Diff: main.cpp

Revision:

44:381ecf63e6ab

Parent:

43:7fff7f4d79a1

--- a/main.cpp	Sat May 25 15:40:31 2019 +0000
+++ b/main.cpp	Sun May 26 10:51:35 2019 +0000
@@ -15,6 +15,8 @@
 
 char cote=0;
 
+unsigned short distance_recalage,distance_revenir;
+unsigned short  distance_goldenium;
 
 void canProcessRx(void);
 
@@ -99,8 +101,13 @@
 
         fifo_couleur();
         ascenseur();
-        convoyeur_gauche();
-        convoyeur_droit();
+        if(cote) {
+            convoyeur_gauche_violet();
+            convoyeur_droit_violet();
+        } else {
+            convoyeur_gauche_jaune(); //ok
+            convoyeur_droit_jaune(); //ok
+        }
 
 #endif
 
@@ -180,8 +187,8 @@
                 can.write(msgTx);
                 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
                 break;
-                
-        case DATA_TELEMETRE_LOGIQUE:
+
+            case DATA_TELEMETRE_LOGIQUE:
                 msgTx.id=RECEPTION_TELEMETRE_LOGIQUE; // tx Valeur Telemetre1
                 msgTx.len=4;
                 msgTx.format=CANStandard;
@@ -211,10 +218,8 @@
             case HACHEUR_RELEASE_ATOM_ACK :
                 status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
                 break;
-                
-            case HACHEUR_ETAT_CONTACTS : 
-                status_contact = msgRxBuffer[FIFO_lecture].data[0];
-                break;
+
+
 
 //-------------------------------------------------------------------------------------------------------------------------------------------
 
@@ -222,12 +227,12 @@
 
             case PRESENTOIR_AVANT:
                 fpresentoir_avant=1;
+            
                 break;
 
             case GABARIT_ROBOT:
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 gabarit_robot();
-
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
@@ -257,6 +262,8 @@
 
             case ACCELERATEUR_AVANT:
                 faccelerateur_avant=1;
+                distance_recalage=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
+                distance_revenir=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
                 break;
 
             case ACCELERATEUR_ARRIERE:
@@ -265,6 +272,7 @@
 
             case GOLDENIUM_AVANT:
                 fgoldenium_avant=1;
+                distance_goldenium=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
                 break;
 
             case GOLDENIUM_ARRIERE:
@@ -288,7 +296,7 @@
                 break;
 
 
-            
+
 
             case ARRIERE_RELACHE:
                 farriere_relache=1;
@@ -337,6 +345,10 @@
                 flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0];
                 break;
 
+            case HACHEUR_ETAT_CONTACTS :
+                status_contact = msgRxBuffer[FIFO_lecture].data[0];
+                break;
+
 #endif
         }
         FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;