CRAC Team / CRAC-Strat_2017_homologation_gros_rob

homologation gros robot

Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by CRAC Team

Robots/Strategie_small.cpp@11:ed13a480ddca, 2016-05-02 (annotated)

Committer:
antbig
Date:
Mon May 02 19:40:59 2016 +0000
Revision:
11:ed13a480ddca
Parent:
10:a788d9cf60f2
Child:
12:14729d584500
Ajout de toutes les actions et de leurs sym?trique

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 3:19f2285a4757 1 #include "StrategieManager.h"
antbig 3:19f2285a4757 2 #ifdef ROBOT_SMALL
antbig 3:19f2285a4757 3 #include "Config_small.h"
antbig 3:19f2285a4757 4
antbig 3:19f2285a4757 5 /****************************************************************************************/
antbig 3:19f2285a4757 6 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 7 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 8 /****************************************************************************************/
antbig 3:19f2285a4757 9 void doFunnyAction(void) {
antbig 3:19f2285a4757 10
antbig 3:19f2285a4757 11
antbig 3:19f2285a4757 12 }
antbig 10:a788d9cf60f2 13 //L'angle est entre 0 et 1023
antbig 10:a788d9cf60f2 14 void XL320_setGoal(unsigned char id, unsigned short angle);
antbig 10:a788d9cf60f2 15
antbig 10:a788d9cf60f2 16 void XL320_setGoal(unsigned char id, unsigned short angle)
antbig 10:a788d9cf60f2 17 {
antbig 10:a788d9cf60f2 18 CANMessage msgTx=CANMessage();
antbig 10:a788d9cf60f2 19 msgTx.id=SERVO_XL320;
antbig 10:a788d9cf60f2 20 msgTx.len=3;
antbig 10:a788d9cf60f2 21 msgTx.format=CANStandard;
antbig 10:a788d9cf60f2 22 msgTx.type=CANData;
antbig 10:a788d9cf60f2 23 msgTx.data[0]=(unsigned char)id;
antbig 10:a788d9cf60f2 24 // from sur 2 octets
antbig 10:a788d9cf60f2 25 msgTx.data[1]=(unsigned char)angle;
antbig 10:a788d9cf60f2 26 msgTx.data[2]=(unsigned char)(angle>>8);
antbig 10:a788d9cf60f2 27
antbig 10:a788d9cf60f2 28 can1.write(msgTx);
antbig 10:a788d9cf60f2 29 }
antbig 3:19f2285a4757 30
antbig 3:19f2285a4757 31 /****************************************************************************************/
antbig 3:19f2285a4757 32 /* FUNCTION NAME: doAction */
antbig 3:19f2285a4757 33 /* DESCRIPTION : Effectuer une action specifique */
antbig 3:19f2285a4757 34 /****************************************************************************************/
antbig 3:19f2285a4757 35 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 3:19f2285a4757 36 switch(id) {
antbig 10:a788d9cf60f2 37 case 101://Descendre le bras pour pecher les poissons
antbig 11:ed13a480ddca 38 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 39 AX12_setGoal(
antbig 11:ed13a480ddca 40 AX12_ID_BRAS_BASE_DROIT,
antbig 11:ed13a480ddca 41 AX12_ANGLE_BRAS_BASE_DROIT_OUVERT,
antbig 11:ed13a480ddca 42 AX12_SPEED_BRAS_BASE
antbig 11:ed13a480ddca 43 );
antbig 3:19f2285a4757 44 AX12_processChange();
antbig 11:ed13a480ddca 45 waitingAckID = AX12_ID_BRAS_BASE_DROIT;
antbig 11:ed13a480ddca 46 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 47 } else {
antbig 11:ed13a480ddca 48 AX12_setGoal(
antbig 11:ed13a480ddca 49 AX12_ID_BRAS_BASE_GAUCHE,
antbig 11:ed13a480ddca 50 AX12_ANGLE_BRAS_BASE_GAUCHE_OUVERT,
antbig 11:ed13a480ddca 51 AX12_SPEED_BRAS_BASE
antbig 11:ed13a480ddca 52 );
antbig 5:dcd817534b57 53 AX12_processChange();
antbig 11:ed13a480ddca 54 waitingAckID = AX12_ID_BRAS_BASE_GAUCHE;
antbig 11:ed13a480ddca 55 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 56 }
antbig 3:19f2285a4757 57 break;
antbig 10:a788d9cf60f2 58 case 102://Remonter le bras avec les poissons dessus
antbig 11:ed13a480ddca 59 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 60 AX12_setGoal(
antbig 11:ed13a480ddca 61 AX12_ID_BRAS_BASE_DROIT,
antbig 11:ed13a480ddca 62 AX12_ANGLE_BRAS_BASE_DROIT_MOITER,
antbig 11:ed13a480ddca 63 AX12_SPEED_BRAS_BASE
antbig 11:ed13a480ddca 64 );
antbig 3:19f2285a4757 65 AX12_processChange();
antbig 11:ed13a480ddca 66 waitingAckID = AX12_ID_BRAS_BASE_DROIT;
antbig 11:ed13a480ddca 67 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 68 } else {
antbig 11:ed13a480ddca 69 AX12_setGoal(
antbig 11:ed13a480ddca 70 AX12_ID_BRAS_BASE_GAUCHE,
antbig 11:ed13a480ddca 71 AX12_ANGLE_BRAS_BASE_GAUCHE_MOITER,
antbig 11:ed13a480ddca 72 AX12_SPEED_BRAS_BASE
antbig 11:ed13a480ddca 73 );
antbig 5:dcd817534b57 74 AX12_processChange();
antbig 11:ed13a480ddca 75 waitingAckID = AX12_ID_BRAS_BASE_GAUCHE;
antbig 11:ed13a480ddca 76 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 77 }
antbig 3:19f2285a4757 78 break;
antbig 10:a788d9cf60f2 79 case 103://Decendre à 30°
antbig 11:ed13a480ddca 80 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 81 AX12_setGoal(
antbig 11:ed13a480ddca 82 AX12_ID_BRAS_BASE_DROIT,
antbig 11:ed13a480ddca 83 AX12_ANGLE_BRAS_BASE_DROIT_RELACHER,
antbig 11:ed13a480ddca 84 AX12_SPEED_BRAS_BASE
antbig 11:ed13a480ddca 85 );
antbig 3:19f2285a4757 86 AX12_processChange();
antbig 11:ed13a480ddca 87 waitingAckID = AX12_ID_BRAS_BASE_DROIT;
antbig 11:ed13a480ddca 88 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 89 } else {
antbig 11:ed13a480ddca 90 AX12_setGoal(
antbig 11:ed13a480ddca 91 AX12_ID_BRAS_BASE_GAUCHE,
antbig 11:ed13a480ddca 92 AX12_ANGLE_BRAS_BASE_GAUCHE_RELACHER,
antbig 11:ed13a480ddca 93 AX12_SPEED_BRAS_BASE
antbig 11:ed13a480ddca 94 );
antbig 5:dcd817534b57 95 AX12_processChange();
antbig 11:ed13a480ddca 96 waitingAckID = AX12_ID_BRAS_BASE_GAUCHE;
antbig 11:ed13a480ddca 97 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 98 }
antbig 3:19f2285a4757 99 break;
antbig 10:a788d9cf60f2 100 case 104://ouvrir séparateur
antbig 11:ed13a480ddca 101 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 102 AX12_setGoal(
antbig 11:ed13a480ddca 103 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 11:ed13a480ddca 104 AX12_ANGLE_BRAS_RELACHEUR_DROIT_OUVERT,
antbig 11:ed13a480ddca 105 AX12_SPEED_BRAS_RELACHEUR
antbig 11:ed13a480ddca 106 );
antbig 3:19f2285a4757 107 AX12_processChange();
antbig 11:ed13a480ddca 108 waitingAckID = AX12_ID_BRAS_RELACHEUR_DROIT;
antbig 11:ed13a480ddca 109 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 110 } else {
antbig 11:ed13a480ddca 111 AX12_setGoal(
antbig 11:ed13a480ddca 112 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 11:ed13a480ddca 113 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_OUVERT,
antbig 11:ed13a480ddca 114 AX12_SPEED_BRAS_RELACHEUR
antbig 11:ed13a480ddca 115 );
antbig 5:dcd817534b57 116 AX12_processChange();
antbig 11:ed13a480ddca 117 waitingAckID = AX12_ID_BRAS_RELACHEUR_GAUCHE;
antbig 11:ed13a480ddca 118 waitingAckFrom = SERVO_AX12_DONE;
antbig 3:19f2285a4757 119 }
antbig 3:19f2285a4757 120 break;
antbig 10:a788d9cf60f2 121 case 105://Rentrer le bras dans le robot, fermer le séparateur
antbig 11:ed13a480ddca 122 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 123 AX12_setGoal(
antbig 11:ed13a480ddca 124 AX12_ID_BRAS_BASE_DROIT,
antbig 11:ed13a480ddca 125 AX12_ANGLE_BRAS_BASE_DROIT_REPLIER,
antbig 11:ed13a480ddca 126 AX12_SPEED_BRAS_BASE
antbig 11:ed13a480ddca 127 );
antbig 11:ed13a480ddca 128 AX12_setGoal(
antbig 11:ed13a480ddca 129 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 11:ed13a480ddca 130 AX12_ANGLE_BRAS_RELACHEUR_DROIT_REPLIER,
antbig 11:ed13a480ddca 131 AX12_SPEED_BRAS_RELACHEUR
antbig 11:ed13a480ddca 132 );
antbig 11:ed13a480ddca 133 AX12_processChange();
antbig 11:ed13a480ddca 134 waitingAckID = AX12_ID_BRAS_BASE_DROIT;
antbig 11:ed13a480ddca 135 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 136 } else {
antbig 11:ed13a480ddca 137 AX12_setGoal(
antbig 11:ed13a480ddca 138 AX12_ID_BRAS_BASE_GAUCHE,
antbig 11:ed13a480ddca 139 AX12_ANGLE_BRAS_BASE_GAUCHE_REPLIER,
antbig 11:ed13a480ddca 140 AX12_SPEED_BRAS_RELACHEUR
antbig 11:ed13a480ddca 141 );
antbig 11:ed13a480ddca 142 AX12_setGoal(
antbig 11:ed13a480ddca 143 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 11:ed13a480ddca 144 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_REPLIER,
antbig 11:ed13a480ddca 145 AX12_SPEED_BRAS_RELACHEUR
antbig 11:ed13a480ddca 146 );
antbig 11:ed13a480ddca 147 AX12_processChange();
antbig 11:ed13a480ddca 148 waitingAckID = AX12_ID_BRAS_BASE_GAUCHE;
antbig 11:ed13a480ddca 149 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 150 }
antbig 10:a788d9cf60f2 151 break;
antbig 11:ed13a480ddca 152 case 106://descendre l'attrape coquillages au niveau des rochets gauche si non inversé, droit si inversé
antbig 11:ed13a480ddca 153 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 154 AX12_setGoal(
antbig 11:ed13a480ddca 155 AX12_ID_PALET_DROIT,
antbig 11:ed13a480ddca 156 AX12_ANGLE_PALET_DROIT_ROCHET,
antbig 11:ed13a480ddca 157 AX12_SPEED_PALET
antbig 11:ed13a480ddca 158 );
antbig 11:ed13a480ddca 159 AX12_processChange();
antbig 11:ed13a480ddca 160 waitingAckID = AX12_ID_PALET_DROIT;
antbig 11:ed13a480ddca 161 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 162 } else {
antbig 11:ed13a480ddca 163 AX12_setGoal(
antbig 11:ed13a480ddca 164 AX12_ID_PALET_GAUCHE,
antbig 11:ed13a480ddca 165 AX12_ANGLE_PALET_GAUCHE_ROCHET,
antbig 11:ed13a480ddca 166 AX12_SPEED_PALET
antbig 11:ed13a480ddca 167 );
antbig 11:ed13a480ddca 168 AX12_processChange();
antbig 11:ed13a480ddca 169 waitingAckID = AX12_ID_PALET_GAUCHE;
antbig 11:ed13a480ddca 170 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 171 }
antbig 11:ed13a480ddca 172 break;
antbig 11:ed13a480ddca 173 case 107://descendre l'attrape coquillages au niveau de la table gauche si non inversé, droit si inversé
antbig 11:ed13a480ddca 174 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 175 AX12_setGoal(
antbig 11:ed13a480ddca 176 AX12_ID_PALET_DROIT,
antbig 11:ed13a480ddca 177 AX12_ANGLE_PALET_DROIT_OUVERT,
antbig 11:ed13a480ddca 178 AX12_SPEED_PALET
antbig 11:ed13a480ddca 179 );
antbig 11:ed13a480ddca 180 AX12_processChange();
antbig 11:ed13a480ddca 181 waitingAckID = AX12_ID_PALET_DROIT;
antbig 11:ed13a480ddca 182 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 183 } else {
antbig 11:ed13a480ddca 184 AX12_setGoal(
antbig 11:ed13a480ddca 185 AX12_ID_PALET_GAUCHE,
antbig 11:ed13a480ddca 186 AX12_ANGLE_PALET_GAUCHE_OUVERT,
antbig 11:ed13a480ddca 187 AX12_SPEED_PALET
antbig 11:ed13a480ddca 188 );
antbig 11:ed13a480ddca 189 AX12_processChange();
antbig 11:ed13a480ddca 190 waitingAckID = AX12_ID_PALET_GAUCHE;
antbig 11:ed13a480ddca 191 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 192 }
antbig 11:ed13a480ddca 193 break;
antbig 11:ed13a480ddca 194 case 108://Remonter l'attrape coquillages gauche si non inversé, droit si inversé
antbig 11:ed13a480ddca 195 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
antbig 11:ed13a480ddca 196 AX12_setGoal(
antbig 11:ed13a480ddca 197 AX12_ID_PALET_DROIT,
antbig 11:ed13a480ddca 198 AX12_ANGLE_PALET_DROIT_FERMER,
antbig 11:ed13a480ddca 199 AX12_SPEED_PALET
antbig 11:ed13a480ddca 200 );
antbig 11:ed13a480ddca 201 AX12_processChange();
antbig 11:ed13a480ddca 202 waitingAckID = AX12_ID_PALET_DROIT;
antbig 11:ed13a480ddca 203 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 204 } else {
antbig 11:ed13a480ddca 205 AX12_setGoal(
antbig 11:ed13a480ddca 206 AX12_ID_PALET_GAUCHE,
antbig 11:ed13a480ddca 207 AX12_ANGLE_PALET_GAUCHE_FERMER,
antbig 11:ed13a480ddca 208 AX12_SPEED_PALET
antbig 11:ed13a480ddca 209 );
antbig 11:ed13a480ddca 210 AX12_processChange();
antbig 11:ed13a480ddca 211 waitingAckID = AX12_ID_PALET_GAUCHE;
antbig 11:ed13a480ddca 212 waitingAckFrom = SERVO_AX12_DONE;
antbig 11:ed13a480ddca 213 }
antbig 5:dcd817534b57 214 break;
antbig 10:a788d9cf60f2 215
antbig 11:ed13a480ddca 216
antbig 10:a788d9cf60f2 217 case 200://ouvir la pince gauche
antbig 11:ed13a480ddca 218 if(InversStrat == 1) {
antbig 11:ed13a480ddca 219 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_FERMER);
antbig 11:ed13a480ddca 220 } else {
antbig 11:ed13a480ddca 221 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_FERMER);
antbig 11:ed13a480ddca 222 }
antbig 10:a788d9cf60f2 223 break;
antbig 10:a788d9cf60f2 224 case 205://Sécuriser le palet gauche
antbig 11:ed13a480ddca 225 if(InversStrat == 1) {
antbig 11:ed13a480ddca 226 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_SECURISE);
antbig 11:ed13a480ddca 227 } else {
antbig 11:ed13a480ddca 228 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_SECURISE);
antbig 11:ed13a480ddca 229 }
antbig 10:a788d9cf60f2 230 break;
antbig 10:a788d9cf60f2 231 case 202://fermer pince gauche
antbig 11:ed13a480ddca 232 if(InversStrat == 1) {
antbig 11:ed13a480ddca 233 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_FERMER);
antbig 11:ed13a480ddca 234 } else {
antbig 11:ed13a480ddca 235 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_FERMER);
antbig 11:ed13a480ddca 236 }
antbig 10:a788d9cf60f2 237 break;
antbig 10:a788d9cf60f2 238
antbig 10:a788d9cf60f2 239 case 201://ouvir la pince droite
antbig 11:ed13a480ddca 240 if(InversStrat == 1) {
antbig 11:ed13a480ddca 241 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_OUVERTE);
antbig 11:ed13a480ddca 242 } else {
antbig 11:ed13a480ddca 243 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_OUVERTE);
antbig 11:ed13a480ddca 244 }
antbig 10:a788d9cf60f2 245 break;
antbig 10:a788d9cf60f2 246 case 204://Sécuriser le palet droit
antbig 11:ed13a480ddca 247 if(InversStrat == 1) {
antbig 11:ed13a480ddca 248 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_SECURISE);
antbig 11:ed13a480ddca 249 } else {
antbig 11:ed13a480ddca 250 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_SECURISE);
antbig 11:ed13a480ddca 251 }
antbig 10:a788d9cf60f2 252 break;
antbig 10:a788d9cf60f2 253 case 203://fermer pince droite
antbig 11:ed13a480ddca 254 if(InversStrat == 1) {
antbig 11:ed13a480ddca 255 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_FERMER);
antbig 11:ed13a480ddca 256 } else {
antbig 11:ed13a480ddca 257 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_FERMER);
antbig 11:ed13a480ddca 258 }
antbig 10:a788d9cf60f2 259 break;
antbig 10:a788d9cf60f2 260
antbig 3:19f2285a4757 261 default:
antbig 10:a788d9cf60f2 262 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 3:19f2285a4757 263
antbig 3:19f2285a4757 264 }
antbig 11:ed13a480ddca 265 return 1;//L'action est spécifique.
antbig 3:19f2285a4757 266
antbig 3:19f2285a4757 267 }
antbig 3:19f2285a4757 268
antbig 3:19f2285a4757 269 /****************************************************************************************/
antbig 3:19f2285a4757 270 /* FUNCTION NAME: initRobot */
antbig 3:19f2285a4757 271 /* DESCRIPTION : initialiser le robot */
antbig 3:19f2285a4757 272 /****************************************************************************************/
antbig 3:19f2285a4757 273 void initRobot(void) {
antbig 3:19f2285a4757 274 /**
antbig 3:19f2285a4757 275 On enregistre les id des AX12 présent sur la carte
antbig 3:19f2285a4757 276 **/
antbig 5:dcd817534b57 277 AX12_register(1,AX12_SERIAL1,0x0FF);
antbig 5:dcd817534b57 278 AX12_register(2,AX12_SERIAL1);
antbig 5:dcd817534b57 279 AX12_register(18,AX12_SERIAL1);
antbig 5:dcd817534b57 280 AX12_register(4,AX12_SERIAL2);
antbig 5:dcd817534b57 281 AX12_register(16,AX12_SERIAL2);
antbig 5:dcd817534b57 282 AX12_register(17,AX12_SERIAL2,0x0FF);
antbig 5:dcd817534b57 283 /*
antbig 5:dcd817534b57 284 AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
antbig 5:dcd817534b57 285 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 5:dcd817534b57 286 AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF);
antbig 5:dcd817534b57 287 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras
antbig 5:dcd817534b57 288 AX12_processChange();*/
antbig 3:19f2285a4757 289 }
antbig 3:19f2285a4757 290
antbig 4:88431b537477 291 /****************************************************************************************/
antbig 9:d0042422d95a 292 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 293 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 294 /****************************************************************************************/
antbig 9:d0042422d95a 295 void runRobotTest(void)
antbig 9:d0042422d95a 296 {
antbig 9:d0042422d95a 297
antbig 9:d0042422d95a 298 }
antbig 9:d0042422d95a 299
antbig 9:d0042422d95a 300 /****************************************************************************************/
antbig 4:88431b537477 301 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 302 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 303 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 304 /****************************************************************************************/
antbig 4:88431b537477 305 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 306 {
antbig 4:88431b537477 307 switch(id)
antbig 4:88431b537477 308 {
antbig 4:88431b537477 309 case 1:
antbig 4:88431b537477 310 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 4:88431b537477 311 return FileExists(cheminFileStart);
antbig 4:88431b537477 312 case 2:
antbig 4:88431b537477 313 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 4:88431b537477 314 return FileExists(cheminFileStart);
antbig 7:dcce34c7e06e 315 case 3:
antbig 7:dcce34c7e06e 316 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 7:dcce34c7e06e 317 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 318 case 4:
antbig 11:ed13a480ddca 319 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 11:ed13a480ddca 320 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 321 case 5:
antbig 11:ed13a480ddca 322 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 11:ed13a480ddca 323 return FileExists(cheminFileStart);
antbig 4:88431b537477 324 default:
antbig 4:88431b537477 325 strcpy(cheminFileStart,"/local/strat.txt");
antbig 4:88431b537477 326 return 0;
antbig 4:88431b537477 327 }
antbig 4:88431b537477 328 }
antbig 4:88431b537477 329
antbig 3:19f2285a4757 330 #endif