mrm-robot-soccer.h

#pragma once
#include <mrm-action.h>
#include <mrm-pid.h>
#include <mrm-robot.h>
 
class RobotSoccer : public Robot {
 
    // Actions' declarations
    ActionBase* actionCatch;
    ActionBase* actionIdle;
 
    float headingToMaintain; // Heading towards opponent's goal.
    MotorGroupStar* motorGroup;  // Class that conveys commands to motors.
    Mrm_pid* pidXY; // PID controller, regulates motors' speeds for linear motion in the x-y plane.
    Mrm_pid* pidRotation; // PID controller, regulates rotation around z axis.
public:
    RobotSoccer(char name[] = (char*)"RCJ Soccer");
 
    uint16_t back();
 
    int16_t ballAngle();
 
    bool barrier();
 
    void bitmapsSet();
 
    uint16_t brightness(uint8_t transistorNumber, uint8_t deviceNumber);
 
    bool button(uint8_t number);
 
    void catchBall();
 
    uint16_t front();
 
    void go(float speed, float angleDegrees, float rotation, uint8_t speedLimit);
 
    void goAhead();
 
    float heading();
 
    void idle();
 
    uint16_t left();
 
    bool line(uint8_t transistorNumber, uint8_t deviceNumber);
 
    void loop();
 
    void play();
 
    float pitch();
 
    uint16_t right();
 
    float roll();
 
    void sign(uint8_t number);
};
 
class ActionSoccerCatch : public ActionBase {
    void perform() { ((RobotSoccer*)_robot)->catchBall(); }
public:
    ActionSoccerCatch(RobotSoccer* robot) : ActionBase(robot, "cat", "Soccer catch", 0) {}
};
 
class ActionSoccerPlay : public ActionBase {
    void perform(){ ((RobotSoccer*)_robot)->play(); }
public:
    ActionSoccerPlay(RobotSoccer* robot) : ActionBase(robot, "soc", "Soccer play") {}
};
 
class ActionSoccerIdle : public ActionBase {
    void perform() { ((RobotSoccer*)_robot)->idle(); }
public:
    ActionSoccerIdle(RobotSoccer* robot) : ActionBase(robot, "idl", "Soccer idle", 0) {}
};