Creation of a modular Strategy

[Terae]

We need to set up a Strategy which is able to take in charge

• the team color
• the table environment
• a reference to implement the mirror behavior
• primary and secondary robots

Work to be done:

• module interfacers
• communication protocol between the robots, see Communication between robots. #11
• make the previous code working for a single robot (allerA, mirror strategy)
• centralized navigation calculation for both robots, avoiding collisions

Module interfacers

The actual robot owns its modules but all functions are not blocking (that is to say, when we ask a servo to go at a certain position, the functions directly returns without waiting until the movement is done). The strategy should implement module interfacers which are able to perform a complex blocking action.

Typically, the servos' interfacer would allow this sample code:

PhysicalRobot::Robot robot(. . .);
Strategy::Interfacers::Servos servo_interf;
servo_interf.set_position(&robot, 5, 50_deg);