CRAC Team / CRAC-Strat_2017_fin_premier_match

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Fork of CRAC-Strat_2017_homologation_petit_rob by CRAC Team

Diff: Robots/Strategie_big.cpp

Revision:
8:0edc7dfb7f7e
Parent:
7:dcce34c7e06e
Child:
9:d0042422d95a
--- a/Robots/Strategie_big.cpp	Tue Apr 26 15:30:54 2016 +0000
+++ b/Robots/Strategie_big.cpp	Wed Apr 27 13:05:03 2016 +0000
@@ -20,6 +20,32 @@
         case 101:
         
         break;
+        case 110://Ouvrir la pince arrière haute
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 205);
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 95);
+            AX12_processChange();
+        break;
+        case 111://Fermer la pince arrière haute
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 145);
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 155);
+            AX12_processChange();
+        break;
+        case 112://Ouvrir la pince arrière basse
+        
+        break;
+        case 113://Fermer la pince arrière basse
+        
+        break;
+        case 114://Ouvrir les portes arrières
+            AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 250);
+            AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 50);
+            AX12_processChange();
+        break;
+        case 115://Fermer les portes arrière
+            AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 145);
+            AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 155);
+            AX12_processChange();
+        break;
         default:
             return 0;//L'action n'existe pas, il faut utiliser le CAN
         
@@ -33,17 +59,12 @@
 /* DESCRIPTION  : initialiser le robot                                                  */
 /****************************************************************************************/
 void initRobot(void) {
-    AX12_register(1,AX12_SERIAL1);
-    AX12_register(2,AX12_SERIAL1);
-    AX12_register(3,AX12_SERIAL1);
-    AX12_register(4,AX12_SERIAL1);
-    AX12_register(5,AX12_SERIAL1);
-    AX12_register(6,AX12_SERIAL1);
-    AX12_register(7,AX12_SERIAL1);
-    AX12_register(8,AX12_SERIAL1);
-    AX12_register(9,AX12_SERIAL1);
-    AX12_register(11,AX12_SERIAL1);
-    AX12_register(13,AX12_SERIAL1);
+    AX12_register(4,  AX12_SERIAL1);
+    AX12_register(14, AX12_SERIAL1);
+    AX12_register(15, AX12_SERIAL1);
+    AX12_register(5,  AX12_SERIAL2);
+    AX12_register(18, AX12_SERIAL2);
+    AX12_register(13, AX12_SERIAL2);
 }
 
 /****************************************************************************************/