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_small.cpp

Revision:
9:d0042422d95a
Parent:
7:dcce34c7e06e
Child:
10:a788d9cf60f2
diff -r 0edc7dfb7f7e -r d0042422d95a Robots/Strategie_small.cpp
--- a/Robots/Strategie_small.cpp	Wed Apr 27 13:05:03 2016 +0000
+++ b/Robots/Strategie_small.cpp	Thu Apr 28 08:11:36 2016 +0000
@@ -17,7 +17,7 @@
 /****************************************************************************************/
 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
     switch(id) {
-        case 101://Descendre le bras pour les poissons
+        /*case 101://Descendre le bras pour les poissons
             if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté gauche
                 AX12_setGoal(AX12_ID_BRAS_BASE_INV,200,0x0FF);
                 AX12_processChange();
@@ -62,12 +62,14 @@
         case 106:
             //AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
             //AX12_processChange();
-        break;
+        break;*/
         default:
-            return 0;//L'action n'existe pas, il faut utiliser le CAN
+            waitingAckFrom = 0;
+            waitingAckID = 0;
+            return 1;//L'action n'existe pas, il faut utiliser le CAN
         
     }
-    return 1;//L'action est spécifique.
+    //return 1;//L'action est spécifique.
     
 }
 
@@ -94,6 +96,15 @@
 }
 
 /****************************************************************************************/
+/* FUNCTION NAME: runTest                                                               */
+/* DESCRIPTION  : tester l'ensemble des actionneurs du robot                            */
+/****************************************************************************************/
+void runRobotTest(void) 
+{
+    
+}
+
+/****************************************************************************************/
 /* FUNCTION NAME: SelectStrategy                                                        */
 /* DESCRIPTION  : Charger le fichier de stratégie correspondante à un id                */
 /* RETURN       : 0=> Erreur, 1=> OK si le fichier existe                               */