CRAC Team / Strategie_13h30

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Fork of CRAC-Strat_2017_homologation_gros_rob by CRAC Team

Robots/Strategie_small.cpp@16:7321fb3bb396, 2017-05-19 (annotated)

Committer:
ClementBreteau
Date:
Fri May 19 17:13:46 2017 +0000
Revision:
16:7321fb3bb396
Parent:
15:c2fc239e85df
Child:
18:cc5fec34ed9c
strat du robot, ann?e 2017, le 19 mai ? 19h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 3:19f2285a4757 1 #include "StrategieManager.h"
antbig 3:19f2285a4757 2 #ifdef ROBOT_SMALL
antbig 3:19f2285a4757 3 #include "Config_small.h"
antbig 3:19f2285a4757 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 3:19f2285a4757 7 /****************************************************************************************/
antbig 3:19f2285a4757 8 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 9 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 10 /****************************************************************************************/
antbig 3:19f2285a4757 11 void doFunnyAction(void) {
antbig 3:19f2285a4757 12
antbig 3:19f2285a4757 13
antbig 3:19f2285a4757 14 }
antbig 10:a788d9cf60f2 15 //L'angle est entre 0 et 1023
antbig 10:a788d9cf60f2 16 void XL320_setGoal(unsigned char id, unsigned short angle);
antbig 10:a788d9cf60f2 17
antbig 10:a788d9cf60f2 18 void XL320_setGoal(unsigned char id, unsigned short angle)
antbig 10:a788d9cf60f2 19 {
antbig 10:a788d9cf60f2 20 CANMessage msgTx=CANMessage();
antbig 10:a788d9cf60f2 21 msgTx.id=SERVO_XL320;
antbig 10:a788d9cf60f2 22 msgTx.len=3;
antbig 10:a788d9cf60f2 23 msgTx.format=CANStandard;
antbig 10:a788d9cf60f2 24 msgTx.type=CANData;
antbig 10:a788d9cf60f2 25 msgTx.data[0]=(unsigned char)id;
antbig 10:a788d9cf60f2 26 // from sur 2 octets
antbig 10:a788d9cf60f2 27 msgTx.data[1]=(unsigned char)angle;
antbig 10:a788d9cf60f2 28 msgTx.data[2]=(unsigned char)(angle>>8);
antbig 10:a788d9cf60f2 29
antbig 10:a788d9cf60f2 30 can1.write(msgTx);
antbig 10:a788d9cf60f2 31 }
antbig 3:19f2285a4757 32
antbig 3:19f2285a4757 33 /****************************************************************************************/
antbig 3:19f2285a4757 34 /* FUNCTION NAME: doAction */
antbig 3:19f2285a4757 35 /* DESCRIPTION : Effectuer une action specifique */
antbig 3:19f2285a4757 36 /****************************************************************************************/
antbig 3:19f2285a4757 37 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 3:19f2285a4757 38 switch(id) {
ClementBreteau 15:c2fc239e85df 39 case 100: // preparation prise bras central
ClementBreteau 15:c2fc239e85df 40 Preparation_prise();
ClementBreteau 15:c2fc239e85df 41 break;
ClementBreteau 15:c2fc239e85df 42 case 101:// stockage haut bras central
ClementBreteau 15:c2fc239e85df 43 Stockage_haut();
ClementBreteau 15:c2fc239e85df 44 break;
ClementBreteau 15:c2fc239e85df 45 case 102:// stockage bas bras central
ClementBreteau 15:c2fc239e85df 46 Stockage_bas();
ClementBreteau 15:c2fc239e85df 47 break;
ClementBreteau 15:c2fc239e85df 48 case 103:// ouvrir la main du bras cental
ClementBreteau 15:c2fc239e85df 49 Deposer();
ClementBreteau 15:c2fc239e85df 50 break;
ClementBreteau 15:c2fc239e85df 51 case 104:// preparation de depot du module bas du bras central
ClementBreteau 15:c2fc239e85df 52 Preparation_depot_bas();
ClementBreteau 15:c2fc239e85df 53 break;
ClementBreteau 15:c2fc239e85df 54 case 105:// preparation de depot du module haut du bras central
ClementBreteau 15:c2fc239e85df 55 Preparation_depot_haut();
ClementBreteau 15:c2fc239e85df 56 break;
ClementBreteau 15:c2fc239e85df 57 case 106:// positionner le bras afin de pousser un module debout
ClementBreteau 15:c2fc239e85df 58 Pousser_module();
ClementBreteau 15:c2fc239e85df 59 break;
ClementBreteau 15:c2fc239e85df 60 case 110:// ouvrir une porte avant
antbig 11:ed13a480ddca 61 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 62 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 63 else speed = 1;
antbig 3:19f2285a4757 64 } else {
ClementBreteau 15:c2fc239e85df 65
antbig 3:19f2285a4757 66 }
antbig 3:19f2285a4757 67 break;
ClementBreteau 15:c2fc239e85df 68 case 111:// securiser un module avec une porte avant
antbig 11:ed13a480ddca 69 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 70 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 71 else speed = 1;
ClementBreteau 15:c2fc239e85df 72 } else {
ClementBreteau 15:c2fc239e85df 73
antbig 11:ed13a480ddca 74 }
antbig 10:a788d9cf60f2 75 break;
ClementBreteau 15:c2fc239e85df 76 case 112:// ranger le porte avant dans le robot
antbig 11:ed13a480ddca 77 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 15:c2fc239e85df 78 if(speed == 1) speed = 0;
ClementBreteau 15:c2fc239e85df 79 else speed = 1;
antbig 11:ed13a480ddca 80 } else {
ClementBreteau 15:c2fc239e85df 81
antbig 11:ed13a480ddca 82 }
antbig 11:ed13a480ddca 83 break;
ClementBreteau 15:c2fc239e85df 84 case 120:// poser une main tourneuse
antbig 11:ed13a480ddca 85 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 16:7321fb3bb396 86 if(speed == 2) speed = 1;
ClementBreteau 16:7321fb3bb396 87 else speed = 2;
ClementBreteau 16:7321fb3bb396 88 if(angle == 1) angle = 0;
ClementBreteau 16:7321fb3bb396 89 else angle = 1;
antbig 11:ed13a480ddca 90 }
ClementBreteau 16:7321fb3bb396 91
ClementBreteau 16:7321fb3bb396 92 if (speed == 1){
ClementBreteau 16:7321fb3bb396 93 //Preparation_module_droit();
ClementBreteau 16:7321fb3bb396 94 }else{
ClementBreteau 16:7321fb3bb396 95 //Preparation_module_gauche();
ClementBreteau 16:7321fb3bb396 96 }
ClementBreteau 16:7321fb3bb396 97 Preparation_module_gauche();
antbig 5:dcd817534b57 98 break;
antbig 10:a788d9cf60f2 99
ClementBreteau 15:c2fc239e85df 100 case 121:// relever une main tourneuse
ClementBreteau 15:c2fc239e85df 101 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 16:7321fb3bb396 102 if(speed == 2) speed = 1;
ClementBreteau 16:7321fb3bb396 103 else speed = 2;
ClementBreteau 16:7321fb3bb396 104 if(angle == 1) angle = 0;
ClementBreteau 16:7321fb3bb396 105 else angle = 1;
antbig 11:ed13a480ddca 106 }
ClementBreteau 16:7321fb3bb396 107
ClementBreteau 16:7321fb3bb396 108 if (speed == 1){
ClementBreteau 16:7321fb3bb396 109 //RangerBrasDroit();
ClementBreteau 16:7321fb3bb396 110 }else{
ClementBreteau 16:7321fb3bb396 111 RangerBrasGauche();
ClementBreteau 16:7321fb3bb396 112 }
ClementBreteau 16:7321fb3bb396 113
antbig 10:a788d9cf60f2 114 break;
antbig 10:a788d9cf60f2 115
ClementBreteau 15:c2fc239e85df 116 case 122:// tourner un module
ClementBreteau 15:c2fc239e85df 117 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté droit
ClementBreteau 16:7321fb3bb396 118 if(speed == 2) speed = 1;
ClementBreteau 16:7321fb3bb396 119 else speed = 2;
ClementBreteau 16:7321fb3bb396 120 if(angle == 1) angle = 0;
ClementBreteau 16:7321fb3bb396 121 else angle = 1;
antbig 11:ed13a480ddca 122 }
ClementBreteau 16:7321fb3bb396 123
ClementBreteau 16:7321fb3bb396 124 /*if (speed == 1){
ClementBreteau 16:7321fb3bb396 125 //Tourner_module_droite();
ClementBreteau 16:7321fb3bb396 126 }else{
ClementBreteau 16:7321fb3bb396 127 Tourner_module_gauche();
ClementBreteau 16:7321fb3bb396 128 }*/
ClementBreteau 16:7321fb3bb396 129 Tourner_module_gauche();
ClementBreteau 16:7321fb3bb396 130
ClementBreteau 16:7321fb3bb396 131
antbig 10:a788d9cf60f2 132 break;
ClementBreteau 15:c2fc239e85df 133
antbig 12:14729d584500 134 case 10://Désactiver le stop
antbig 12:14729d584500 135 isStopEnable = 0;
antbig 12:14729d584500 136 break;
antbig 12:14729d584500 137 case 11://Activer le stop
antbig 12:14729d584500 138 isStopEnable = 1;
antbig 12:14729d584500 139 break;
antbig 12:14729d584500 140 case 20://Désactiver l'asservissement
antbig 12:14729d584500 141 setAsservissementEtat(0);
antbig 12:14729d584500 142 break;
antbig 12:14729d584500 143 case 21://Activer l'asservissement
antbig 12:14729d584500 144 setAsservissementEtat(1);
ClementBreteau 16:7321fb3bb396 145 break;
ClementBreteau 16:7321fb3bb396 146
ClementBreteau 16:7321fb3bb396 147 case 22://Changer la vitesse du robot
ClementBreteau 16:7321fb3bb396 148 SendSpeed(speed,(unsigned short)angle);
ClementBreteau 16:7321fb3bb396 149 break;
ClementBreteau 16:7321fb3bb396 150
ClementBreteau 16:7321fb3bb396 151 case 30://Action tempo
ClementBreteau 16:7321fb3bb396 152 wait_ms(speed);
antbig 12:14729d584500 153 break;
antbig 10:a788d9cf60f2 154
antbig 3:19f2285a4757 155 default:
antbig 10:a788d9cf60f2 156 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 3:19f2285a4757 157
antbig 3:19f2285a4757 158 }
antbig 11:ed13a480ddca 159 return 1;//L'action est spécifique.
antbig 3:19f2285a4757 160
antbig 3:19f2285a4757 161 }
antbig 3:19f2285a4757 162
antbig 3:19f2285a4757 163 /****************************************************************************************/
antbig 3:19f2285a4757 164 /* FUNCTION NAME: initRobot */
antbig 3:19f2285a4757 165 /* DESCRIPTION : initialiser le robot */
antbig 3:19f2285a4757 166 /****************************************************************************************/
antbig 3:19f2285a4757 167 void initRobot(void) {
antbig 3:19f2285a4757 168 /**
antbig 3:19f2285a4757 169 On enregistre les id des AX12 présent sur la carte
antbig 3:19f2285a4757 170 **/
ClementBreteau 15:c2fc239e85df 171 /*AX12_register(1,AX12_SERIAL1,0x0FF);
antbig 5:dcd817534b57 172 AX12_register(2,AX12_SERIAL1);
antbig 5:dcd817534b57 173 AX12_register(18,AX12_SERIAL1);
antbig 5:dcd817534b57 174 AX12_register(4,AX12_SERIAL2);
antbig 5:dcd817534b57 175 AX12_register(16,AX12_SERIAL2);
ClementBreteau 15:c2fc239e85df 176 AX12_register(17,AX12_SERIAL2,0x0FF);*/
antbig 12:14729d584500 177
antbig 12:14729d584500 178 //runRobotTest();
antbig 12:14729d584500 179
antbig 5:dcd817534b57 180 /*
antbig 5:dcd817534b57 181 AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
antbig 5:dcd817534b57 182 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 5:dcd817534b57 183 AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF);
antbig 5:dcd817534b57 184 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras
antbig 5:dcd817534b57 185 AX12_processChange();*/
ClementBreteau 16:7321fb3bb396 186
ClementBreteau 16:7321fb3bb396 187 initAX12();
ClementBreteau 16:7321fb3bb396 188 moteurGauchePWM(0);
ClementBreteau 16:7321fb3bb396 189 moteurDroitPWM(0);
antbig 3:19f2285a4757 190 }
antbig 3:19f2285a4757 191
antbig 4:88431b537477 192 /****************************************************************************************/
antbig 12:14729d584500 193 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 194 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 195 /****************************************************************************************/
antbig 12:14729d584500 196 void initRobotActionneur(void)
antbig 12:14729d584500 197 {
ClementBreteau 15:c2fc239e85df 198 /*XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_FERMER);
antbig 12:14729d584500 199 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_FERMER);
antbig 12:14729d584500 200
antbig 12:14729d584500 201 AX12_setGoal(
antbig 12:14729d584500 202 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 12:14729d584500 203 AX12_ANGLE_BRAS_RELACHEUR_DROIT_REPLIER,
antbig 12:14729d584500 204 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 205 );
antbig 12:14729d584500 206 AX12_setGoal(
antbig 12:14729d584500 207 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 12:14729d584500 208 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_REPLIER,
antbig 12:14729d584500 209 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 210 );
antbig 12:14729d584500 211 AX12_setGoal(
antbig 12:14729d584500 212 AX12_ID_BRAS_BASE_DROIT,
antbig 12:14729d584500 213 AX12_ANGLE_BRAS_BASE_DROIT_REPLIER,
antbig 12:14729d584500 214 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 215 );
antbig 12:14729d584500 216 AX12_setGoal(
antbig 12:14729d584500 217 AX12_ID_BRAS_BASE_GAUCHE,
antbig 12:14729d584500 218 AX12_ANGLE_BRAS_BASE_GAUCHE_REPLIER,
antbig 12:14729d584500 219 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 220 );
antbig 12:14729d584500 221 AX12_setGoal(
antbig 12:14729d584500 222 AX12_ID_PALET_DROIT,
antbig 12:14729d584500 223 AX12_ANGLE_PALET_DROIT_FERMER,
antbig 12:14729d584500 224 AX12_SPEED_PALET
antbig 12:14729d584500 225 );
antbig 12:14729d584500 226 AX12_setGoal(
antbig 12:14729d584500 227 AX12_ID_PALET_GAUCHE,
antbig 12:14729d584500 228 AX12_ANGLE_PALET_GAUCHE_FERMER,
antbig 12:14729d584500 229 AX12_SPEED_PALET
antbig 12:14729d584500 230 );
ClementBreteau 15:c2fc239e85df 231 AX12_processChange(); */
antbig 12:14729d584500 232 }
antbig 12:14729d584500 233
antbig 12:14729d584500 234 /****************************************************************************************/
antbig 9:d0042422d95a 235 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 236 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 237 /****************************************************************************************/
antbig 9:d0042422d95a 238 void runRobotTest(void)
antbig 9:d0042422d95a 239 {
ClementBreteau 15:c2fc239e85df 240 /*XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_SECURISE);
antbig 12:14729d584500 241 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_SECURISE);
antbig 9:d0042422d95a 242
antbig 12:14729d584500 243 wait_ms(200);
antbig 12:14729d584500 244
antbig 12:14729d584500 245 XL320_setGoal(XL320_ID_PINCE_GAUCHE, XL320_ANGLE_PINCE_GAUCHE_FERMER);
antbig 12:14729d584500 246 XL320_setGoal(XL320_ID_PINCE_DROITE, XL320_ANGLE_PINCE_DROITE_FERMER);
antbig 12:14729d584500 247
antbig 12:14729d584500 248 wait_ms(200);
antbig 12:14729d584500 249
antbig 12:14729d584500 250 AX12_setGoal(
antbig 12:14729d584500 251 AX12_ID_BRAS_BASE_DROIT,
antbig 12:14729d584500 252 AX12_ANGLE_BRAS_BASE_DROIT_MOITER,
antbig 12:14729d584500 253 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 254 );
antbig 12:14729d584500 255 AX12_setGoal(
antbig 12:14729d584500 256 AX12_ID_BRAS_BASE_GAUCHE,
antbig 12:14729d584500 257 AX12_ANGLE_BRAS_BASE_GAUCHE_MOITER,
antbig 12:14729d584500 258 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 259 );
antbig 12:14729d584500 260 AX12_processChange();
antbig 12:14729d584500 261
antbig 12:14729d584500 262 wait_ms(500);
antbig 12:14729d584500 263
antbig 12:14729d584500 264 AX12_setGoal(
antbig 12:14729d584500 265 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 12:14729d584500 266 AX12_ANGLE_BRAS_RELACHEUR_DROIT_OUVERT,
antbig 12:14729d584500 267 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 268 );
antbig 12:14729d584500 269 AX12_setGoal(
antbig 12:14729d584500 270 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 12:14729d584500 271 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_OUVERT,
antbig 12:14729d584500 272 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 273 );
antbig 12:14729d584500 274 AX12_processChange();
antbig 12:14729d584500 275
antbig 12:14729d584500 276 wait_ms(600);
antbig 12:14729d584500 277
antbig 12:14729d584500 278 AX12_setGoal(
antbig 12:14729d584500 279 AX12_ID_BRAS_RELACHEUR_DROIT,
antbig 12:14729d584500 280 AX12_ANGLE_BRAS_RELACHEUR_DROIT_REPLIER,
antbig 12:14729d584500 281 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 282 );
antbig 12:14729d584500 283 AX12_setGoal(
antbig 12:14729d584500 284 AX12_ID_BRAS_RELACHEUR_GAUCHE,
antbig 12:14729d584500 285 AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_REPLIER,
antbig 12:14729d584500 286 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 287 );
antbig 12:14729d584500 288 AX12_processChange();
antbig 12:14729d584500 289
antbig 12:14729d584500 290 wait_ms(500);
antbig 12:14729d584500 291
antbig 12:14729d584500 292 AX12_setGoal(
antbig 12:14729d584500 293 AX12_ID_BRAS_BASE_DROIT,
antbig 12:14729d584500 294 AX12_ANGLE_BRAS_BASE_DROIT_REPLIER,
antbig 12:14729d584500 295 AX12_SPEED_BRAS_BASE
antbig 12:14729d584500 296 );
antbig 12:14729d584500 297 AX12_setGoal(
antbig 12:14729d584500 298 AX12_ID_BRAS_BASE_GAUCHE,
antbig 12:14729d584500 299 AX12_ANGLE_BRAS_BASE_GAUCHE_REPLIER,
antbig 12:14729d584500 300 AX12_SPEED_BRAS_RELACHEUR
antbig 12:14729d584500 301 );
antbig 12:14729d584500 302 AX12_processChange();
antbig 12:14729d584500 303
antbig 12:14729d584500 304 wait_ms(600);
antbig 12:14729d584500 305 AX12_setGoal(
antbig 12:14729d584500 306 AX12_ID_PALET_DROIT,
antbig 12:14729d584500 307 AX12_ANGLE_PALET_DROIT_ROCHET,
antbig 12:14729d584500 308 AX12_SPEED_PALET
antbig 12:14729d584500 309 );
antbig 12:14729d584500 310 AX12_setGoal(
antbig 12:14729d584500 311 AX12_ID_PALET_GAUCHE,
antbig 12:14729d584500 312 AX12_ANGLE_PALET_GAUCHE_ROCHET,
antbig 12:14729d584500 313 AX12_SPEED_PALET
antbig 12:14729d584500 314 );
antbig 12:14729d584500 315 AX12_processChange();
antbig 12:14729d584500 316
antbig 12:14729d584500 317 wait_ms(500);
antbig 12:14729d584500 318
antbig 12:14729d584500 319 AX12_setGoal(
antbig 12:14729d584500 320 AX12_ID_PALET_DROIT,
antbig 12:14729d584500 321 AX12_ANGLE_PALET_DROIT_FERMER,
antbig 12:14729d584500 322 AX12_SPEED_PALET
antbig 12:14729d584500 323 );
antbig 12:14729d584500 324 AX12_setGoal(
antbig 12:14729d584500 325 AX12_ID_PALET_GAUCHE,
antbig 12:14729d584500 326 AX12_ANGLE_PALET_GAUCHE_FERMER,
antbig 12:14729d584500 327 AX12_SPEED_PALET
antbig 12:14729d584500 328 );
ClementBreteau 15:c2fc239e85df 329 AX12_processChange();*/
antbig 9:d0042422d95a 330 }
antbig 9:d0042422d95a 331
antbig 9:d0042422d95a 332 /****************************************************************************************/
antbig 4:88431b537477 333 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 334 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 335 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 336 /****************************************************************************************/
antbig 4:88431b537477 337 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 338 {
antbig 12:14729d584500 339
antbig 4:88431b537477 340 switch(id)
antbig 4:88431b537477 341 {
antbig 4:88431b537477 342 case 1:
antbig 4:88431b537477 343 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 4:88431b537477 344 return FileExists(cheminFileStart);
antbig 4:88431b537477 345 case 2:
antbig 4:88431b537477 346 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 4:88431b537477 347 return FileExists(cheminFileStart);
antbig 7:dcce34c7e06e 348 case 3:
antbig 7:dcce34c7e06e 349 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 7:dcce34c7e06e 350 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 351 case 4:
antbig 11:ed13a480ddca 352 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 11:ed13a480ddca 353 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 354 case 5:
antbig 11:ed13a480ddca 355 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 11:ed13a480ddca 356 return FileExists(cheminFileStart);
antbig 12:14729d584500 357 case 6:
antbig 12:14729d584500 358 strcpy(cheminFileStart,"/local/strat6.txt");
antbig 12:14729d584500 359 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 360 case 7:
ClementBreteau 16:7321fb3bb396 361 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 16:7321fb3bb396 362 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 363 case 8:
ClementBreteau 16:7321fb3bb396 364 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 16:7321fb3bb396 365 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 366 case 9:
ClementBreteau 16:7321fb3bb396 367 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 16:7321fb3bb396 368 return FileExists(cheminFileStart);
antbig 12:14729d584500 369 case 10:
ClementBreteau 16:7321fb3bb396 370 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 16:7321fb3bb396 371 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 372 case 11:
antbig 12:14729d584500 373 strcpy(cheminFileStart,"/local/grand_8.txt");
antbig 12:14729d584500 374 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 375
ClementBreteau 16:7321fb3bb396 376 case 0x10:
ClementBreteau 16:7321fb3bb396 377 strcpy(cheminFileStart,"/local/demoBras.txt");
ClementBreteau 16:7321fb3bb396 378 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 379
antbig 4:88431b537477 380 default:
antbig 12:14729d584500 381 strcpy(cheminFileStart,"/local/strat1.txt");
ClementBreteau 16:7321fb3bb396 382 SendRawId(0x258);
antbig 4:88431b537477 383 return 0;
antbig 4:88431b537477 384 }
antbig 4:88431b537477 385 }
antbig 4:88431b537477 386
antbig 12:14729d584500 387 /****************************************************************************************/
antbig 12:14729d584500 388 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 389 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 390 /****************************************************************************************/
antbig 12:14729d584500 391 unsigned char needToStop(void)
antbig 12:14729d584500 392 {
antbig 12:14729d584500 393 return isStopEnable;
antbig 12:14729d584500 394 }
antbig 12:14729d584500 395
antbig 12:14729d584500 396 /****************************************************************************************/
antbig 12:14729d584500 397 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 398 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 399 /****************************************************************************************/
antbig 12:14729d584500 400 void doBeforeEndAction(void)
antbig 12:14729d584500 401 {
antbig 12:14729d584500 402
antbig 12:14729d584500 403 }
antbig 12:14729d584500 404
antbig 3:19f2285a4757 405 #endif