Diff: Robots/Strategie_big.cpp

Revision:

3:19f2285a4757

Parent:

2:8d8e2cf798a3

Child:

4:88431b537477

--- a/Robots/Strategie_big.cpp	Fri Apr 15 16:43:35 2016 +0000
+++ b/Robots/Strategie_big.cpp	Sun Apr 17 08:31:59 2016 +0000
@@ -1,4 +1,6 @@
 #include "StrategieManager.h"
+#ifdef ROBOT_BIG
+#include "Config_big.h"
 
 /****************************************************************************************/
 /* FUNCTION NAME: doFunnyAction                                                         */
@@ -14,47 +16,8 @@
 /* DESCRIPTION  : Effectuer une action specifique                                       */
 /****************************************************************************************/
 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
-    
-    led1 = 1;
-    led2 = 1;
     switch(id) {
-        case 101://Descendre le bras pour les poissons
-            if(InversStrat == 1) {//Si c'est inversé
-                AX12_setGoal(1,200,0x0FF);
-                AX12_processChange();
-            } else {
-                
-            }
-        break;
-        case 102://Remonter bras moiter
-            if(InversStrat == 1) {//Si c'est inversé
-                AX12_setGoal(1,270,0x0FF);
-                AX12_processChange();
-            } else {
-                
-            }
-        break;
-        case 103://Lacher les poissons
-            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
-            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
         
@@ -70,3 +33,5 @@
 void initRobot(void) {
     
 }
+
+#endif