Strategie.h

//
// Created by awing on 10/05/2026.
//
 
#ifndef TEAM2026_STRATEGIE_H
#define TEAM2026_STRATEGIE_H
 
#include "Elevator.h"
#include "Grafcet.h"
#include "HazelnutGripper.h"
#include "Logger.h"
#include "Odometry.h"
#include "Geogebra.h"
 
#ifndef ELEVATOR_IN_POS
#define ELEVATOR_IN_POS() (fabs(HazelnutGripper::Elevator::m_currentAngle - HazelnutGripper::Elevator::m_angleSetpoint) < 5)
#endif
 
namespace cerveau {
    inline auto stratLogger = Logger("STRATEGIE");
}
 
namespace cerveau::strategie {
    inline Grafcet::ActionNode* yellowStartingNode = {};
    inline Grafcet::ActionNode* bleuStartingNode = {};
    inline auto* strat = new Grafcet::StateMachine();
 
    void generateBlueStrat();
    void generateYellowStrat();
 
    void stratDeSecoursBleu();
    void stratDeSecoursJaune();
 
    //checkers
 
 
    inline Position start = {};
    inline const Position blueStart;
    inline const Position yellowStart;
}
 
 
#endif //TEAM2026_STRATEGIE_H