CRAC Team / CRAC-Strat_2017_fin_premier_match

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Fork of CRAC-Strat_2017_homologation_petit_rob by CRAC Team

Robots/Strategie_big.cpp

Committer:
antbig
Date:
2016-04-27
Revision:
8:0edc7dfb7f7e
Parent:
7:dcce34c7e06e
Child:
9:d0042422d95a

File content as of revision 8:0edc7dfb7f7e:

#include "StrategieManager.h"
#ifdef ROBOT_BIG
#include "Config_big.h"

/****************************************************************************************/
/* FUNCTION NAME: doFunnyAction                                                         */
/* DESCRIPTION  : Permet de faire la funny action en fin de partie                      */
/****************************************************************************************/
void doFunnyAction(void) {
    
    
}

/****************************************************************************************/
/* FUNCTION NAME: doAction                                                              */
/* DESCRIPTION  : Effectuer une action specifique                                       */
/****************************************************************************************/
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);
            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
        
    }
    return 1;//L'action est spécifique.
    
}

/****************************************************************************************/
/* FUNCTION NAME: initRobot                                                             */
/* DESCRIPTION  : initialiser le robot                                                  */
/****************************************************************************************/
void initRobot(void) {
    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);
}

/****************************************************************************************/
/* FUNCTION NAME: SelectStrategy                                                        */
/* DESCRIPTION  : Charger le fichier de stratégie correspondante à un id                */
/* RETURN       : 0=> Erreur, 1=> OK si le fichier existe                               */
/****************************************************************************************/
int SelectStrategy(unsigned char id)
{
    switch(id)
    {
        case 1:
        
        break;
    }
    return 0;
}

#endif