Documentation

strategy/BottomLidar.pde

@@ -1,5 +1,5 @@
 /**
- * This class simulate the behaviour of a bottom lidar
+ * This class simulate the behaviour of the bottom lidars 
  */
 class BottomLidar extends Sensor
 {

strategy/GameOver.pde

@@ -16,7 +16,7 @@ class GameOver extends Task
  }
 
  /**
- * Simulate the thing to do at the end of the timer
+ * Simulate what to do at the end of the timer
  */
  @Override
  void do_task()

strategy/Lighthouse.pde

@@ -7,7 +7,7 @@ class Lighthouse extends Task
  int lighthouse_wait;
 
  /**
- * The class' constructor
+ * The constructor of Lighthouse
  * @param id: the identifier of the task
  * @param points: the points given by the task
  * @param position: the location of this task

strategy/RTSRob.pde

@@ -1,15 +1,30 @@
+/**
+ * This class represent our robot
+ */
 class RTSRob extends Robot
 {
+ /* The weathercock's color detected by our robot */
  int detected_color;
+
+ /* A boolean that indicate if the flag is deployed*/
  boolean flag_deployed;
 
+ /**
+ * Constructor of our robot 
+ * @param pos: the initial position of the robot
+ * @param angle: the initial position of the robot
+ * @param sensors: the list of sensors of our robot
+ */
  RTSRob(Pos position, float angle, ArrayList<Sensor> sensors)
  {
  super(position, angle, sensors);
  this.detected_color = NO_COLOR;
  this.flag_deployed = false;
  }
 
+ /**
+ * Draw our robot, with the sensors if they can be reresented
+ */
  @Override
  void draw_robot()
  {

strategy/Robot.pde

@@ -24,7 +24,7 @@ class Robot
 
 
  /**
- * Constructor of Robot
+ * Constructor of Robot (without sensors, probably the opponent)
  * @param pos: the initial position of the robot
  * @param angle: the initial position of the robot
  */
@@ -46,6 +46,12 @@ class Robot
  }
  }
 
+ /**
+ * Constructor of Robot (with sensors, probably the our robot)
+ * @param pos: the initial position of the robot
+ * @param angle: the initial position of the robot
+ * @param sensors_list: the list of sensors of the robot
+ */
  Robot(Pos pos, float angle, ArrayList<Sensor> sensors_list)
  {
  this.position = pos;

strategy/Sensor.pde

@@ -1,3 +1,7 @@
+/**
+ * This abstract class represent the sensors
+ * It contains functions that must be implemented if you create a sensor
+ */
 abstract class Sensor
 {
  /**

strategy/Strat.pde

@@ -1,11 +1,28 @@
+/**
+ * This class is our strategy
+ */
 class Strat extends ManageOpponent
 {
+ /* The identifier of the current task that correspond to its
+ place in tab_task*/
  int id_current_task;
+
+ /* Beginnig of the match */
  int time;
+
+ /* Our score */
  int score;
+
+ /* The list of tasks to do classified in the order of completion*/
  ArrayList<Integer> tasks_order = new ArrayList<Integer>();
+
+ /* The list of tasks that must be done */
  ArrayList<Task> tab_tasks = new ArrayList<Task>();
 
+ /**
+ * The constructor of the class
+ * @param robot: the robot that must fllow the strategy
+ */
  Strat(RTSRob robot)
  {
  super(robot);
@@ -124,6 +141,12 @@ class Strat extends ManageOpponent
  return time_left < (tab_tasks.get(TASK_FLAG).max_time + pos.dist(robot.position)/SLOW);
  }
 
+ /**
+ * Move in the array "tasks_order" a task from the index "index_start" to
+ * the index "index_end"
+ * @param index_start: index of the task to move
+ * @param index_end: index where the task has to be moved
+ */
  void changeTaskOrder(int index_start, int index_end)
  {
  if (index_start == index_end || index_start >= this.tasks_order.size() || index_end >= this.tasks_order.size()

strategy/Task.pde

@@ -3,11 +3,22 @@
  */
 abstract class Task
 {
+ /* The identifier of the a task */
  int id;
+
+ /* The points earned if we accomplish the task */
  int points;
+
+ /* The position of the task */
  Pos position;
+
+ /* Represent the state of the task */
  int done;
+
+ /* The max time this task should last */
  long max_time;
+
+ /* An ArrayList of checkpoints we need to reach to acomplish the task */
  ArrayList<Pos> checkpoints = new ArrayList<Pos>();
 
  /**
@@ -68,22 +79,32 @@ abstract class Task
  }
  }
 
+ /**
+ * Display the checkpoints 
+ */
  void display_checkpoints()
  {
  for(int i = 0; i < checkpoints.size(); i++)
  display_checkpoint(checkpoints.get(i));
  }
 
+ /**
+ * Display a specific checkpoint
+ * @param checkpoint: the position of the checkpoint
+ */
  void display_checkpoint(Pos checkpoint)
  {
  pushMatrix();
  translate(checkpoint.x, checkpoint.y, 0);
- fill(0, 0, 0, 125);
+ fill(255, 255, 255, 125);
  rectMode(CENTER);
- rect(0, 0, 10, 10);
+ rect(0, 0, 20, 20);
  popMatrix();
  text(this.id, checkpoint.x - 9, checkpoint.y + 11);
  }
 
+ /**
+ * An abstract method that will simulate the completion of the task
+ */
  abstract void do_task();
 }

strategy/TopLidar.pde

@@ -1,3 +1,6 @@
+/**
+ * The top lidar (to detect the completion of tasks)
+ */
 class TopLidar extends Sensor
 {
  /**

strategy/Weathercock.pde

@@ -1,7 +1,19 @@
+/**
+ * This class represent the task weathercock
+ */
 class Weathercock extends Task
 {
+ /* The begining of the task */
  int weathercock_wait;
 
+ /**
+ * The constructor of Weathercock
+ * @param id: the identifier of the task
+ * @param points: the points given by the task
+ * @param position: the location of this task
+ * @param max_time: the estimated necessary time to accomplish the task
+ * @param weathercock_checkpoints: the checkpoints we need to reach to accomplish the task
+ */
  Weathercock(int id, int points, Pos position, long max_time, ArrayList<Pos> weathercock_checkpoints)
  {
  super(id, points, position, max_time);
@@ -27,7 +39,9 @@ class Weathercock extends Task
  }
  }
 
-
+ /**
+ * Simulate the execution of the weathercock
+ */
  void do_task()
  {
  this.in_progress();

strategy/Windsock.pde

@@ -1,5 +1,9 @@
+/**
+ * This class represent the task inked to the windocks
+ */
 class Windsock extends Task
 {
+ /* The beginning of the task */
  long windsock_wait;
 
  Windsock(int id, int points, Pos position, long max_time, ArrayList<Pos> windsock_checkpoints)
@@ -9,6 +13,10 @@ class Windsock extends Task
  this.windsock_wait = -1;
  }
 
+ /**
+ * A function that windsock to be raised
+ * @return a boolean that indicate if the windsock is raised
+ */
  boolean raise_windsock()
  {
  if(windsock_wait == -1)
@@ -17,6 +25,9 @@ class Windsock extends Task
  return (millis() - windsock_wait > 4000);
  }
 
+ /**
+ * Simulate the execution of the windsock task
+ */
  void do_task()
  { 
  this.in_progress();

strategy/strategy.pde

@@ -83,6 +83,10 @@ float mod2Pi(float angle)
  return angle;
 }
 
+/**
+ * Initialise sensors
+ * @return an ArrayList of sensors
+ */
 ArrayList<Sensor> init_sensors()
 {
  BottomLidar bottomLidar = new BottomLidar();
@@ -97,6 +101,9 @@ ArrayList<Sensor> init_sensors()
  return sensors;
 }
 
+/**
+ * Manage the opponent behavement
+ */
 void manage_robot_op()
 {
  rob_op.update_destinations();
@@ -143,6 +150,9 @@ void init_robots()
  POS_CUPS = new Pos(ARENA_HEIGHT/2, ARENA_WIDTH/2);
 }
 
+/**
+ * Initialize the tasks
+ */
 void init_tasks()
 {
  strat.tasks_order.add(TASK_LIGHTHOUSE);
@@ -190,7 +200,6 @@ void setup()
  frameRate(fps); 
 
  init_robots(); 
-
 
 
  dectable_lidar_mobile.add(POS_LIGHTHOUSE);
@@ -228,6 +237,9 @@ void display_infos()
  text(strat.score, 1450, 21);
 }
 
+/**
+ * Manage the robot displayment
+ */
 void display_robot()
 {
  robot_RTS.getCorners();