CRAC Team / CRAC-Strat_2017_fin_premier_match

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of CRAC-Strat_2017_homologation_petit_rob by CRAC Team

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

Committer:
ClementBreteau
Date:
Thu May 11 12:55:52 2017 +0000
Revision:
15:c2fc239e85df
Parent:
14:c8fc06c4887f
Child:
16:7321fb3bb396
crac strat le 11/05/17

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 15:c2fc239e85df 1
antbig 1:116040d14164 2 #include "StrategieManager.h"
antbig 3:19f2285a4757 3 #ifdef ROBOT_BIG
antbig 3:19f2285a4757 4 #include "Config_big.h"
antbig 0:ad97421fb1fb 5
antbig 12:14729d584500 6 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 7
antbig 0:ad97421fb1fb 8 /****************************************************************************************/
antbig 0:ad97421fb1fb 9 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 10 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 11 /****************************************************************************************/
antbig 0:ad97421fb1fb 12 void doFunnyAction(void) {
ClementBreteau 15:c2fc239e85df 13 /* AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_OPEN,AX12_SPEED_FUNNY_ACTION);
ClementBreteau 15:c2fc239e85df 14 AX12_processChange();*/
antbig 0:ad97421fb1fb 15
antbig 0:ad97421fb1fb 16 }
antbig 0:ad97421fb1fb 17
antbig 0:ad97421fb1fb 18 /****************************************************************************************/
antbig 0:ad97421fb1fb 19 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 20 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 21 /****************************************************************************************/
antbig 0:ad97421fb1fb 22 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 12:14729d584500 23 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 24 switch(id) {
antbig 3:19f2285a4757 25
ClementBreteau 15:c2fc239e85df 26 case 100://preparation prise
ClementBreteau 15:c2fc239e85df 27 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 28 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 29 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 30 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 31
ClementBreteau 15:c2fc239e85df 32 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 33 msgTx.data[0]=1;
ClementBreteau 15:c2fc239e85df 34 if (InversStrat){ // si on est inversé, on echange les bras
ClementBreteau 15:c2fc239e85df 35 if (speed == BRAS_GAUCHE) speed = BRAS_DROIT;
ClementBreteau 15:c2fc239e85df 36 else speed = BRAS_GAUCHE;
ClementBreteau 15:c2fc239e85df 37 }
ClementBreteau 15:c2fc239e85df 38 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 39 can1.write(msgTx);
antbig 12:14729d584500 40 break;
ClementBreteau 15:c2fc239e85df 41 case 101://stockage haut
ClementBreteau 15:c2fc239e85df 42 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 43 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 44 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 45 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 46
ClementBreteau 15:c2fc239e85df 47 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 48 msgTx.data[0]=2;
ClementBreteau 15:c2fc239e85df 49 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 50
ClementBreteau 15:c2fc239e85df 51 can1.write(msgTx);
antbig 12:14729d584500 52 break;
antbig 12:14729d584500 53
ClementBreteau 15:c2fc239e85df 54 case 102://stockage bas
ClementBreteau 15:c2fc239e85df 55 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 56 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 57 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 58 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 59
ClementBreteau 15:c2fc239e85df 60 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 61 msgTx.data[0]=3;
ClementBreteau 15:c2fc239e85df 62 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 63
ClementBreteau 15:c2fc239e85df 64 can1.write(msgTx);
antbig 12:14729d584500 65 break;
ClementBreteau 15:c2fc239e85df 66 case 103://deposer
ClementBreteau 15:c2fc239e85df 67 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 68 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 69 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 70 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 71
ClementBreteau 15:c2fc239e85df 72 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 73 msgTx.data[0]=4;
ClementBreteau 15:c2fc239e85df 74 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 75
ClementBreteau 15:c2fc239e85df 76 can1.write(msgTx);
antbig 12:14729d584500 77 break;
antbig 12:14729d584500 78
ClementBreteau 15:c2fc239e85df 79 case 104://preparation depot bas
ClementBreteau 15:c2fc239e85df 80 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 81 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 82 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 83 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 84
ClementBreteau 15:c2fc239e85df 85 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 86 msgTx.data[0]=5;
ClementBreteau 15:c2fc239e85df 87 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 88
ClementBreteau 15:c2fc239e85df 89 can1.write(msgTx);
antbig 12:14729d584500 90 break;
ClementBreteau 15:c2fc239e85df 91 case 105://preparation depot haut
ClementBreteau 15:c2fc239e85df 92 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 93 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 94 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 95 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 96
ClementBreteau 15:c2fc239e85df 97 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 98 msgTx.data[0]=6;
ClementBreteau 15:c2fc239e85df 99 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 100
ClementBreteau 15:c2fc239e85df 101 can1.write(msgTx);
antbig 12:14729d584500 102 break;
ClementBreteau 15:c2fc239e85df 103 case 106://pousser module
ClementBreteau 15:c2fc239e85df 104 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 105 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 106 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 107 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 108
ClementBreteau 15:c2fc239e85df 109 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 110 msgTx.data[0]=7;
ClementBreteau 15:c2fc239e85df 111 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 112
ClementBreteau 15:c2fc239e85df 113 can1.write(msgTx);
antbig 12:14729d584500 114 break;
antbig 12:14729d584500 115
antbig 8:0edc7dfb7f7e 116 case 110://Ouvrir la pince arrière haute
ClementBreteau 15:c2fc239e85df 117 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 118 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 119 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 120 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 121
ClementBreteau 15:c2fc239e85df 122 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 123 msgTx.data[0]=10;
ClementBreteau 15:c2fc239e85df 124 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 125
ClementBreteau 15:c2fc239e85df 126 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 127 break;
antbig 8:0edc7dfb7f7e 128 case 111://Fermer la pince arrière haute
ClementBreteau 15:c2fc239e85df 129 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 130 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 131 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 132 msgTx.len=3;
ClementBreteau 15:c2fc239e85df 133
ClementBreteau 15:c2fc239e85df 134 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 135 msgTx.data[0]=11;
ClementBreteau 15:c2fc239e85df 136 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 137 msgTx.data[2]=angle;
ClementBreteau 15:c2fc239e85df 138
ClementBreteau 15:c2fc239e85df 139 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 140 break;
antbig 9:d0042422d95a 141
antbig 8:0edc7dfb7f7e 142 case 112://Ouvrir la pince arrière basse
ClementBreteau 15:c2fc239e85df 143 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 144 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 145 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 146 msgTx.len=2;
antbig 8:0edc7dfb7f7e 147
ClementBreteau 15:c2fc239e85df 148 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 149 msgTx.data[0]=12;
ClementBreteau 15:c2fc239e85df 150 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 151
ClementBreteau 15:c2fc239e85df 152 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 153 break;
ClementBreteau 15:c2fc239e85df 154
antbig 12:14729d584500 155 case 120://Activer les pompes
ClementBreteau 15:c2fc239e85df 156 /*AX12_setGoal(AX12_ID_VENTOUSE, AX12_ANGLE_VENTOUSE_UP,AX12_SPEED_VENTOUSE);
ClementBreteau 15:c2fc239e85df 157 AX12_processChange();*/
antbig 12:14729d584500 158
antbig 12:14729d584500 159
antbig 12:14729d584500 160 msgTx.id=POMPE_PWM;
antbig 12:14729d584500 161 msgTx.format=CANStandard;
antbig 12:14729d584500 162 msgTx.type=CANData;
antbig 12:14729d584500 163 msgTx.len=6;
antbig 12:14729d584500 164
antbig 12:14729d584500 165 // x sur 2 octets
antbig 12:14729d584500 166 msgTx.data[0]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 167 msgTx.data[1]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 168 msgTx.data[2]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 169 msgTx.data[3]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 170 msgTx.data[4]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 171 msgTx.data[5]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 172
antbig 12:14729d584500 173 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 174 break;
antbig 12:14729d584500 175 case 121://Désactiver les pompes
antbig 12:14729d584500 176 msgTx.id=POMPE_PWM;
antbig 12:14729d584500 177 msgTx.format=CANStandard;
antbig 12:14729d584500 178 msgTx.type=CANData;
antbig 12:14729d584500 179 msgTx.len=6;
antbig 12:14729d584500 180
antbig 12:14729d584500 181 // x sur 2 octets
antbig 12:14729d584500 182 msgTx.data[0]=(unsigned char)0;
antbig 12:14729d584500 183 msgTx.data[1]=(unsigned char)0;
antbig 12:14729d584500 184 msgTx.data[2]=(unsigned char)0;
antbig 12:14729d584500 185 msgTx.data[3]=(unsigned char)0;
antbig 12:14729d584500 186 msgTx.data[4]=(unsigned char)0;
antbig 12:14729d584500 187 msgTx.data[5]=(unsigned char)0;
antbig 12:14729d584500 188
antbig 12:14729d584500 189 can1.write(msgTx);
antbig 12:14729d584500 190 break;
antbig 12:14729d584500 191
antbig 12:14729d584500 192 case 10://Désactiver le stop
antbig 12:14729d584500 193 isStopEnable = 0;
antbig 12:14729d584500 194 break;
antbig 12:14729d584500 195 case 11://Activer le stop
antbig 12:14729d584500 196 isStopEnable = 1;
antbig 12:14729d584500 197 break;
antbig 12:14729d584500 198 case 20://Désactiver l'asservissement
antbig 12:14729d584500 199 setAsservissementEtat(0);
antbig 12:14729d584500 200 break;
antbig 12:14729d584500 201 case 21://Activer l'asservissement
antbig 12:14729d584500 202 setAsservissementEtat(1);
antbig 12:14729d584500 203 break;
antbig 12:14729d584500 204
antbig 12:14729d584500 205 case 22://Changer la vitesse du robot
antbig 12:14729d584500 206 SendSpeed(speed,(unsigned short)angle);
antbig 12:14729d584500 207 break;
antbig 12:14729d584500 208
antbig 12:14729d584500 209 case 30://Action tempo
antbig 12:14729d584500 210 wait_ms(speed);
antbig 12:14729d584500 211 break;
antbig 12:14729d584500 212
ClementBreteau 14:c8fc06c4887f 213 case 40: // demande au telemetre la position d'un objet
ClementBreteau 14:c8fc06c4887f 214 //SendRawId(TELEMETRE_RECHERCHE_OBJET);
ClementBreteau 15:c2fc239e85df 215
ClementBreteau 15:c2fc239e85df 216 modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 217
ClementBreteau 15:c2fc239e85df 218 //angle = angle /10;
ClementBreteau 15:c2fc239e85df 219
ClementBreteau 15:c2fc239e85df 220 msgTx.id=TELEMETRE_OBJET;
ClementBreteau 15:c2fc239e85df 221 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 222 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 223 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 224 // indice du module sur le terrain
ClementBreteau 15:c2fc239e85df 225 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 226
ClementBreteau 15:c2fc239e85df 227 /*
ClementBreteau 15:c2fc239e85df 228 // x sur 2 octets
ClementBreteau 15:c2fc239e85df 229 msgTx.data[0]=(unsigned char)speed;
ClementBreteau 15:c2fc239e85df 230 msgTx.data[1]=(unsigned char)(speed>>8);
ClementBreteau 15:c2fc239e85df 231 // y sur 2 octets
ClementBreteau 15:c2fc239e85df 232 msgTx.data[2]=(unsigned char)angle;
ClementBreteau 15:c2fc239e85df 233 msgTx.data[3]=(unsigned char)(angle>>8);
ClementBreteau 15:c2fc239e85df 234 // theta signé sur 2 octets
ClementBreteau 15:c2fc239e85df 235 //msgTx.data[4]=(unsigned char)theta;
ClementBreteau 15:c2fc239e85df 236 //msgTx.data[5]=(unsigned char)(theta>>8);
ClementBreteau 15:c2fc239e85df 237 msgTx.data[4]=0;
ClementBreteau 15:c2fc239e85df 238 msgTx.data[5]=0;*/
ClementBreteau 15:c2fc239e85df 239
ClementBreteau 15:c2fc239e85df 240 can1.write(msgTx);
ClementBreteau 15:c2fc239e85df 241
ClementBreteau 15:c2fc239e85df 242 break;
ClementBreteau 14:c8fc06c4887f 243
antbig 12:14729d584500 244 case 130://Lancer mouvement de sortie de la zone de départ
ClementBreteau 15:c2fc239e85df 245 msgTx.id=ACTION_BIG_DEMARRAGE;
ClementBreteau 15:c2fc239e85df 246 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 247 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 248 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 249 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 250 can1.write(msgTx);
antbig 12:14729d584500 251 break;
antbig 12:14729d584500 252
antbig 0:ad97421fb1fb 253 default:
antbig 0:ad97421fb1fb 254 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 255
antbig 0:ad97421fb1fb 256 }
antbig 0:ad97421fb1fb 257 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 258
antbig 0:ad97421fb1fb 259 }
antbig 0:ad97421fb1fb 260
antbig 0:ad97421fb1fb 261 /****************************************************************************************/
antbig 0:ad97421fb1fb 262 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 263 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 264 /****************************************************************************************/
antbig 9:d0042422d95a 265 void initRobot(void)
antbig 9:d0042422d95a 266 {
antbig 9:d0042422d95a 267 //Enregistrement de tous les AX12 présent sur la carte
ClementBreteau 15:c2fc239e85df 268 /*AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 269 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 270 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 271 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 272 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 273 AX12_register(8, AX12_SERIAL1);
ClementBreteau 15:c2fc239e85df 274 AX12_register(7, AX12_SERIAL2);*/
antbig 9:d0042422d95a 275
antbig 12:14729d584500 276 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 277 //AX12_processChange();
antbig 11:ed13a480ddca 278 //runRobotTest();
antbig 9:d0042422d95a 279 }
antbig 9:d0042422d95a 280
antbig 9:d0042422d95a 281 /****************************************************************************************/
antbig 12:14729d584500 282 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 283 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 284 /****************************************************************************************/
antbig 12:14729d584500 285 void initRobotActionneur(void)
antbig 12:14729d584500 286 {
antbig 12:14729d584500 287 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 288 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 289 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 290 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 291 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 292 doAction(106,0,0);//Remonter le support du cone arriere
antbig 12:14729d584500 293 }
antbig 12:14729d584500 294
antbig 12:14729d584500 295 /****************************************************************************************/
antbig 9:d0042422d95a 296 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 297 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 298 /****************************************************************************************/
antbig 9:d0042422d95a 299 void runRobotTest(void)
antbig 9:d0042422d95a 300 {
antbig 12:14729d584500 301 int waitTime = 500;
antbig 12:14729d584500 302
antbig 9:d0042422d95a 303 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 304 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 305 wait_ms(waitTime);
antbig 9:d0042422d95a 306 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 307 wait_ms(waitTime);
antbig 9:d0042422d95a 308 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 309 wait_ms(waitTime);
antbig 9:d0042422d95a 310 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 311 wait_ms(waitTime);
antbig 9:d0042422d95a 312 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 313 wait_ms(waitTime);
antbig 9:d0042422d95a 314 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 315 wait_ms(waitTime);
antbig 12:14729d584500 316 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 317 wait_ms(waitTime);
antbig 12:14729d584500 318 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 319 wait_ms(waitTime);
antbig 12:14729d584500 320 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 321 wait_ms(waitTime);
antbig 12:14729d584500 322 doAction(102,0,0);//Remonter le peigne
antbig 0:ad97421fb1fb 323 }
antbig 3:19f2285a4757 324
antbig 4:88431b537477 325 /****************************************************************************************/
antbig 4:88431b537477 326 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 327 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 328 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 329 /****************************************************************************************/
antbig 4:88431b537477 330 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 331 {
antbig 4:88431b537477 332 switch(id)
antbig 4:88431b537477 333 {
ClementBreteau 15:c2fc239e85df 334 // strat de match
antbig 4:88431b537477 335 case 1:
antbig 11:ed13a480ddca 336 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 337 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 338 case 2:
antbig 11:ed13a480ddca 339 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 340 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 341 case 3:
antbig 11:ed13a480ddca 342 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 343 return FileExists(cheminFileStart);
antbig 12:14729d584500 344 case 4:
antbig 12:14729d584500 345 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 346 return FileExists(cheminFileStart);
antbig 12:14729d584500 347 case 5:
antbig 12:14729d584500 348 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 349 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 350 case 6:
ClementBreteau 14:c8fc06c4887f 351 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 352 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 353 case 7:
ClementBreteau 14:c8fc06c4887f 354 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 355 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 356 case 8:
ClementBreteau 14:c8fc06c4887f 357 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 358 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 359 case 9:
ClementBreteau 14:c8fc06c4887f 360 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 361 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 362 case 10:
ClementBreteau 14:c8fc06c4887f 363 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 364 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 365
ClementBreteau 15:c2fc239e85df 366 // strat de demo
ClementBreteau 14:c8fc06c4887f 367 case 0x10:
ClementBreteau 14:c8fc06c4887f 368 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 369 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 370 case 0x11:
ClementBreteau 15:c2fc239e85df 371 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 372 strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau 15:c2fc239e85df 373 #else
ClementBreteau 15:c2fc239e85df 374 strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau 15:c2fc239e85df 375 #endif
ClementBreteau 14:c8fc06c4887f 376 return FileExists(cheminFileStart);
ClementBreteau 15:c2fc239e85df 377 case 0x12:
ClementBreteau 15:c2fc239e85df 378 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 379 strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau 15:c2fc239e85df 380 #else
ClementBreteau 15:c2fc239e85df 381 strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau 15:c2fc239e85df 382 #endif
ClementBreteau 15:c2fc239e85df 383 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 384 default:
antbig 12:14729d584500 385 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 386 return 0;
antbig 4:88431b537477 387 }
antbig 4:88431b537477 388 }
antbig 4:88431b537477 389
antbig 12:14729d584500 390 /****************************************************************************************/
antbig 12:14729d584500 391 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 392 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 393 /****************************************************************************************/
antbig 12:14729d584500 394 unsigned char needToStop(void)
antbig 12:14729d584500 395 {
antbig 12:14729d584500 396 return isStopEnable;
antbig 12:14729d584500 397 }
antbig 12:14729d584500 398
antbig 12:14729d584500 399 /****************************************************************************************/
antbig 12:14729d584500 400 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 401 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 402 /****************************************************************************************/
antbig 12:14729d584500 403 void doBeforeEndAction(void)
antbig 12:14729d584500 404 {
antbig 12:14729d584500 405 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 406 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 407 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 408 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 409 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 410 }
antbig 12:14729d584500 411
antbig 3:19f2285a4757 412 #endif