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@41:b029ddc4d60e, 2018-05-11 (annotated)

Committer:
Sitkah
Date:
Fri May 11 12:09:26 2018 +0000
Revision:
41:b029ddc4d60e
Parent:
40:21bb685b553b
Child:
56:95c329e42200
ed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 29:41e02746041d 2 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 3
Sitkah 29:41e02746041d 4
antbig 12:14729d584500 5 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 6
antbig 0:ad97421fb1fb 7 /****************************************************************************************/
antbig 0:ad97421fb1fb 8 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 9 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 10 /****************************************************************************************/
antbig 0:ad97421fb1fb 11 void doFunnyAction(void) {
ClementBreteau 18:cc5fec34ed9c 12 //envoie de la funny action
ClementBreteau 18:cc5fec34ed9c 13 // 0x007, 01, 01
ClementBreteau 18:cc5fec34ed9c 14 CANMessage msgTx=CANMessage();
ClementBreteau 18:cc5fec34ed9c 15 msgTx.id=GLOBAL_FUNNY_ACTION;
ClementBreteau 18:cc5fec34ed9c 16 msgTx.format=CANStandard;
ClementBreteau 18:cc5fec34ed9c 17 msgTx.type=CANData;
ClementBreteau 18:cc5fec34ed9c 18 msgTx.len=2;
ClementBreteau 18:cc5fec34ed9c 19 msgTx.data[0]=0x01;
ClementBreteau 18:cc5fec34ed9c 20 msgTx.data[1]=0x01;
ClementBreteau 18:cc5fec34ed9c 21 can1.write(msgTx);
antbig 0:ad97421fb1fb 22 }
antbig 0:ad97421fb1fb 23
antbig 0:ad97421fb1fb 24 /****************************************************************************************/
antbig 0:ad97421fb1fb 25 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 26 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 27 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 28 unsigned char doAction(unsigned char id, unsigned short var1, short var2) {
antbig 12:14729d584500 29 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 30 msgTx.format=CANStandard;
Sitkah 30:a1e37af4bbde 31 msgTx.type=CANData;
Sitkah 30:a1e37af4bbde 32 //affichage_debug(id);
Sitkah 30:a1e37af4bbde 33
antbig 0:ad97421fb1fb 34 switch(id) {
Sitkah 30:a1e37af4bbde 35 /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
Sitkah 36:6dd30780bd8e 36 case 100: //Monte l'immeuble selon le code couleur
Sitkah 36:6dd30780bd8e 37 msgTx.id=MONTER_IMMEUBLE_DOUBLE;
ClementBreteau 18:cc5fec34ed9c 38
Sitkah 30:a1e37af4bbde 39 msgTx.len=3;
Sitkah 30:a1e37af4bbde 40 msgTx.data[0]=couleur1;
Sitkah 30:a1e37af4bbde 41 msgTx.data[1]=couleur2;
Sitkah 30:a1e37af4bbde 42 msgTx.data[2]=couleur3;
Sitkah 36:6dd30780bd8e 43 can2.write(msgTx);
Sitkah 38:76f886a1c8e6 44 break;
ClementBreteau 15:c2fc239e85df 45
Sitkah 30:a1e37af4bbde 46 case 101: //baisser l'attrape bloc arrière
Sitkah 36:6dd30780bd8e 47 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 48 break;
Sitkah 30:a1e37af4bbde 49 case 102: //Relever l'attrape bloc arrière
Sitkah 30:a1e37af4bbde 50 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 51 break;
Sitkah 30:a1e37af4bbde 52 case 103: //
Sitkah 36:6dd30780bd8e 53 SendRawId(BAISSER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 54 break;
Sitkah 30:a1e37af4bbde 55 case 104:
Sitkah 36:6dd30780bd8e 56 SendRawId(RELEVER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 57 break;
Sitkah 30:a1e37af4bbde 58 case 105:
Sitkah 36:6dd30780bd8e 59 SendRawId(BAISSER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 60 break;
Sitkah 30:a1e37af4bbde 61 case 106:
Sitkah 36:6dd30780bd8e 62 SendRawId(RELEVER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 63 break;
Sitkah 30:a1e37af4bbde 64 case 107:
Sitkah 36:6dd30780bd8e 65 msgTx.id=MONTER_IMMEUBLE;
Sitkah 36:6dd30780bd8e 66 msgTx.len=4;
Sitkah 36:6dd30780bd8e 67 msgTx.data[0]=couleur1;
Sitkah 36:6dd30780bd8e 68 msgTx.data[1]=couleur2;
Sitkah 36:6dd30780bd8e 69 msgTx.data[2]=couleur3;
Sitkah 38:76f886a1c8e6 70 msgTx.data[3]=var1;
Sitkah 40:21bb685b553b 71 msgTx.data[4]=var2;
Sitkah 36:6dd30780bd8e 72 can2.write(msgTx);
Sitkah 41:b029ddc4d60e 73 break;
Sitkah 38:76f886a1c8e6 74 case 108:
Sitkah 38:76f886a1c8e6 75 SendRawId(INTER_BAISSER_ATTRAPE_BLOC_AvG);
Sitkah 38:76f886a1c8e6 76 break;
Sitkah 38:76f886a1c8e6 77 case 109:
Sitkah 38:76f886a1c8e6 78 SendRawId(INTER_BAISSER_ATTRAPE_BLOC_AvD);
Sitkah 38:76f886a1c8e6 79 break;
Sitkah 30:a1e37af4bbde 80 case 111:
Sitkah 38:76f886a1c8e6 81 SendRawId(RANGER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 82 break;
Sitkah 30:a1e37af4bbde 83 case 112:
Sitkah 38:76f886a1c8e6 84 SendRawId(RANGER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 85 break;
Sitkah 41:b029ddc4d60e 86 case 113:
Sitkah 41:b029ddc4d60e 87 msgTx.id=LIRE_PANNEAU;
Sitkah 41:b029ddc4d60e 88 msgTx.len=1;
Sitkah 41:b029ddc4d60e 89 msgTx.data[0]=var1;
Sitkah 41:b029ddc4d60e 90 can2.write(msgTx);
Sitkah 41:b029ddc4d60e 91 break;
Sitkah 38:76f886a1c8e6 92
Sitkah 38:76f886a1c8e6 93 case 150:
Sitkah 38:76f886a1c8e6 94 SCORE_GR+=var1;
Sitkah 38:76f886a1c8e6 95 SCORE_GLOBAL=SCORE_GR+SCORE_PR;
Sitkah 40:21bb685b553b 96 //liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
Sitkah 38:76f886a1c8e6 97 waitingAckFrom = 0;
Sitkah 38:76f886a1c8e6 98 waitingAckID = 0;
Sitkah 38:76f886a1c8e6 99 break;
Sitkah 38:76f886a1c8e6 100
ClementBreteau 18:cc5fec34ed9c 101
antbig 12:14729d584500 102 case 10://Désactiver le stop
antbig 12:14729d584500 103 isStopEnable = 0;
antbig 12:14729d584500 104 break;
antbig 12:14729d584500 105 case 11://Activer le stop
antbig 12:14729d584500 106 isStopEnable = 1;
antbig 12:14729d584500 107 break;
antbig 12:14729d584500 108 case 20://Désactiver l'asservissement
antbig 12:14729d584500 109 setAsservissementEtat(0);
antbig 12:14729d584500 110 break;
antbig 12:14729d584500 111 case 21://Activer l'asservissement
antbig 12:14729d584500 112 setAsservissementEtat(1);
antbig 12:14729d584500 113 break;
antbig 12:14729d584500 114
antbig 12:14729d584500 115 case 22://Changer la vitesse du robot
Sitkah 30:a1e37af4bbde 116 SendSpeed(var1,(unsigned short)var2);
ClementBreteau 26:2f4fcc2354f3 117 waitingAckFrom = 0;
ClementBreteau 26:2f4fcc2354f3 118 waitingAckID = 0;
ClementBreteau 26:2f4fcc2354f3 119 wait(0.2);
antbig 12:14729d584500 120 break;
antbig 12:14729d584500 121
antbig 12:14729d584500 122 case 30://Action tempo
Sitkah 30:a1e37af4bbde 123 wait_ms(var1);
Sitkah 40:21bb685b553b 124 waitingAckFrom = 0;
Sitkah 40:21bb685b553b 125 waitingAckID = 0;
antbig 12:14729d584500 126 break;
antbig 12:14729d584500 127
ClementBreteau 18:cc5fec34ed9c 128 /*case 40: // demande au telemetre la position d'un objet
ClementBreteau 14:c8fc06c4887f 129 //SendRawId(TELEMETRE_RECHERCHE_OBJET);
ClementBreteau 15:c2fc239e85df 130
ClementBreteau 15:c2fc239e85df 131 modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 132
ClementBreteau 15:c2fc239e85df 133 //angle = angle /10;
ClementBreteau 15:c2fc239e85df 134
ClementBreteau 15:c2fc239e85df 135 msgTx.id=TELEMETRE_OBJET;
ClementBreteau 15:c2fc239e85df 136 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 137 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 138 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 139 // indice du module sur le terrain
ClementBreteau 15:c2fc239e85df 140 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 141
ClementBreteau 18:cc5fec34ed9c 142
ClementBreteau 15:c2fc239e85df 143 // x sur 2 octets
ClementBreteau 15:c2fc239e85df 144 msgTx.data[0]=(unsigned char)speed;
ClementBreteau 15:c2fc239e85df 145 msgTx.data[1]=(unsigned char)(speed>>8);
ClementBreteau 15:c2fc239e85df 146 // y sur 2 octets
ClementBreteau 15:c2fc239e85df 147 msgTx.data[2]=(unsigned char)angle;
ClementBreteau 15:c2fc239e85df 148 msgTx.data[3]=(unsigned char)(angle>>8);
ClementBreteau 15:c2fc239e85df 149 // theta signé sur 2 octets
ClementBreteau 15:c2fc239e85df 150 //msgTx.data[4]=(unsigned char)theta;
ClementBreteau 15:c2fc239e85df 151 //msgTx.data[5]=(unsigned char)(theta>>8);
ClementBreteau 15:c2fc239e85df 152 msgTx.data[4]=0;
ClementBreteau 18:cc5fec34ed9c 153 msgTx.data[5]=0;
ClementBreteau 15:c2fc239e85df 154
ClementBreteau 15:c2fc239e85df 155 can1.write(msgTx);
ClementBreteau 15:c2fc239e85df 156
ClementBreteau 18:cc5fec34ed9c 157 break;*/
ClementBreteau 14:c8fc06c4887f 158
ClementBreteau 18:cc5fec34ed9c 159 /* case 130://Lancer mouvement de sortie de la zone de départ
ClementBreteau 15:c2fc239e85df 160 msgTx.id=ACTION_BIG_DEMARRAGE;
ClementBreteau 15:c2fc239e85df 161 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 162 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 163 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 164 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 165 can1.write(msgTx);
ClementBreteau 18:cc5fec34ed9c 166 break;*/
antbig 12:14729d584500 167
antbig 0:ad97421fb1fb 168 default:
antbig 0:ad97421fb1fb 169 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 170
antbig 0:ad97421fb1fb 171 }
antbig 0:ad97421fb1fb 172 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 173
antbig 0:ad97421fb1fb 174 }
antbig 0:ad97421fb1fb 175
antbig 0:ad97421fb1fb 176 /****************************************************************************************/
antbig 0:ad97421fb1fb 177 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 178 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 179 /****************************************************************************************/
antbig 9:d0042422d95a 180 void initRobot(void)
antbig 9:d0042422d95a 181 {
antbig 9:d0042422d95a 182 //Enregistrement de tous les AX12 présent sur la carte
ClementBreteau 15:c2fc239e85df 183 /*AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 184 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 185 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 186 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 187 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 188 AX12_register(8, AX12_SERIAL1);
ClementBreteau 15:c2fc239e85df 189 AX12_register(7, AX12_SERIAL2);*/
antbig 9:d0042422d95a 190
antbig 12:14729d584500 191 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 192 //AX12_processChange();
antbig 11:ed13a480ddca 193 //runRobotTest();
ClementBreteau 16:7321fb3bb396 194
antbig 9:d0042422d95a 195 }
antbig 9:d0042422d95a 196
antbig 9:d0042422d95a 197 /****************************************************************************************/
antbig 12:14729d584500 198 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 199 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 200 /****************************************************************************************/
antbig 12:14729d584500 201 void initRobotActionneur(void)
antbig 12:14729d584500 202 {
ClementBreteau 23:ab87d308eaf9 203 /*doAction(100,1,0);
ClementBreteau 23:ab87d308eaf9 204 doAction(100,2,0);
ClementBreteau 23:ab87d308eaf9 205 doAction(110,0,0);
ClementBreteau 23:ab87d308eaf9 206 doAction(120,0,0);
ClementBreteau 23:ab87d308eaf9 207 doAction(131,0,0);*/
ClementBreteau 23:ab87d308eaf9 208
antbig 12:14729d584500 209 }
antbig 12:14729d584500 210
antbig 12:14729d584500 211 /****************************************************************************************/
antbig 9:d0042422d95a 212 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 213 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 214 /****************************************************************************************/
antbig 9:d0042422d95a 215 void runRobotTest(void)
antbig 9:d0042422d95a 216 {
ClementBreteau 18:cc5fec34ed9c 217 /*
antbig 12:14729d584500 218 int waitTime = 500;
antbig 12:14729d584500 219
antbig 9:d0042422d95a 220 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 221 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 222 wait_ms(waitTime);
antbig 9:d0042422d95a 223 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 224 wait_ms(waitTime);
antbig 9:d0042422d95a 225 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 226 wait_ms(waitTime);
antbig 9:d0042422d95a 227 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 228 wait_ms(waitTime);
antbig 9:d0042422d95a 229 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 230 wait_ms(waitTime);
antbig 9:d0042422d95a 231 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 232 wait_ms(waitTime);
antbig 12:14729d584500 233 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 234 wait_ms(waitTime);
antbig 12:14729d584500 235 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 236 wait_ms(waitTime);
antbig 12:14729d584500 237 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 238 wait_ms(waitTime);
ClementBreteau 18:cc5fec34ed9c 239 doAction(102,0,0);//Remonter le peigne*/
antbig 0:ad97421fb1fb 240 }
antbig 3:19f2285a4757 241
antbig 4:88431b537477 242 /****************************************************************************************/
antbig 4:88431b537477 243 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 244 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 245 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 246 /****************************************************************************************/
Sitkah 29:41e02746041d 247 /*int SelectStrategy(unsigned char id)
antbig 4:88431b537477 248 {
antbig 4:88431b537477 249 switch(id)
antbig 4:88431b537477 250 {
ClementBreteau 15:c2fc239e85df 251 // strat de match
antbig 4:88431b537477 252 case 1:
antbig 11:ed13a480ddca 253 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 254 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 255 case 2:
antbig 11:ed13a480ddca 256 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 257 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 258 case 3:
antbig 11:ed13a480ddca 259 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 260 return FileExists(cheminFileStart);
antbig 12:14729d584500 261 case 4:
antbig 12:14729d584500 262 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 263 return FileExists(cheminFileStart);
antbig 12:14729d584500 264 case 5:
antbig 12:14729d584500 265 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 266 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 267 case 6:
ClementBreteau 14:c8fc06c4887f 268 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 269 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 270 case 7:
ClementBreteau 14:c8fc06c4887f 271 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 272 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 273 case 8:
ClementBreteau 14:c8fc06c4887f 274 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 275 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 276 case 9:
ClementBreteau 14:c8fc06c4887f 277 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 278 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 279 case 10:
ClementBreteau 14:c8fc06c4887f 280 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 281 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 282
ClementBreteau 15:c2fc239e85df 283 // strat de demo
ClementBreteau 14:c8fc06c4887f 284 case 0x10:
ClementBreteau 14:c8fc06c4887f 285 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 286 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 287 case 0x11:
ClementBreteau 15:c2fc239e85df 288 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 289 strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau 15:c2fc239e85df 290 #else
ClementBreteau 15:c2fc239e85df 291 strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau 15:c2fc239e85df 292 #endif
ClementBreteau 14:c8fc06c4887f 293 return FileExists(cheminFileStart);
ClementBreteau 15:c2fc239e85df 294 case 0x12:
ClementBreteau 15:c2fc239e85df 295 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 296 strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau 15:c2fc239e85df 297 #else
ClementBreteau 15:c2fc239e85df 298 strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau 15:c2fc239e85df 299 #endif
ClementBreteau 15:c2fc239e85df 300 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 301 default:
antbig 12:14729d584500 302 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 303 return 0;
antbig 4:88431b537477 304 }
Sitkah 29:41e02746041d 305 }*/
antbig 4:88431b537477 306
antbig 12:14729d584500 307 /****************************************************************************************/
antbig 12:14729d584500 308 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 309 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 310 /****************************************************************************************/
antbig 12:14729d584500 311 unsigned char needToStop(void)
antbig 12:14729d584500 312 {
antbig 12:14729d584500 313 return isStopEnable;
antbig 12:14729d584500 314 }
antbig 12:14729d584500 315
antbig 12:14729d584500 316 /****************************************************************************************/
antbig 12:14729d584500 317 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 318 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 319 /****************************************************************************************/
antbig 12:14729d584500 320 void doBeforeEndAction(void)
antbig 12:14729d584500 321 {
antbig 12:14729d584500 322 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 323 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 324 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 325 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 326 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 327 }
antbig 12:14729d584500 328
antbig 3:19f2285a4757 329 #endif