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:
14:c8fc06c4887f
Parent:
12:14729d584500
Child:
15:c2fc239e85df
--- a/Robots/Strategie_big.cpp	Tue Jan 31 16:00:33 2017 +0000
+++ b/Robots/Strategie_big.cpp	Fri Mar 31 16:20:26 2017 +0000
@@ -35,6 +35,7 @@
         
         case 102://Remonter le peigne
             AX12_setGoal(AX12_ID_PEIGNE, AX12_ANGLE_PEIGNE_UP);
+            SendRawId(0x123);
             AX12_processChange();
         break;
         case 103://Descendre le peigne
@@ -158,6 +159,12 @@
             wait_ms(speed);
         break;
         
+        case 40: // demande au telemetre la position d'un objet
+            //SendRawId(TELEMETRE_RECHERCHE_OBJET);
+            waitingAckID = ACKNOWLEDGE_TELEMETRE;
+            waitingAckFrom = 0;
+            modeTelemetre =1;
+        
         case 130://Lancer mouvement de sortie de la zone de départ
             SendRawId(ACTION_BIG_DEMARRAGE);
             waitingAckID = ACTION_BIG_DEMARRAGE;
@@ -260,6 +267,30 @@
         case 5:
             strcpy(cheminFileStart,"/local/strat5.txt");
             return FileExists(cheminFileStart);
+        case 6:
+            strcpy(cheminFileStart,"/local/strat6.txt");
+            return FileExists(cheminFileStart);
+        case 7:
+            strcpy(cheminFileStart,"/local/strat7.txt");
+            return FileExists(cheminFileStart);
+        case 8:
+            strcpy(cheminFileStart,"/local/strat8.txt");
+            return FileExists(cheminFileStart);
+        case 9:
+            strcpy(cheminFileStart,"/local/strat9.txt");
+            return FileExists(cheminFileStart);
+        case 10:
+            strcpy(cheminFileStart,"/local/strat10.txt");
+            return FileExists(cheminFileStart);
+        
+        //
+        case 0x10:
+            strcpy(cheminFileStart,"/local/moteur.txt");
+            return FileExists(cheminFileStart);
+        case 0x11:
+            strcpy(cheminFileStart,"/local/moteur2.txt");
+            return FileExists(cheminFileStart);
+        
         default:
             strcpy(cheminFileStart,"/local/strat1.txt");
             return 0;