Strategie_13h30
Fork of CRAC-Strat_2017_homologation_gros_rob by
Diff: Strategie/Strategie.cpp
- Revision:
- 16:7321fb3bb396
- Parent:
- 15:c2fc239e85df
- Child:
- 18:cc5fec34ed9c
diff -r c2fc239e85df -r 7321fb3bb396 Strategie/Strategie.cpp --- a/Strategie/Strategie.cpp Thu May 11 12:55:52 2017 +0000 +++ b/Strategie/Strategie.cpp Fri May 19 17:13:46 2017 +0000 @@ -319,13 +319,13 @@ localData5 = 0; } } - + #ifdef ROBOT_BIG if(InversStrat == 1) { /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD; else instruction.direction = FORWARD;*/ instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD); } - + #endif localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1); GoStraight(localData2, 0, 0, localData5); @@ -654,7 +654,6 @@ if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) { waitingAckFrom = 0; waitingAckID = 0; - SendRawId(0x123); } break; #ifdef ROBOT_BIG @@ -720,11 +719,9 @@ msgTx.type=CANData; if(SelectStrategy(msgRxBuffer[FIFO_lecture].data[0])) { // id de la stratégie sur 1 octet - if (msgRxBuffer[FIFO_lecture].data[0] < 0x10){ - // Si la strat est une strat de match, on desactive le mode demo + if (msgRxBuffer[FIFO_lecture].data[0] < 0x10){ // Si la strat est une strat de match, on desactive le mode demo ModeDemo = 0; - } else { - // sinon, on active le mode demo, utile pour la fin de la demo + } else { // sinon, on active le mode demo, utile pour la fin de la demo ModeDemo = 1; } @@ -739,24 +736,31 @@ tactile_printf("Strat %d, Asser desactive",msgTx.data[0]); } break; + case BALISE_DANGER : + SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER); + break; + case BALISE_STOP: SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP); - - if(needToStop() != 0 && ingnorBaliseOnce ==0) { - if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT) - { - SendRawId(ASSERVISSEMENT_STOP); - //while(1); - gameEtat = ETAT_WARNING_TIMEOUT; - if(gameEtat != ETAT_WARING_END_BALISE_WAIT) { - timeoutWarning.reset(); - timeoutWarning.start();//Reset du timer utiliser par le timeout + if (instruction[actual_instruction].order == MV_TURN){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot, + if(needToStop() != 0 && ingnorBaliseOnce ==0) { + if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT) + { + SendRawId(ASSERVISSEMENT_STOP); + //while(1); + gameEtat = ETAT_WARNING_TIMEOUT; + if(gameEtat != ETAT_WARING_END_BALISE_WAIT) { + timeoutWarning.reset(); + timeoutWarning.start();//Reset du timer utiliser par le timeout + } } } } ingnorBaliseOnce = 0; break; + case BALISE_END_DANGER: + SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER); if(gameEtat == ETAT_WARNING_TIMEOUT) { timeoutWarningWaitEnd.reset(); timeoutWarningWaitEnd.start();