!goalIsDetected(fP, cS)) {
         SerialDebug.println("stopRobotStrategy");
-        return stopRobot;
+        return FutureAction::stopRobot();
       } else if (targetJustInFrontOfRobot(fP, cS, cS.enemyGoalPos())) {
         return shootStrategy(fP, cS);
       } else {

diff --git a/src/strategy.h b/src/strategy.h
@@ -24,6 +24,8 @@ class FutureAction {
   inline int celerity() const { return _celerity; }
   inline Radians rotation() const { return _rotation; }
   inline bool activeKicker() const { return _activeKicker; }
+
+  inline static FutureAction stopRobot();
 };
 
 FutureAction chooseStrategy(FieldProperties fP, RobotState cS, FutureAction lA);