CRAC Team / Strategie_13h30

Strategie_13h30

Fork of CRAC-Strat_2017_homologation_gros_rob by CRAC Team

Diff: Robots/Strategie_big.cpp

Revision:
22:8dec8824a6f7
Parent:
21:65ba6e4d53fa
--- a/Robots/Strategie_big.cpp	Thu May 25 06:35:42 2017 +0000
+++ b/Robots/Strategie_big.cpp	Thu May 25 11:30:31 2017 +0000
@@ -262,6 +262,8 @@
             can1.write(msgTx);
             wait_ms(1);
             can1.write(msgTx);
+            waitingAckID= 0;
+            waitingAckFrom = 0;
         break;
         
         case 116: // pompe avant OFF
@@ -281,6 +283,8 @@
             can1.write(msgTx);
             wait_ms(1);
             can1.write(msgTx);
+            waitingAckID= 0;
+            waitingAckFrom = 0;
         break;
         
         case 120: // repos bras arrière
@@ -364,7 +368,7 @@
             }
             
             msgTx.data[0]=localData;
-            msgTx.data[1]=speed;
+            msgTx.data[1]=localData2;
             can1.write(msgTx);
         break;
         
@@ -403,6 +407,9 @@
             can1.write(msgTx);
             wait_ms(1);
             can1.write(msgTx);
+        
+            waitingAckID= 0;
+            waitingAckFrom = 0;
         break;
         
         case 126: // pompe arriere pwm OFF
@@ -422,6 +429,8 @@
             can1.write(msgTx);
             wait_ms(1);
             can1.write(msgTx);
+            waitingAckID= 0;
+            waitingAckFrom = 0;
         break;
         
         case 130: // baiser bras turbine