CRAC Team / CRAC-Strat_2017_fin_premier_match

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Fork of CRAC-Strat_2017_homologation_petit_rob by CRAC Team

Robots/Strategie_big.cpp@1:116040d14164, 2016-04-15 (annotated)

Committer:
antbig
Date:
Fri Apr 15 10:49:40 2016 +0000
Revision:
1:116040d14164
Parent:
0:ad97421fb1fb
Child:
2:8d8e2cf798a3
Premier test fonctionnel avec le petit robot,

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 1:116040d14164 1 #include "StrategieManager.h"
antbig 0:ad97421fb1fb 2
antbig 0:ad97421fb1fb 3 /****************************************************************************************/
antbig 0:ad97421fb1fb 4 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 5 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 6 /****************************************************************************************/
antbig 0:ad97421fb1fb 7 void doFunnyAction(void) {
antbig 0:ad97421fb1fb 8
antbig 0:ad97421fb1fb 9
antbig 0:ad97421fb1fb 10 }
antbig 0:ad97421fb1fb 11
antbig 0:ad97421fb1fb 12 /****************************************************************************************/
antbig 0:ad97421fb1fb 13 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 14 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 15 /****************************************************************************************/
antbig 0:ad97421fb1fb 16 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 0:ad97421fb1fb 17
antbig 1:116040d14164 18 led1 = 1;
antbig 1:116040d14164 19 led2 = 1;
antbig 0:ad97421fb1fb 20 switch(id) {
antbig 1:116040d14164 21 case 101://Descendre le bras pour les poissons
antbig 1:116040d14164 22 AX12_setGoal(1,190,0x0FF);
antbig 1:116040d14164 23 AX12_processChange();
antbig 1:116040d14164 24 break;
antbig 1:116040d14164 25 case 102://Remonter bras moiter
antbig 1:116040d14164 26 AX12_setGoal(1,260,0x0FF);
antbig 1:116040d14164 27 AX12_processChange();
antbig 1:116040d14164 28 break;
antbig 1:116040d14164 29 case 103://Lacher les poissons
antbig 1:116040d14164 30 AX12_setGoal(1,230,0x0FF);
antbig 1:116040d14164 31 AX12_setGoal(2,60);//Ouverture du bras
antbig 1:116040d14164 32 AX12_processChange();
antbig 1:116040d14164 33 break;
antbig 1:116040d14164 34 case 104://Rentrer le bras
antbig 1:116040d14164 35 AX12_setGoal(1,280,0x0FF);
antbig 1:116040d14164 36 AX12_setGoal(2,160);//fermer le bras
antbig 1:116040d14164 37 AX12_processChange();
antbig 0:ad97421fb1fb 38 break;
antbig 0:ad97421fb1fb 39 default:
antbig 0:ad97421fb1fb 40 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 41
antbig 0:ad97421fb1fb 42 }
antbig 0:ad97421fb1fb 43 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 44
antbig 0:ad97421fb1fb 45 }
antbig 0:ad97421fb1fb 46
antbig 0:ad97421fb1fb 47 /****************************************************************************************/
antbig 0:ad97421fb1fb 48 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 49 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 50 /****************************************************************************************/
antbig 0:ad97421fb1fb 51 void initRobot(void) {
antbig 0:ad97421fb1fb 52
antbig 0:ad97421fb1fb 53 }