pour trouver l'automate de reception can
Fork of CRAC-Strat_copy by
Diff: Strategie/Strategie.cpp
- Revision:
- 9:d0042422d95a
- Parent:
- 8:0edc7dfb7f7e
- Child:
- 10:a788d9cf60f2
diff -r 0edc7dfb7f7e -r d0042422d95a Strategie/Strategie.cpp --- a/Strategie/Strategie.cpp Wed Apr 27 13:05:03 2016 +0000 +++ b/Strategie/Strategie.cpp Thu Apr 28 08:11:36 2016 +0000 @@ -204,6 +204,12 @@ SendRawId(ECRAN_ACK_START_MATCH); tactile_printf("Attente du JACK."); jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack + +#ifdef ROBOT_BIG + SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,POSITION_DEBUT_Y,POSITION_DEBUT_T); +#else + SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,POSITION_DEBUT_Y,POSITION_DEBUT_T); +#endif break; case ETAT_GAME_WAIT_FOR_JACK: //TODO Attendre le jack @@ -255,7 +261,7 @@ } localData1 = ((instruction.direction == FORWARD)?1:-1); - BendRadius (instruction.arg1, instruction.arg3, localData1, localData5); + BendRadius(instruction.arg1, instruction.arg3, localData1, localData5); break; case MV_LINE: waitingAckID = ASSERVISSEMENT_RECALAGE; @@ -388,8 +394,8 @@ waitingAckFrom = INSTRUCTION_END_MOTEUR; break; case ACTION: - waitingAckFrom = SERVO_AX12_DONE; - waitingAckID = instruction.arg1; + waitingAckFrom = 0;//SERVO_AX12_DONE; + waitingAckID = 0;//instruction.arg1; break; default: break; @@ -517,17 +523,17 @@ } break; case SERVO_AX12_SETGOAL: - SendAck(0x114, SERVO_AX12_SETGOAL); + //SendAck(0x114, SERVO_AX12_SETGOAL); if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0])) AX12_setGoal(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[2])<<8), msgRxBuffer[FIFO_lecture].data[3]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[4])<<8)); break; case SERVO_AX12_PROCESS: - SendAck(0x114, SERVO_AX12_PROCESS); + //SendAck(0x114, SERVO_AX12_PROCESS); AX12_processChange(1); break; case SERVO_AX12_DONE: - SendAck(0x114, SERVO_AX12_DONE); + //SendAck(0x114, SERVO_AX12_DONE); AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0]))); break; case ECRAN_CHOICE_COLOR://Choix de la couleur @@ -544,6 +550,7 @@ // couleur sur 1 octet msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0]; can1.write(msgTx); + } break; case ECRAN_CHOICE_STRAT://Choix du fichier de stratégie à utiliser @@ -560,6 +567,8 @@ msgTx.data[0]=0; } can1.write(msgTx); + wait_ms(10); + tactile_printf("Strat %d selectionne",msgTx.data[0]); } break; case BALISE_STOP: