carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
Diff: main.cpp
- Revision:
- 32:e9947815c4d7
- Parent:
- 31:29500874c1cc
- Child:
- 35:5df59d61c95d
- Child:
- 36:04c3ad41064d
diff -r 29500874c1cc -r e9947815c4d7 main.cpp --- 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();