CRAC Team / CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT

code petit robot pour homologation

Fork of CRAC-Strat_2017_V2 by CRAC Team

Robots/Strategie_small.cpp@15:c2fc239e85df, 2017-05-11 (annotated)

Committer:
ClementBreteau
Date:
Thu May 11 12:55:52 2017 +0000
Revision:
15:c2fc239e85df
Parent:
12:14729d584500
Child:
16:7321fb3bb396
crac strat le 11/05/17

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 3:19f2285a4757 1 #include "StrategieManager.h"
antbig 3:19f2285a4757 2 #ifdef ROBOT_SMALL
antbig 3:19f2285a4757 3 #include "Config_small.h"
antbig 3:19f2285a4757 4
antbig 12:14729d584500 5 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 6
antbig 3:19f2285a4757 7 /****************************************************************************************/
antbig 3:19f2285a4757 8 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 9 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 10 /****************************************************************************************/
antbig 3:19f2285a4757 11 void doFunnyAction(void) {
antbig 3:19f2285a4757 12
antbig 3:19f2285a4757 13
antbig 3:19f2285a4757 14 }
antbig 10:a788d9cf60f2 15 //L'angle est entre 0 et 1023
antbig 10:a788d9cf60f2 16 void XL320_setGoal(unsigned char id, unsigned short angle);
antbig 10:a788d9cf60f2 17
antbig 10:a788d9cf60f2 18 void XL320_setGoal(unsigned char id, unsigned short angle)
antbig 10:a788d9cf60f2 19 {
antbig 10:a788d9cf60f2 20 CANMessage msgTx=CANMessage();
antbig 10:a788d9cf60f2 21 msgTx.id=SERVO_XL320;
antbig 10:a788d9cf60f2 22 msgTx.len=3;
antbig 10:a788d9cf60f2 23 msgTx.format=CANStandard;
antbig 10:a788d9cf60f2 24 msgTx.type=CANData;
antbig 10:a788d9cf60f2 25 msgTx.data[0]=(unsigned char)id;
antbig 10:a788d9cf60f2 26 // from sur 2 octets
antbig 10:a788d9cf60f2 27 msgTx.data[1]=(unsigned char)angle;
antbig 10:a788d9cf60f2 28 msgTx.data[2]=(unsigned char)(angle>>8);
antbig 10:a788d9cf60f2 29
antbig 10:a788d9cf60f2 30 can1.write(msgTx);
antbig 10:a788d9cf60f2 31 }
antbig 3:19f2285a4757 32
antbig 3:19f2285a4757 33 /****************************************************************************************/
antbig 3:19f2285a4757 34 /* FUNCTION NAME: doAction */
antbig 3:19f2285a4757 35 /* DESCRIPTION : Effectuer une action specifique */
antbig 3:19f2285a4757 36 /****************************************************************************************/
antbig 3:19f2285a4757 37 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 3:19f2285a4757 38 switch(id) {
ClementBreteau 15:c2fc239e85df 39 case 100: // preparation prise bras central
ClementBreteau 15:c2fc239e85df 40 Preparation_prise();
ClementBreteau 15:c2fc239e85df 41 break;
ClementBreteau 15:c2fc239e85df 42 case 101:// stockage haut bras central
ClementBreteau 15:c2fc239e85df 43 Stockage_haut();
ClementBreteau 15:c2fc239e85df 44 break;
ClementBreteau 15:c2fc239e85df 45 case 102:// stockage bas bras central
ClementBreteau 15:c2fc239e85df 46 Stockage_bas();
ClementBreteau 15:c2fc239e85df 47 break;
ClementBreteau 15:c2fc239e85df 48 case 103:// ouvrir la main du bras cental
ClementBreteau 15:c2fc239e85df 49 Deposer();
ClementBreteau 15:c2fc239e85df 50 break;
ClementBreteau 15:c2fc239e85df 51 case 104:// preparation de depot du module bas du bras central
ClementBreteau 15:c2fc239e85df 52 Preparation_depot_bas();
ClementBreteau 15:c2fc239e85df 53 break;
ClementBreteau 15:c2fc239e85df 54 case 105:// preparation de depot du module haut du bras central
ClementBreteau 15:c2fc239e85df 55 Preparation_depot_haut();
ClementBreteau 15:c2fc239e85df 56 break;
ClementBreteau 15:c2fc239e85df 57 case 106:// positionner le bras afin de pousser un module debout
ClementBreteau 15:c2fc239e85df 58 Pousser_module();
ClementBreteau 15:c2fc239e85df 59 break;
ClementBreteau 15:c2fc239e85df 60 case 110:// ouvrir une porte avant
antbig 11:ed13a480ddca 61 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 62 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 63 else speed = 1;
antbig 3:19f2285a4757 64 } else {
ClementBreteau 15:c2fc239e85df 65
antbig 3:19f2285a4757 66 }
antbig 3:19f2285a4757 67 break;
ClementBreteau 15:c2fc239e85df 68 case 111:// securiser un module avec une porte avant
antbig 11:ed13a480ddca 69 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 70 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 71 else speed = 1;
ClementBreteau 15:c2fc239e85df 72 } else {
ClementBreteau 15:c2fc239e85df 73
antbig 11:ed13a480ddca 74 }
antbig 10:a788d9cf60f2 75 break;
ClementBreteau 15:c2fc239e85df 76 case 112:// ranger le porte avant dans le robot
antbig 11:ed13a480ddca 77 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 78 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 79 else speed = 1;
antbig 11:ed13a480ddca 80 } else {
ClementBreteau 15:c2fc239e85df 81
antbig 11:ed13a480ddca 82 }
antbig 11:ed13a480ddca 83 break;
ClementBreteau 15:c2fc239e85df 84 case 120:// poser une main tourneuse
antbig 11:ed13a480ddca 85 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 86 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 87 else speed = 1;
antbig 11:ed13a480ddca 88 } else {
ClementBreteau 15:c2fc239e85df 89
antbig 11:ed13a480ddca 90 }
antbig 5:dcd817534b57 91 break;
antbig 10:a788d9cf60f2 92
ClementBreteau 15:c2fc239e85df 93 case 121:// relever une main tourneuse
ClementBreteau 15:c2fc239e85df 94 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 95 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 96 else speed = 1;
antbig 11:ed13a480ddca 97 } else {
ClementBreteau 15:c2fc239e85df 98
antbig 11:ed13a480ddca 99 }
antbig 10:a788d9cf60f2 100 break;
antbig 10:a788d9cf60f2 101
ClementBreteau 15:c2fc239e85df 102 case 122:// tourner un module
ClementBreteau 15:c2fc239e85df 103 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 104 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 105 else speed = 1;
antbig 11:ed13a480ddca 106 } else {
ClementBreteau 15:c2fc239e85df 107
antbig 11:ed13a480ddca 108 }
antbig 10:a788d9cf60f2 109 break;
ClementBreteau 15:c2fc239e85df 110
antbig 12:14729d584500 111 case 10://Désactiver le stop
antbig 12:14729d584500 112 isStopEnable = 0;
antbig 12:14729d584500 113 break;
antbig 12:14729d584500 114 case 11://Activer le stop
antbig 12:14729d584500 115 isStopEnable = 1;
antbig 12:14729d584500 116 break;
antbig 12:14729d584500 117 case 20://Désactiver l'asservissement
antbig 12:14729d584500 118 setAsservissementEtat(0);
antbig 12:14729d584500 119 break;
antbig 12:14729d584500 120 case 21://Activer l'asservissement
antbig 12:14729d584500 121 setAsservissementEtat(1);
antbig 12:14729d584500 122 break;
antbig 10:a788d9cf60f2 123
antbig 3:19f2285a4757 124 default:
antbig 10:a788d9cf60f2 125 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 3:19f2285a4757 126
antbig 3:19f2285a4757 127 }
antbig 11:ed13a480ddca 128 return 1;//L'action est spécifique.
antbig 3:19f2285a4757 129
antbig 3:19f2285a4757 130 }
antbig 3:19f2285a4757 131
antbig 3:19f2285a4757 132 /****************************************************************************************/
antbig 3:19f2285a4757 133 /* FUNCTION NAME: initRobot */
antbig 3:19f2285a4757 134 /* DESCRIPTION : initialiser le robot */
antbig 3:19f2285a4757 135 /****************************************************************************************/
antbig 3:19f2285a4757 136 void initRobot(void) {
antbig 3:19f2285a4757 137 /**
antbig 3:19f2285a4757 138 On enregistre les id des AX12 présent sur la carte
antbig 3:19f2285a4757 139 **/
ClementBreteau 15:c2fc239e85df 140 /*AX12_register(1,AX12_SERIAL1,0x0FF);
antbig 5:dcd817534b57 141 AX12_register(2,AX12_SERIAL1);
antbig 5:dcd817534b57 142 AX12_register(18,AX12_SERIAL1);
antbig 5:dcd817534b57 143 AX12_register(4,AX12_SERIAL2);
antbig 5:dcd817534b57 144 AX12_register(16,AX12_SERIAL2);
ClementBreteau 15:c2fc239e85df 145 AX12_register(17,AX12_SERIAL2,0x0FF);*/
antbig 12:14729d584500 146
antbig 12:14729d584500 147 //runRobotTest();
antbig 12:14729d584500 148
antbig 5:dcd817534b57 149 /*
antbig 5:dcd817534b57 150 AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
antbig 5:dcd817534b57 151 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 5:dcd817534b57 152 AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF);
antbig 5:dcd817534b57 153 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras
antbig 5:dcd817534b57 154 AX12_processChange();*/
antbig 3:19f2285a4757 155 }
antbig 3:19f2285a4757 156
antbig 4:88431b537477 157 /****************************************************************************************/
antbig 12:14729d584500 158 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 159 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 160 /****************************************************************************************/
antbig 12:14729d584500 161 void initRobotActionneur(void)
antbig 12:14729d584500 162 {
ClementBreteau 15:c2fc239e85df 163 /*XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_FERMER);
antbig 12:14729d584500 164 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_FERMER);
antbig 12:14729d584500 165
antbig 12:14729d584500 166 AX12_setGoal(
antbig 12:14729d584500 167 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 12:14729d584500 168 AX12_ANGLE_BRAS_RELACHEUR_DROIT_REPLIER,
antbig 12:14729d584500 169 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 170 );
antbig 12:14729d584500 171 AX12_setGoal(
antbig 12:14729d584500 172 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 12:14729d584500 173 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_REPLIER,
antbig 12:14729d584500 174 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 175 );
antbig 12:14729d584500 176 AX12_setGoal(
antbig 12:14729d584500 177 AX12_ID_BRAS_BASE_DROIT,
antbig 12:14729d584500 178 AX12_ANGLE_BRAS_BASE_DROIT_REPLIER,
antbig 12:14729d584500 179 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 180 );
antbig 12:14729d584500 181 AX12_setGoal(
antbig 12:14729d584500 182 AX12_ID_BRAS_BASE_GAUCHE,
antbig 12:14729d584500 183 AX12_ANGLE_BRAS_BASE_GAUCHE_REPLIER,
antbig 12:14729d584500 184 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 185 );
antbig 12:14729d584500 186 AX12_setGoal(
antbig 12:14729d584500 187 AX12_ID_PALET_DROIT,
antbig 12:14729d584500 188 AX12_ANGLE_PALET_DROIT_FERMER,
antbig 12:14729d584500 189 AX12_SPEED_PALET
antbig 12:14729d584500 190 );
antbig 12:14729d584500 191 AX12_setGoal(
antbig 12:14729d584500 192 AX12_ID_PALET_GAUCHE,
antbig 12:14729d584500 193 AX12_ANGLE_PALET_GAUCHE_FERMER,
antbig 12:14729d584500 194 AX12_SPEED_PALET
antbig 12:14729d584500 195 );
ClementBreteau 15:c2fc239e85df 196 AX12_processChange(); */
antbig 12:14729d584500 197 }
antbig 12:14729d584500 198
antbig 12:14729d584500 199 /****************************************************************************************/
antbig 9:d0042422d95a 200 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 201 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 202 /****************************************************************************************/
antbig 9:d0042422d95a 203 void runRobotTest(void)
antbig 9:d0042422d95a 204 {
ClementBreteau 15:c2fc239e85df 205 /*XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_SECURISE);
antbig 12:14729d584500 206 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_SECURISE);
antbig 9:d0042422d95a 207
antbig 12:14729d584500 208 wait_ms(200);
antbig 12:14729d584500 209
antbig 12:14729d584500 210 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_FERMER);
antbig 12:14729d584500 211 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_FERMER);
antbig 12:14729d584500 212
antbig 12:14729d584500 213 wait_ms(200);
antbig 12:14729d584500 214
antbig 12:14729d584500 215 AX12_setGoal(
antbig 12:14729d584500 216 AX12_ID_BRAS_BASE_DROIT,
antbig 12:14729d584500 217 AX12_ANGLE_BRAS_BASE_DROIT_MOITER,
antbig 12:14729d584500 218 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 219 );
antbig 12:14729d584500 220 AX12_setGoal(
antbig 12:14729d584500 221 AX12_ID_BRAS_BASE_GAUCHE,
antbig 12:14729d584500 222 AX12_ANGLE_BRAS_BASE_GAUCHE_MOITER,
antbig 12:14729d584500 223 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 224 );
antbig 12:14729d584500 225 AX12_processChange();
antbig 12:14729d584500 226
antbig 12:14729d584500 227 wait_ms(500);
antbig 12:14729d584500 228
antbig 12:14729d584500 229 AX12_setGoal(
antbig 12:14729d584500 230 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 12:14729d584500 231 AX12_ANGLE_BRAS_RELACHEUR_DROIT_OUVERT,
antbig 12:14729d584500 232 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 233 );
antbig 12:14729d584500 234 AX12_setGoal(
antbig 12:14729d584500 235 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 12:14729d584500 236 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_OUVERT,
antbig 12:14729d584500 237 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 238 );
antbig 12:14729d584500 239 AX12_processChange();
antbig 12:14729d584500 240
antbig 12:14729d584500 241 wait_ms(600);
antbig 12:14729d584500 242
antbig 12:14729d584500 243 AX12_setGoal(
antbig 12:14729d584500 244 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 12:14729d584500 245 AX12_ANGLE_BRAS_RELACHEUR_DROIT_REPLIER,
antbig 12:14729d584500 246 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 247 );
antbig 12:14729d584500 248 AX12_setGoal(
antbig 12:14729d584500 249 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 12:14729d584500 250 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_REPLIER,
antbig 12:14729d584500 251 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 252 );
antbig 12:14729d584500 253 AX12_processChange();
antbig 12:14729d584500 254
antbig 12:14729d584500 255 wait_ms(500);
antbig 12:14729d584500 256
antbig 12:14729d584500 257 AX12_setGoal(
antbig 12:14729d584500 258 AX12_ID_BRAS_BASE_DROIT,
antbig 12:14729d584500 259 AX12_ANGLE_BRAS_BASE_DROIT_REPLIER,
antbig 12:14729d584500 260 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 261 );
antbig 12:14729d584500 262 AX12_setGoal(
antbig 12:14729d584500 263 AX12_ID_BRAS_BASE_GAUCHE,
antbig 12:14729d584500 264 AX12_ANGLE_BRAS_BASE_GAUCHE_REPLIER,
antbig 12:14729d584500 265 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 266 );
antbig 12:14729d584500 267 AX12_processChange();
antbig 12:14729d584500 268
antbig 12:14729d584500 269 wait_ms(600);
antbig 12:14729d584500 270 AX12_setGoal(
antbig 12:14729d584500 271 AX12_ID_PALET_DROIT,
antbig 12:14729d584500 272 AX12_ANGLE_PALET_DROIT_ROCHET,
antbig 12:14729d584500 273 AX12_SPEED_PALET
antbig 12:14729d584500 274 );
antbig 12:14729d584500 275 AX12_setGoal(
antbig 12:14729d584500 276 AX12_ID_PALET_GAUCHE,
antbig 12:14729d584500 277 AX12_ANGLE_PALET_GAUCHE_ROCHET,
antbig 12:14729d584500 278 AX12_SPEED_PALET
antbig 12:14729d584500 279 );
antbig 12:14729d584500 280 AX12_processChange();
antbig 12:14729d584500 281
antbig 12:14729d584500 282 wait_ms(500);
antbig 12:14729d584500 283
antbig 12:14729d584500 284 AX12_setGoal(
antbig 12:14729d584500 285 AX12_ID_PALET_DROIT,
antbig 12:14729d584500 286 AX12_ANGLE_PALET_DROIT_FERMER,
antbig 12:14729d584500 287 AX12_SPEED_PALET
antbig 12:14729d584500 288 );
antbig 12:14729d584500 289 AX12_setGoal(
antbig 12:14729d584500 290 AX12_ID_PALET_GAUCHE,
antbig 12:14729d584500 291 AX12_ANGLE_PALET_GAUCHE_FERMER,
antbig 12:14729d584500 292 AX12_SPEED_PALET
antbig 12:14729d584500 293 );
ClementBreteau 15:c2fc239e85df 294 AX12_processChange();*/
antbig 9:d0042422d95a 295 }
antbig 9:d0042422d95a 296
antbig 9:d0042422d95a 297 /****************************************************************************************/
antbig 4:88431b537477 298 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 299 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 300 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 301 /****************************************************************************************/
antbig 4:88431b537477 302 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 303 {
antbig 12:14729d584500 304
antbig 12:14729d584500 305
antbig 4:88431b537477 306 switch(id)
antbig 4:88431b537477 307 {
antbig 4:88431b537477 308 case 1:
antbig 4:88431b537477 309 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 4:88431b537477 310 return FileExists(cheminFileStart);
antbig 4:88431b537477 311 case 2:
antbig 4:88431b537477 312 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 4:88431b537477 313 return FileExists(cheminFileStart);
antbig 7:dcce34c7e06e 314 case 3:
antbig 7:dcce34c7e06e 315 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 7:dcce34c7e06e 316 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 317 case 4:
antbig 11:ed13a480ddca 318 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 11:ed13a480ddca 319 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 320 case 5:
antbig 11:ed13a480ddca 321 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 11:ed13a480ddca 322 return FileExists(cheminFileStart);
antbig 12:14729d584500 323 case 6:
antbig 12:14729d584500 324 strcpy(cheminFileStart,"/local/strat6.txt");
antbig 12:14729d584500 325 return FileExists(cheminFileStart);
antbig 12:14729d584500 326 case 10:
antbig 12:14729d584500 327 strcpy(cheminFileStart,"/local/grand_8.txt");
antbig 12:14729d584500 328 return FileExists(cheminFileStart);
antbig 4:88431b537477 329 default:
antbig 12:14729d584500 330 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 4:88431b537477 331 return 0;
antbig 4:88431b537477 332 }
antbig 4:88431b537477 333 }
antbig 4:88431b537477 334
antbig 12:14729d584500 335 /****************************************************************************************/
antbig 12:14729d584500 336 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 337 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 338 /****************************************************************************************/
antbig 12:14729d584500 339 unsigned char needToStop(void)
antbig 12:14729d584500 340 {
antbig 12:14729d584500 341 return isStopEnable;
antbig 12:14729d584500 342 }
antbig 12:14729d584500 343
antbig 12:14729d584500 344 /****************************************************************************************/
antbig 12:14729d584500 345 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 346 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 347 /****************************************************************************************/
antbig 12:14729d584500 348 void doBeforeEndAction(void)
antbig 12:14729d584500 349 {
antbig 12:14729d584500 350
antbig 12:14729d584500 351 }
antbig 12:14729d584500 352
antbig 3:19f2285a4757 353 #endif