Diff: Robots/Strategie_big.cpp

Revision:

9:d0042422d95a

Parent:

8:0edc7dfb7f7e

Child:

11:ed13a480ddca

--- a/Robots/Strategie_big.cpp	Wed Apr 27 13:05:03 2016 +0000
+++ b/Robots/Strategie_big.cpp	Thu Apr 28 08:11:36 2016 +0000
@@ -7,7 +7,9 @@
 /* DESCRIPTION  : Permet de faire la funny action en fin de partie                      */
 /****************************************************************************************/
 void doFunnyAction(void) {
-    
+    AX12_setGoal(AX12_ID_FUNNY_ACTION, 275);
+    AX12_setGoal(AX12_ID_FUNNY_ACTION, 180);
+    AX12_processChange();
     
 }
 
@@ -17,9 +19,7 @@
 /****************************************************************************************/
 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
     switch(id) {
-        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);
@@ -30,12 +30,18 @@
             AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 155);
             AX12_processChange();
         break;
+        
         case 112://Ouvrir la pince arrière basse
-        
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 205);
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 95);
+            AX12_processChange();
         break;
         case 113://Fermer la pince arrière basse
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 145);
+            AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 155);
+            AX12_processChange();
+        break;
         
-        break;
         case 114://Ouvrir les portes arrières
             AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 250);
             AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 50);
@@ -58,13 +64,38 @@
 /* FUNCTION NAME: initRobot                                                             */
 /* DESCRIPTION  : initialiser le robot                                                  */
 /****************************************************************************************/
-void initRobot(void) {
+void initRobot(void) 
+{
+    //Enregistrement de tous les AX12 présent sur la carte
     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);
+    AX12_register(1,  AX12_SERIAL2);
+    
+    runRobotTest();
+}
+
+/****************************************************************************************/
+/* FUNCTION NAME: runTest                                                               */
+/* DESCRIPTION  : tester l'ensemble des actionneurs du robot                            */
+/****************************************************************************************/
+void runRobotTest(void) 
+{
+    //Test des AX12 dans l'ordre
+    doAction(111,0,0);//Fermeture pince arrière haute
+    wait_ms(500);
+    doAction(110,0,0);//Ouverture pince arrière haute
+    wait_ms(500);
+    doAction(113,0,0);//Fermeture pince arrière basse
+    wait_ms(500);
+    doAction(112,0,0);//Ouverture pince arrière basse
+    wait_ms(500);
+    doAction(115,0,0);//Fermeture porte arrière
+    wait_ms(500);
+    doAction(114,0,0);//Ouverture porte arrière
 }
 
 /****************************************************************************************/