Diff: main.cpp

Revision:

2:9e63099cca99

Parent:

1:568955af8c2b

Child:

4:4a79942713fa

--- a/main.cpp	Tue May 07 17:27:38 2019 +0000
+++ b/main.cpp	Fri May 10 09:11:09 2019 +0000
@@ -104,40 +104,12 @@
     can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
     servo_interrupt_en(); //permettre les interuptions
     wait(1);//attente servo boot
-    init_petit_robot();
+    gabarit_petit_robot();
 
     while(1) {
         canProcessRx();
-      
-        presentoir_avant();
-       // presentoir_arriere();
-        //sol_avant();
-        //goldenium_avant();
-        /*
-        accelerateur_avant();
-        accelerateur_arriere();
-        
-        init_petit_robot();
-        
-        goldenium_arriere();
-        goldenium_avant();
-        
-        init_petit_robot();
-        
-        sol_avant();
-        sol_arriere();
-        
-        init_petit_robot();
-        
-        presentoir_avant();
-        presentoir_arriere();
-        
-        init_petit_robot();
 
-        balance_avant();
-        balance_arriere();
-        
-   */
+
 
         if(EtatGameEnd==1) {
             while(1);
@@ -209,24 +181,80 @@
                 break;
 
 #ifdef ROBOT_SMALL
-            case INIT_PETIT_ROBOT:
-                init_petit_robot();
+            case GABARIT_PETIT_ROBOT:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                gabarit_petit_robot();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
             case PRESENTOIR_AVANT:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 presentoir_avant();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
             case PRESENTOIR_ARRIERE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 presentoir_arriere();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
             case BALANCE_AVANT:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 balance_avant();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
             case BALANCE_ARRIERE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 balance_arriere();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case ACCELERATEUR_AVANT:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                accelerateur_avant();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case ACCELERATEUR_ARRIERE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                accelerateur_arriere();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+            case GOLDENIUM_AVANT:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                balance_avant();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case GOLDENIUM_ARRIERE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                balance_arriere();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+            case SOL_AVANT:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                sol_avant();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case SOL_ARRIERE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                sol_arriere();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case SOL_AVANT_RELACHE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                sol_avant_relache();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case SOL_ARRIERE_RELACHE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                sol_arriere_relache();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
 #endif