Diff: main.cpp

Revision:

32:e9947815c4d7

Parent:

31:29500874c1cc

Child:

35:5df59d61c95d

Child:

36:04c3ad41064d

--- a/main.cpp	Thu May 23 07:53:43 2019 +0000
+++ b/main.cpp	Thu May 23 10:42:28 2019 +0000
@@ -13,6 +13,9 @@
 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
 unsigned char EtatGameEnd=0;
 
+char cote;
+
+
 void canProcessRx(void);
 
 
@@ -42,6 +45,7 @@
 
 #ifdef ROBOT_SMALL
     pc.printf("\nPetit robot\n\n");
+    deverouillage_torque();
     gabarit_petit_robot();
 #endif
 
@@ -120,7 +124,12 @@
         int identifiant=msgRxBuffer[FIFO_lecture].id;
 
         switch(identifiant) {
-    
+
+
+            case CHOICE_COLOR:
+                cote = msgRxBuffer[FIFO_lecture].data[0];
+                break;
+
             case GLOBAL_GAME_END:
                 EtatGameEnd = 1;
                 break;
@@ -197,7 +206,7 @@
                 gabarit_petit_robot();
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
-                
+
             case PRESENTOIR_AVANT:
                 fpresentoir_avant=1;
                 break;
@@ -209,11 +218,11 @@
             case BALANCE_AVANT:
                 fbalance_avant=1;
                 break;
-                
+
             case BALANCE_ARRIERE:
                 fbalance_arriere=1;
                 break;
-                
+
             case ACCELERATEUR_AVANT:
                 faccelerateur_avant=1;
                 break;
@@ -225,7 +234,7 @@
             case GOLDENIUM_AVANT:
                 fgoldenium_avant=1;
                 break;
-                
+
             case GOLDENIUM_ARRIERE:
                 fgoldenium_arriere=1;
                 break;
@@ -250,7 +259,7 @@
             case AVANT_RELACHE:
                 favant_relache=1;
                 break;
-                
+
             case ARRIERE_RELACHE:
                 farriere_relache=1;
                 break;
@@ -276,13 +285,13 @@
                 verification();
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
-                
+
             case ACCELERATEUR_INSERTION_AVANT_GAUCHE:
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 accelerateur_insertion_avant_gauche();
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
-                
+
             case ACCELERATEUR_INSERTION_DERRIERE_GAUCHE :
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 accelerateur_insertion_arriere_gauche();