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

Files at this revision

API Documentation at this revision

Revision 22:a466d08ac42b, committed 2017-05-25

Comitter:
clementlignie
Date:
Thu May 25 14:40:49 2017 +0000
Parent:
21:590cdacb6a35
Commit message:
code de strart qui marche, le 25-05, a 16h40, apres le premier match

Changed in this revision

Strategie/Strategie.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Strategie/Strategie.cpp	Thu May 25 06:34:53 2017 +0000
+++ b/Strategie/Strategie.cpp	Thu May 25 14:40:49 2017 +0000
@@ -244,7 +244,13 @@
             SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
 #endif 
 #ifdef ROBOT_SMALL
-            SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,POSITION_DEBUT_Y,POSITION_DEBUT_T);
+            localData2 = POSITION_DEBUT_T;
+            localData3 = POSITION_DEBUT_Y;
+            if(InversStrat == 1) {
+                localData2 = -localData2;//Inversion theta
+                localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
+            }
+            SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,localData3,localData2);
 #endif
         break;
         case ETAT_GAME_WAIT_FOR_JACK:
@@ -338,17 +344,16 @@
                     } else {//C'est un rotation absolu, il faut la convertir en relative
                         localData2 = instruction.arg3;
                         
-                        if(InversStrat == 1) {
-                            localData2 = -localData2;
-                        }
-                        
                         localData2 = (localData2 - theta_robot)%3600;
                         if(localData2 > 1800) {
                             localData2 = localData2-3600;
                         }
                         
                     }
-                    
+                   
+                    if(InversStrat == 1) {
+                            localData2 = -localData2;
+                        }
                     Rotate(localData2);
                     waitingAckID = ASSERVISSEMENT_ROTATION;
                     waitingAckFrom = ACKNOWLEDGE_MOTEUR;