code petit robot pour homologation
Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by
Diff: Robots/Strategie_big.cpp
- Revision:
- 2:8d8e2cf798a3
- Parent:
- 1:116040d14164
- Child:
- 3:19f2285a4757
diff -r 116040d14164 -r 8d8e2cf798a3 Robots/Strategie_big.cpp --- a/Robots/Strategie_big.cpp Fri Apr 15 10:49:40 2016 +0000 +++ b/Robots/Strategie_big.cpp Fri Apr 15 16:43:35 2016 +0000 @@ -19,22 +19,41 @@ led2 = 1; switch(id) { case 101://Descendre le bras pour les poissons - AX12_setGoal(1,190,0x0FF); - AX12_processChange(); + if(InversStrat == 1) {//Si c'est inversé + AX12_setGoal(1,200,0x0FF); + AX12_processChange(); + } else { + + } break; case 102://Remonter bras moiter - AX12_setGoal(1,260,0x0FF); - AX12_processChange(); + if(InversStrat == 1) {//Si c'est inversé + AX12_setGoal(1,270,0x0FF); + AX12_processChange(); + } else { + + } break; case 103://Lacher les poissons - AX12_setGoal(1,230,0x0FF); - AX12_setGoal(2,60);//Ouverture du bras - AX12_processChange(); + if(InversStrat == 1) {//Si c'est inversé + + AX12_setGoal(1,210,0x0FF); + AX12_processChange(); + wait_ms(500); + AX12_setGoal(2,90);//Ouverture du bras + AX12_processChange(); + } else { + + } break; case 104://Rentrer le bras - AX12_setGoal(1,280,0x0FF); - AX12_setGoal(2,160);//fermer le bras - AX12_processChange(); + if(InversStrat == 1) {//Si c'est inversé + AX12_setGoal(1,278,0x0FF); + AX12_setGoal(2,160);//fermer le bras + AX12_processChange(); + } else { + + } break; default: return 0;//L'action n'existe pas, il faut utiliser le CAN