CRAC Team / CRAC-Strat_2019

v2019

Dependencies:   CRAC-Strat_2019 SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Dependents:   Codeprincipal_2019 CRAC-Strat_2019

Robots/Strategie_big.cpp@2:8d8e2cf798a3, 2016-04-15 (annotated)

Committer:
antbig
Date:
Fri Apr 15 16:43:35 2016 +0000
Revision:
2:8d8e2cf798a3
Parent:
1:116040d14164
Child:
3:19f2285a4757
Version utiliser pour la demo devant prof

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 1:116040d14164 1 #include "StrategieManager.h"
antbig 0:ad97421fb1fb 2
antbig 0:ad97421fb1fb 3 /****************************************************************************************/
antbig 0:ad97421fb1fb 4 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 5 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 6 /****************************************************************************************/
antbig 0:ad97421fb1fb 7 void doFunnyAction(void) {
antbig 0:ad97421fb1fb 8
antbig 0:ad97421fb1fb 9
antbig 0:ad97421fb1fb 10 }
antbig 0:ad97421fb1fb 11
antbig 0:ad97421fb1fb 12 /****************************************************************************************/
antbig 0:ad97421fb1fb 13 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 14 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 15 /****************************************************************************************/
antbig 0:ad97421fb1fb 16 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 0:ad97421fb1fb 17
antbig 1:116040d14164 18 led1 = 1;
antbig 1:116040d14164 19 led2 = 1;
antbig 0:ad97421fb1fb 20 switch(id) {
antbig 1:116040d14164 21 case 101://Descendre le bras pour les poissons
antbig 2:8d8e2cf798a3 22 if(InversStrat == 1) {//Si c'est inversé
antbig 2:8d8e2cf798a3 23 AX12_setGoal(1,200,0x0FF);
antbig 2:8d8e2cf798a3 24 AX12_processChange();
antbig 2:8d8e2cf798a3 25 } else {
antbig 2:8d8e2cf798a3 26
antbig 2:8d8e2cf798a3 27 }
antbig 1:116040d14164 28 break;
antbig 1:116040d14164 29 case 102://Remonter bras moiter
antbig 2:8d8e2cf798a3 30 if(InversStrat == 1) {//Si c'est inversé
antbig 2:8d8e2cf798a3 31 AX12_setGoal(1,270,0x0FF);
antbig 2:8d8e2cf798a3 32 AX12_processChange();
antbig 2:8d8e2cf798a3 33 } else {
antbig 2:8d8e2cf798a3 34
antbig 2:8d8e2cf798a3 35 }
antbig 1:116040d14164 36 break;
antbig 1:116040d14164 37 case 103://Lacher les poissons
antbig 2:8d8e2cf798a3 38 if(InversStrat == 1) {//Si c'est inversé
antbig 2:8d8e2cf798a3 39
antbig 2:8d8e2cf798a3 40 AX12_setGoal(1,210,0x0FF);
antbig 2:8d8e2cf798a3 41 AX12_processChange();
antbig 2:8d8e2cf798a3 42 wait_ms(500);
antbig 2:8d8e2cf798a3 43 AX12_setGoal(2,90);//Ouverture du bras
antbig 2:8d8e2cf798a3 44 AX12_processChange();
antbig 2:8d8e2cf798a3 45 } else {
antbig 2:8d8e2cf798a3 46
antbig 2:8d8e2cf798a3 47 }
antbig 1:116040d14164 48 break;
antbig 1:116040d14164 49 case 104://Rentrer le bras
antbig 2:8d8e2cf798a3 50 if(InversStrat == 1) {//Si c'est inversé
antbig 2:8d8e2cf798a3 51 AX12_setGoal(1,278,0x0FF);
antbig 2:8d8e2cf798a3 52 AX12_setGoal(2,160);//fermer le bras
antbig 2:8d8e2cf798a3 53 AX12_processChange();
antbig 2:8d8e2cf798a3 54 } else {
antbig 2:8d8e2cf798a3 55
antbig 2:8d8e2cf798a3 56 }
antbig 0:ad97421fb1fb 57 break;
antbig 0:ad97421fb1fb 58 default:
antbig 0:ad97421fb1fb 59 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 60
antbig 0:ad97421fb1fb 61 }
antbig 0:ad97421fb1fb 62 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 63
antbig 0:ad97421fb1fb 64 }
antbig 0:ad97421fb1fb 65
antbig 0:ad97421fb1fb 66 /****************************************************************************************/
antbig 0:ad97421fb1fb 67 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 68 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 69 /****************************************************************************************/
antbig 0:ad97421fb1fb 70 void initRobot(void) {
antbig 0:ad97421fb1fb 71
antbig 0:ad97421fb1fb 72 }