Strategie_13h30
Fork of CRAC-Strat_2017_homologation_gros_rob by
Diff: Robots/Strategie_small.cpp
- Revision:
- 16:7321fb3bb396
- Parent:
- 15:c2fc239e85df
- Child:
- 18:cc5fec34ed9c
--- a/Robots/Strategie_small.cpp Thu May 11 12:55:52 2017 +0000 +++ b/Robots/Strategie_small.cpp Fri May 19 17:13:46 2017 +0000 @@ -83,29 +83,52 @@ break; case 120:// poser une main tourneuse if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit - if(speed == 1) speed = 0; - else speed = 1; - } else { - + if(speed == 2) speed = 1; + else speed = 2; + if(angle == 1) angle = 0; + else angle = 1; } + + if (speed == 1){ + //Preparation_module_droit(); + }else{ + //Preparation_module_gauche(); + } + Preparation_module_gauche(); break; case 121:// relever une main tourneuse if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit - if(speed == 1) speed = 0; - else speed = 1; - } else { - + if(speed == 2) speed = 1; + else speed = 2; + if(angle == 1) angle = 0; + else angle = 1; } + + if (speed == 1){ + //RangerBrasDroit(); + }else{ + RangerBrasGauche(); + } + break; case 122:// tourner un module if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit - if(speed == 1) speed = 0; - else speed = 1; - } else { - + if(speed == 2) speed = 1; + else speed = 2; + if(angle == 1) angle = 0; + else angle = 1; } + + /*if (speed == 1){ + //Tourner_module_droite(); + }else{ + Tourner_module_gauche(); + }*/ + Tourner_module_gauche(); + + break; case 10://Désactiver le stop @@ -119,6 +142,14 @@ break; case 21://Activer l'asservissement setAsservissementEtat(1); + break; + + case 22://Changer la vitesse du robot + SendSpeed(speed,(unsigned short)angle); + break; + + case 30://Action tempo + wait_ms(speed); break; default: @@ -152,6 +183,10 @@ AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF); AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras AX12_processChange();*/ + + initAX12(); + moteurGauchePWM(0); + moteurDroitPWM(0); } /****************************************************************************************/ @@ -302,7 +337,6 @@ int SelectStrategy(unsigned char id) { - switch(id) { case 1: @@ -323,11 +357,29 @@ case 6: strcpy(cheminFileStart,"/local/strat6.txt"); return FileExists(cheminFileStart); + case 7: + strcpy(cheminFileStart,"/local/strat7.txt"); + return FileExists(cheminFileStart); + case 8: + strcpy(cheminFileStart,"/local/strat8.txt"); + return FileExists(cheminFileStart); + case 9: + strcpy(cheminFileStart,"/local/strat9.txt"); + return FileExists(cheminFileStart); case 10: + strcpy(cheminFileStart,"/local/strat10.txt"); + return FileExists(cheminFileStart); + case 11: strcpy(cheminFileStart,"/local/grand_8.txt"); return FileExists(cheminFileStart); + + case 0x10: + strcpy(cheminFileStart,"/local/demoBras.txt"); + return FileExists(cheminFileStart); + default: strcpy(cheminFileStart,"/local/strat1.txt"); + SendRawId(0x258); return 0; } }