CRAC Team / Mbed 2 deprecated carte_straegie_2019

Programme carte strategie (disco)

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Robots/Strategie_big.cpp@40:21bb685b553b, 2018-05-10 (annotated)

Committer:
Sitkah
Date:
Thu May 10 18:49:25 2018 +0000
Revision:
40:21bb685b553b
Parent:
38:76f886a1c8e6
Child:
41:b029ddc4d60e
Avant match 3;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 29:41e02746041d 2 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 3
Sitkah 29:41e02746041d 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 0:ad97421fb1fb 7 /****************************************************************************************/
antbig 0:ad97421fb1fb 8 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 9 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 10 /****************************************************************************************/
antbig 0:ad97421fb1fb 11 void doFunnyAction(void) {
ClementBreteau 18:cc5fec34ed9c 12 //envoie de la funny action
ClementBreteau 18:cc5fec34ed9c 13 // 0x007, 01, 01
ClementBreteau 18:cc5fec34ed9c 14 CANMessage msgTx=CANMessage();
ClementBreteau 18:cc5fec34ed9c 15 msgTx.id=GLOBAL_FUNNY_ACTION;
ClementBreteau 18:cc5fec34ed9c 16 msgTx.format=CANStandard;
ClementBreteau 18:cc5fec34ed9c 17 msgTx.type=CANData;
ClementBreteau 18:cc5fec34ed9c 18 msgTx.len=2;
ClementBreteau 18:cc5fec34ed9c 19 msgTx.data[0]=0x01;
ClementBreteau 18:cc5fec34ed9c 20 msgTx.data[1]=0x01;
ClementBreteau 18:cc5fec34ed9c 21 can1.write(msgTx);
antbig 0:ad97421fb1fb 22 }
antbig 0:ad97421fb1fb 23
antbig 0:ad97421fb1fb 24 /****************************************************************************************/
antbig 0:ad97421fb1fb 25 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 26 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 27 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 28 unsigned char doAction(unsigned char id, unsigned short var1, short var2) {
antbig 12:14729d584500 29 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 30 msgTx.format=CANStandard;
Sitkah 30:a1e37af4bbde 31 msgTx.type=CANData;
Sitkah 30:a1e37af4bbde 32 //affichage_debug(id);
Sitkah 30:a1e37af4bbde 33
antbig 0:ad97421fb1fb 34 switch(id) {
Sitkah 30:a1e37af4bbde 35 /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
Sitkah 36:6dd30780bd8e 36 case 100: //Monte l'immeuble selon le code couleur
Sitkah 36:6dd30780bd8e 37 msgTx.id=MONTER_IMMEUBLE_DOUBLE;
ClementBreteau 18:cc5fec34ed9c 38
Sitkah 30:a1e37af4bbde 39 msgTx.len=3;
Sitkah 30:a1e37af4bbde 40 msgTx.data[0]=couleur1;
Sitkah 30:a1e37af4bbde 41 msgTx.data[1]=couleur2;
Sitkah 30:a1e37af4bbde 42 msgTx.data[2]=couleur3;
Sitkah 36:6dd30780bd8e 43 can2.write(msgTx);
Sitkah 38:76f886a1c8e6 44 break;
ClementBreteau 15:c2fc239e85df 45
Sitkah 30:a1e37af4bbde 46 case 101: //baisser l'attrape bloc arrière
Sitkah 36:6dd30780bd8e 47 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 48 break;
Sitkah 30:a1e37af4bbde 49 case 102: //Relever l'attrape bloc arrière
Sitkah 30:a1e37af4bbde 50 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 51 break;
Sitkah 30:a1e37af4bbde 52 case 103: //
Sitkah 36:6dd30780bd8e 53 SendRawId(BAISSER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 54 break;
Sitkah 30:a1e37af4bbde 55 case 104:
Sitkah 36:6dd30780bd8e 56 SendRawId(RELEVER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 57 break;
Sitkah 30:a1e37af4bbde 58 case 105:
Sitkah 36:6dd30780bd8e 59 SendRawId(BAISSER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 60 break;
Sitkah 30:a1e37af4bbde 61 case 106:
Sitkah 36:6dd30780bd8e 62 SendRawId(RELEVER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 63 break;
Sitkah 30:a1e37af4bbde 64 case 107:
Sitkah 36:6dd30780bd8e 65 msgTx.id=MONTER_IMMEUBLE;
Sitkah 36:6dd30780bd8e 66 msgTx.len=4;
Sitkah 36:6dd30780bd8e 67 msgTx.data[0]=couleur1;
Sitkah 36:6dd30780bd8e 68 msgTx.data[1]=couleur2;
Sitkah 36:6dd30780bd8e 69 msgTx.data[2]=couleur3;
Sitkah 38:76f886a1c8e6 70 msgTx.data[3]=var1;
Sitkah 40:21bb685b553b 71 msgTx.data[4]=var2;
Sitkah 36:6dd30780bd8e 72 can2.write(msgTx);
Sitkah 38:76f886a1c8e6 73 case 108:
Sitkah 38:76f886a1c8e6 74 SendRawId(INTER_BAISSER_ATTRAPE_BLOC_AvG);
Sitkah 38:76f886a1c8e6 75 break;
Sitkah 38:76f886a1c8e6 76 case 109:
Sitkah 38:76f886a1c8e6 77 SendRawId(INTER_BAISSER_ATTRAPE_BLOC_AvD);
Sitkah 38:76f886a1c8e6 78 break;
Sitkah 30:a1e37af4bbde 79 case 111:
Sitkah 38:76f886a1c8e6 80 SendRawId(RANGER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 81 break;
Sitkah 30:a1e37af4bbde 82 case 112:
Sitkah 38:76f886a1c8e6 83 SendRawId(RANGER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 84 break;
Sitkah 38:76f886a1c8e6 85
Sitkah 38:76f886a1c8e6 86
Sitkah 38:76f886a1c8e6 87 case 150:
Sitkah 38:76f886a1c8e6 88 SCORE_GR+=var1;
Sitkah 38:76f886a1c8e6 89 SCORE_GLOBAL=SCORE_GR+SCORE_PR;
Sitkah 40:21bb685b553b 90 //liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
Sitkah 38:76f886a1c8e6 91 waitingAckFrom = 0;
Sitkah 38:76f886a1c8e6 92 waitingAckID = 0;
Sitkah 38:76f886a1c8e6 93 break;
Sitkah 38:76f886a1c8e6 94
ClementBreteau 18:cc5fec34ed9c 95
antbig 12:14729d584500 96 case 10://Désactiver le stop
antbig 12:14729d584500 97 isStopEnable = 0;
antbig 12:14729d584500 98 break;
antbig 12:14729d584500 99 case 11://Activer le stop
antbig 12:14729d584500 100 isStopEnable = 1;
antbig 12:14729d584500 101 break;
antbig 12:14729d584500 102 case 20://Désactiver l'asservissement
antbig 12:14729d584500 103 setAsservissementEtat(0);
antbig 12:14729d584500 104 break;
antbig 12:14729d584500 105 case 21://Activer l'asservissement
antbig 12:14729d584500 106 setAsservissementEtat(1);
antbig 12:14729d584500 107 break;
antbig 12:14729d584500 108
antbig 12:14729d584500 109 case 22://Changer la vitesse du robot
Sitkah 30:a1e37af4bbde 110 SendSpeed(var1,(unsigned short)var2);
ClementBreteau 26:2f4fcc2354f3 111 waitingAckFrom = 0;
ClementBreteau 26:2f4fcc2354f3 112 waitingAckID = 0;
ClementBreteau 26:2f4fcc2354f3 113 wait(0.2);
antbig 12:14729d584500 114 break;
antbig 12:14729d584500 115
antbig 12:14729d584500 116 case 30://Action tempo
Sitkah 30:a1e37af4bbde 117 wait_ms(var1);
Sitkah 40:21bb685b553b 118 waitingAckFrom = 0;
Sitkah 40:21bb685b553b 119 waitingAckID = 0;
antbig 12:14729d584500 120 break;
antbig 12:14729d584500 121
ClementBreteau 18:cc5fec34ed9c 122 /*case 40: // demande au telemetre la position d'un objet
ClementBreteau 14:c8fc06c4887f 123 //SendRawId(TELEMETRE_RECHERCHE_OBJET);
ClementBreteau 15:c2fc239e85df 124
ClementBreteau 15:c2fc239e85df 125 modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 126
ClementBreteau 15:c2fc239e85df 127 //angle = angle /10;
ClementBreteau 15:c2fc239e85df 128
ClementBreteau 15:c2fc239e85df 129 msgTx.id=TELEMETRE_OBJET;
ClementBreteau 15:c2fc239e85df 130 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 131 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 132 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 133 // indice du module sur le terrain
ClementBreteau 15:c2fc239e85df 134 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 135
ClementBreteau 18:cc5fec34ed9c 136
ClementBreteau 15:c2fc239e85df 137 // x sur 2 octets
ClementBreteau 15:c2fc239e85df 138 msgTx.data[0]=(unsigned char)speed;
ClementBreteau 15:c2fc239e85df 139 msgTx.data[1]=(unsigned char)(speed>>8);
ClementBreteau 15:c2fc239e85df 140 // y sur 2 octets
ClementBreteau 15:c2fc239e85df 141 msgTx.data[2]=(unsigned char)angle;
ClementBreteau 15:c2fc239e85df 142 msgTx.data[3]=(unsigned char)(angle>>8);
ClementBreteau 15:c2fc239e85df 143 // theta signé sur 2 octets
ClementBreteau 15:c2fc239e85df 144 //msgTx.data[4]=(unsigned char)theta;
ClementBreteau 15:c2fc239e85df 145 //msgTx.data[5]=(unsigned char)(theta>>8);
ClementBreteau 15:c2fc239e85df 146 msgTx.data[4]=0;
ClementBreteau 18:cc5fec34ed9c 147 msgTx.data[5]=0;
ClementBreteau 15:c2fc239e85df 148
ClementBreteau 15:c2fc239e85df 149 can1.write(msgTx);
ClementBreteau 15:c2fc239e85df 150
ClementBreteau 18:cc5fec34ed9c 151 break;*/
ClementBreteau 14:c8fc06c4887f 152
ClementBreteau 18:cc5fec34ed9c 153 /* case 130://Lancer mouvement de sortie de la zone de départ
ClementBreteau 15:c2fc239e85df 154 msgTx.id=ACTION_BIG_DEMARRAGE;
ClementBreteau 15:c2fc239e85df 155 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 156 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 157 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 158 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 159 can1.write(msgTx);
ClementBreteau 18:cc5fec34ed9c 160 break;*/
antbig 12:14729d584500 161
antbig 0:ad97421fb1fb 162 default:
antbig 0:ad97421fb1fb 163 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 164
antbig 0:ad97421fb1fb 165 }
antbig 0:ad97421fb1fb 166 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 167
antbig 0:ad97421fb1fb 168 }
antbig 0:ad97421fb1fb 169
antbig 0:ad97421fb1fb 170 /****************************************************************************************/
antbig 0:ad97421fb1fb 171 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 172 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 173 /****************************************************************************************/
antbig 9:d0042422d95a 174 void initRobot(void)
antbig 9:d0042422d95a 175 {
antbig 9:d0042422d95a 176 //Enregistrement de tous les AX12 présent sur la carte
ClementBreteau 15:c2fc239e85df 177 /*AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 178 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 179 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 180 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 181 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 182 AX12_register(8, AX12_SERIAL1);
ClementBreteau 15:c2fc239e85df 183 AX12_register(7, AX12_SERIAL2);*/
antbig 9:d0042422d95a 184
antbig 12:14729d584500 185 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 186 //AX12_processChange();
antbig 11:ed13a480ddca 187 //runRobotTest();
ClementBreteau 16:7321fb3bb396 188
antbig 9:d0042422d95a 189 }
antbig 9:d0042422d95a 190
antbig 9:d0042422d95a 191 /****************************************************************************************/
antbig 12:14729d584500 192 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 193 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 194 /****************************************************************************************/
antbig 12:14729d584500 195 void initRobotActionneur(void)
antbig 12:14729d584500 196 {
ClementBreteau 23:ab87d308eaf9 197 /*doAction(100,1,0);
ClementBreteau 23:ab87d308eaf9 198 doAction(100,2,0);
ClementBreteau 23:ab87d308eaf9 199 doAction(110,0,0);
ClementBreteau 23:ab87d308eaf9 200 doAction(120,0,0);
ClementBreteau 23:ab87d308eaf9 201 doAction(131,0,0);*/
ClementBreteau 23:ab87d308eaf9 202
antbig 12:14729d584500 203 }
antbig 12:14729d584500 204
antbig 12:14729d584500 205 /****************************************************************************************/
antbig 9:d0042422d95a 206 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 207 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 208 /****************************************************************************************/
antbig 9:d0042422d95a 209 void runRobotTest(void)
antbig 9:d0042422d95a 210 {
ClementBreteau 18:cc5fec34ed9c 211 /*
antbig 12:14729d584500 212 int waitTime = 500;
antbig 12:14729d584500 213
antbig 9:d0042422d95a 214 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 215 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 216 wait_ms(waitTime);
antbig 9:d0042422d95a 217 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 218 wait_ms(waitTime);
antbig 9:d0042422d95a 219 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 220 wait_ms(waitTime);
antbig 9:d0042422d95a 221 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 222 wait_ms(waitTime);
antbig 9:d0042422d95a 223 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 224 wait_ms(waitTime);
antbig 9:d0042422d95a 225 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 226 wait_ms(waitTime);
antbig 12:14729d584500 227 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 228 wait_ms(waitTime);
antbig 12:14729d584500 229 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 230 wait_ms(waitTime);
antbig 12:14729d584500 231 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 232 wait_ms(waitTime);
ClementBreteau 18:cc5fec34ed9c 233 doAction(102,0,0);//Remonter le peigne*/
antbig 0:ad97421fb1fb 234 }
antbig 3:19f2285a4757 235
antbig 4:88431b537477 236 /****************************************************************************************/
antbig 4:88431b537477 237 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 238 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 239 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 240 /****************************************************************************************/
Sitkah 29:41e02746041d 241 /*int SelectStrategy(unsigned char id)
antbig 4:88431b537477 242 {
antbig 4:88431b537477 243 switch(id)
antbig 4:88431b537477 244 {
ClementBreteau 15:c2fc239e85df 245 // strat de match
antbig 4:88431b537477 246 case 1:
antbig 11:ed13a480ddca 247 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 248 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 249 case 2:
antbig 11:ed13a480ddca 250 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 251 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 252 case 3:
antbig 11:ed13a480ddca 253 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 254 return FileExists(cheminFileStart);
antbig 12:14729d584500 255 case 4:
antbig 12:14729d584500 256 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 257 return FileExists(cheminFileStart);
antbig 12:14729d584500 258 case 5:
antbig 12:14729d584500 259 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 260 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 261 case 6:
ClementBreteau 14:c8fc06c4887f 262 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 263 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 264 case 7:
ClementBreteau 14:c8fc06c4887f 265 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 266 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 267 case 8:
ClementBreteau 14:c8fc06c4887f 268 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 269 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 270 case 9:
ClementBreteau 14:c8fc06c4887f 271 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 272 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 273 case 10:
ClementBreteau 14:c8fc06c4887f 274 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 275 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 276
ClementBreteau 15:c2fc239e85df 277 // strat de demo
ClementBreteau 14:c8fc06c4887f 278 case 0x10:
ClementBreteau 14:c8fc06c4887f 279 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 280 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 281 case 0x11:
ClementBreteau 15:c2fc239e85df 282 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 283 strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau 15:c2fc239e85df 284 #else
ClementBreteau 15:c2fc239e85df 285 strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau 15:c2fc239e85df 286 #endif
ClementBreteau 14:c8fc06c4887f 287 return FileExists(cheminFileStart);
ClementBreteau 15:c2fc239e85df 288 case 0x12:
ClementBreteau 15:c2fc239e85df 289 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 290 strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau 15:c2fc239e85df 291 #else
ClementBreteau 15:c2fc239e85df 292 strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau 15:c2fc239e85df 293 #endif
ClementBreteau 15:c2fc239e85df 294 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 295 default:
antbig 12:14729d584500 296 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 297 return 0;
antbig 4:88431b537477 298 }
Sitkah 29:41e02746041d 299 }*/
antbig 4:88431b537477 300
antbig 12:14729d584500 301 /****************************************************************************************/
antbig 12:14729d584500 302 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 303 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 304 /****************************************************************************************/
antbig 12:14729d584500 305 unsigned char needToStop(void)
antbig 12:14729d584500 306 {
antbig 12:14729d584500 307 return isStopEnable;
antbig 12:14729d584500 308 }
antbig 12:14729d584500 309
antbig 12:14729d584500 310 /****************************************************************************************/
antbig 12:14729d584500 311 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 312 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 313 /****************************************************************************************/
antbig 12:14729d584500 314 void doBeforeEndAction(void)
antbig 12:14729d584500 315 {
antbig 12:14729d584500 316 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 317 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 318 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 319 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 320 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 321 }
antbig 12:14729d584500 322
antbig 3:19f2285a4757 323 #endif