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

Diff: Robots/Strategie_big.cpp

Revision:
2:8d8e2cf798a3
Parent:
1:116040d14164
Child:
3:19f2285a4757
--- a/Robots/Strategie_big.cpp	Fri Apr 15 10:49:40 2016 +0000
+++ b/Robots/Strategie_big.cpp	Fri Apr 15 16:43:35 2016 +0000
@@ -19,22 +19,41 @@
     led2 = 1;
     switch(id) {
         case 101://Descendre le bras pour les poissons
-            AX12_setGoal(1,190,0x0FF);
-            AX12_processChange();
+            if(InversStrat == 1) {//Si c'est inversé
+                AX12_setGoal(1,200,0x0FF);
+                AX12_processChange();
+            } else {
+                
+            }
         break;
         case 102://Remonter bras moiter
-            AX12_setGoal(1,260,0x0FF);
-            AX12_processChange();
+            if(InversStrat == 1) {//Si c'est inversé
+                AX12_setGoal(1,270,0x0FF);
+                AX12_processChange();
+            } else {
+                
+            }
         break;
         case 103://Lacher les poissons
-            AX12_setGoal(1,230,0x0FF);
-            AX12_setGoal(2,60);//Ouverture du bras
-            AX12_processChange();
+            if(InversStrat == 1) {//Si c'est inversé
+            
+                AX12_setGoal(1,210,0x0FF);
+                AX12_processChange();
+                wait_ms(500);
+                AX12_setGoal(2,90);//Ouverture du bras
+                AX12_processChange();
+            } else {
+                
+            }
         break;
         case 104://Rentrer le bras
-            AX12_setGoal(1,280,0x0FF);
-            AX12_setGoal(2,160);//fermer le bras
-            AX12_processChange();
+            if(InversStrat == 1) {//Si c'est inversé
+                AX12_setGoal(1,278,0x0FF);
+                AX12_setGoal(2,160);//fermer le bras
+                AX12_processChange();
+            } else {
+                
+            }
         break;
         default:
             return 0;//L'action n'existe pas, il faut utiliser le CAN