CRAC Team / CRAC-Strat_2017_homologation_petit_rob

code petit robot pour homologation

Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by CRAC Team

Files at this revision

API Documentation at this revision

Revision 21:590cdacb6a35, committed 2017-05-25

Comitter:
ClementBreteau
Date:
Thu May 25 06:34:53 2017 +0000
Parent:
20:de595e4ff01d
Commit message:
homologation petit robot

Changed in this revision

Robots/Strategie_small.cpp Show annotated file Show diff for this revision Revisions of this file
Strategie/Strategie.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Robots/Strategie_small.cpp	Wed May 24 21:09:59 2017 +0000
+++ b/Robots/Strategie_small.cpp	Thu May 25 06:34:53 2017 +0000
@@ -3,7 +3,7 @@
 #include "Config_small.h"
 
 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
-unsigned short telemetreDistance;
+//unsigned short telemetreDistance;
 
 
 /****************************************************************************************/

--- a/Strategie/Strategie.cpp	Wed May 24 21:09:59 2017 +0000
+++ b/Strategie/Strategie.cpp	Thu May 25 06:34:53 2017 +0000
@@ -14,7 +14,7 @@
 unsigned short waitingAckID = 0;//L'id du ack attendu
 unsigned short waitingAckFrom = 0;//La provenance du ack attendu
 char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre 
-//unsigned short telemetreDistance = 0;
+unsigned short telemetreDistance = 0;
 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
 
 signed short x_robot,y_robot,theta_robot;//La position du robot
@@ -608,6 +608,7 @@
             gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; 
 #endif      
             gameEtat = ETAT_END;
+            
         break;
         case ETAT_WARNING_SWITCH_STRATEGIE://Si à la fin du timeout il y a toujours un robot, passer à l'instruction d'erreur
             actual_instruction = instruction.nextLineError;
@@ -775,7 +776,7 @@
                         if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
                         {
                             SendRawId(ASSERVISSEMENT_STOP);
-                            //while(1);
+                            while(1); // ligne à décommenter si on est en homologation
                             gameEtat = ETAT_WARNING_TIMEOUT;
                             if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
                                 timeoutWarning.reset();