robofsm: remove old competitions files

[eurobot/public.git] / src / robofsm / strategy_homologation.cc

diff --git a/src/robofsm/strategy_homologation.cc b/src/robofsm/strategy_homologation.cc
deleted file mode 100644 (file)
index e7b10be..0000000
--- a/src/robofsm/strategy_homologation.cc
+++ /dev/null
@@ -1,101 +0,0 @@
-#define FSM_MAIN
-#include "robodata.h"
-#include <robot.h>
-#include <fsm.h>
-#include <unistd.h>
-#include <math.h>
-#include <movehelper.h>
-#include <map.h>
-#include <sharp.h>
-#include <robomath.h>
-#include <string.h>
-#include <robodim.h>
-#include <error.h>
-#include "actuators.h"
-#include <sharp.h>
-#include <trgen.h>
-#include "match-timing.h"
-#include <stdbool.h>
-#include <ul_log.h>
-#include "common-states.h"
-
-UL_LOG_CUST(ulogd_strategy_homologation); /* Log domain name = ulogd + name of the file */
-
-
-FSM_STATE(homologation_wait_for_start)
-{
-       switch (FSM_EVENT) {
-               case EV_ENTRY:
-                       start_entry();
-//#ifdef COMPETITION
-                       ul_logmsg("waiting for start\n");
-                       FSM_TIMER(1000);
-                       break;
-//#endif
-               case EV_START:
-                       start_go();
-                        robot_calibrate_odometry();
-                       FSM_TRANSITION(homologation_approach_buillon);
-                       break;
-               case EV_TIMER:
-                       FSM_TIMER(1000);
-                       start_timer();
-                       break;
-               case EV_EXIT:
-                       start_exit();
-                       break;
-               case EV_SWITCH_STRATEGY:
-                       FSM_TRANSITION(calibrate);
-                       break;
-               case EV_RETURN:
-                       break;
-               default:;
-       }
-}
-
-FSM_STATE(homologation_approach_buillon)
-{
-        switch(FSM_EVENT) {
-                case EV_ENTRY:
-                        //robot.use_back_bumpers = false;
-                        robot_trajectory_new(&tcSlow); // new trajectory
-                        robot_trajectory_add_point_trans(
-                                0.65,
-                                PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0));
-                        robot_trajectory_add_point_trans(
-                                0.65,
-                                1.3);
-                        robot_trajectory_add_final_point_trans(
-                                0.5,
-                                1.1,
-                                NO_TURN());
-                        break;
-                case EV_MOTION_DONE:
-                case EV_TIMER:
-                        //robot.use_back_bumpers = true;
-                        FSM_TRANSITION(homologation_push_bottle);
-                        break;
-                default:
-                        break;
-        }
-}
-
-FSM_STATE(homologation_push_bottle)
-{
-        switch(FSM_EVENT) {
-                case EV_ENTRY:
-                        robot_trajectory_new(&tcSlow); // new trajectory
-                        robot_trajectory_add_point_trans(
-                                0.64,
-                                0.7);
-                        robot_trajectory_add_final_point_trans(
-                                0.64 + 0.08,
-                                ROBOT_AXIS_TO_FRONT_M + 0.08,
-                                ARRIVE_FROM(DEG2RAD(270), 0.10));
-                        break;
-                case EV_MOTION_DONE:
-                        break;
-                default:
-                        break;
-        }
-}
\ No newline at end of file