carte_straegie_2019 - Programme carte strategie (disco)

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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_small.cpp@54:8996a5b18d9b, 2019-05-23 (annotated)

Committer:: Artiom
Date:: Thu May 23 07:54:38 2019 +0000
Revision:: 54:8996a5b18d9b
Parent:: 53:e96acb11a51f
Child:: 55:1e3dab1f90f4

Who changed what in which revision?

User	Revision	Line number	New contents of line
Sitkah	29:41e02746041d	1	#include "global.h"
Sitkah	38:76f886a1c8e6	2
antbig	3:19f2285a4757	3	#ifdef ROBOT_SMALL
Sitkah	29:41e02746041d	4
antbig	3:19f2285a4757	5
antbig	12:14729d584500	6	unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
ClementBreteau	21:590cdacb6a35	7	//unsigned short telemetreDistance;
ClementBreteau	18:cc5fec34ed9c	8
antbig	12:14729d584500	9
antbig	3:19f2285a4757	10	/****************************************************************************************/
antbig	3:19f2285a4757	11	/* FUNCTION NAME: doFunnyAction */
antbig	3:19f2285a4757	12	/* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig	3:19f2285a4757	13	/****************************************************************************************/
Artiom	46:a9b6bcb30b1c	14	void doFunnyAction(void)
Artiom	46:a9b6bcb30b1c	15	{
Artiom	46:a9b6bcb30b1c	16
Artiom	46:a9b6bcb30b1c	17
antbig	3:19f2285a4757	18	}
antbig	3:19f2285a4757	19
ClementBreteau	18:cc5fec34ed9c	20
Sitkah	42:657b6a573e11	21	/*************************************************************************************************/
Sitkah	42:657b6a573e11	22	/* FUNCTION NAME: doAction */
Sitkah	42:657b6a573e11	23	/* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
Sitkah	42:657b6a573e11	24	/*************************************************************************************************/
Artiom	46:a9b6bcb30b1c	25	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
Artiom	46:a9b6bcb30b1c	26	{
ClementBreteau	18:cc5fec34ed9c	27	int retour = 1;
Sitkah	34:6aa4b46b102e	28	CANMessage msgTx=CANMessage();
Sitkah	34:6aa4b46b102e	29	msgTx.format=CANStandard;
Sitkah	34:6aa4b46b102e	30	msgTx.type=CANData;
antbig	3:19f2285a4757	31	switch(id) {
Villanut	45:4f93e99bac6e	32	case 101: //bras gabarit
Artiom	46:a9b6bcb30b1c	33	SendRawId(GABARIT_PETIT_ROBOT);
Sitkah	30:a1e37af4bbde	34	break;
Villanut	45:4f93e99bac6e	35	case 102: //attraper presentoir avant
Artiom	46:a9b6bcb30b1c	36	SendRawId(PRESENTOIR_AVANT);
Sitkah	30:a1e37af4bbde	37	break;
Villanut	45:4f93e99bac6e	38	case 103: //attraper presentoir arriere
Villanut	45:4f93e99bac6e	39	SendRawId(PRESENTOIR_ARRIERE);
Sitkah	30:a1e37af4bbde	40	break;
Villanut	45:4f93e99bac6e	41	case 104: //balance avant
Villanut	45:4f93e99bac6e	42	SendRawId(BALANCE_AVANT);
Sitkah	30:a1e37af4bbde	43	break;
Villanut	45:4f93e99bac6e	44	case 105: //balance arriere
Villanut	45:4f93e99bac6e	45	SendRawId(BALANCE_ARRIERE);
Sitkah	30:a1e37af4bbde	46	break;
Villanut	45:4f93e99bac6e	47	case 106: //accelerateur avant
Villanut	45:4f93e99bac6e	48	SendRawId(ACCELERATEUR_AVANT);
Sitkah	30:a1e37af4bbde	49	break;
Villanut	45:4f93e99bac6e	50	case 107: //accelerateur arriere
Villanut	45:4f93e99bac6e	51	SendRawId(ACCELERATEUR_ARRIERE);
Sitkah	30:a1e37af4bbde	52	break;
Villanut	45:4f93e99bac6e	53	case 108: //goldenium avant
Villanut	45:4f93e99bac6e	54	SendRawId(GOLDENIUM_AVANT);
Sitkah	30:a1e37af4bbde	55	break;
Villanut	45:4f93e99bac6e	56	case 109: //goldenium arriere
Villanut	45:4f93e99bac6e	57	SendRawId(GOLDENIUM_ARRIERE);
Sitkah	30:a1e37af4bbde	58	break;
Villanut	45:4f93e99bac6e	59	case 110: //sol avant
Villanut	45:4f93e99bac6e	60	SendRawId(SOL_AVANT);
Sitkah	30:a1e37af4bbde	61	break;
Villanut	45:4f93e99bac6e	62	case 111: //sol arriere
Villanut	45:4f93e99bac6e	63	SendRawId(SOL_ARRIERE);
Sitkah	34:6aa4b46b102e	64	break;
Artiom	46:a9b6bcb30b1c	65	case 112: //sol avant relache
Artiom	46:a9b6bcb30b1c	66	SendRawId(SOL_AVANT_RELACHE);
Artiom	46:a9b6bcb30b1c	67	break;
Artiom	46:a9b6bcb30b1c	68	case 113: //sol arriere relache
Artiom	46:a9b6bcb30b1c	69	SendRawId(SOL_ARRIERE_RELACHE);
Artiom	46:a9b6bcb30b1c	70	break;
Artiom	52:a47350923b5e	71	case 114:
Artiom	52:a47350923b5e	72	SendRawId(AVANT_RELACHE);
Artiom	52:a47350923b5e	73	break;
Artiom	52:a47350923b5e	74
Artiom	52:a47350923b5e	75	case 115:
Artiom	52:a47350923b5e	76	SendRawId(ARRIERE_RELACHE);
Artiom	52:a47350923b5e	77	break;
Artiom	52:a47350923b5e	78
Artiom	52:a47350923b5e	79	case 116:
Artiom	52:a47350923b5e	80	unsigned char arg_tempo=(unsigned char)arg1;
Artiom	52:a47350923b5e	81	SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
Artiom	52:a47350923b5e	82	waitingAckFrom = 0;
Artiom	52:a47350923b5e	83	waitingAckID =0;
Artiom	52:a47350923b5e	84	break;
Artiom	52:a47350923b5e	85	case 117:
Artiom	52:a47350923b5e	86	SendRawId(RECROQUEVILLER);
Artiom	54:8996a5b18d9b	87	break;
Artiom	53:e96acb11a51f	88	case 118:
Artiom	53:e96acb11a51f	89	SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
Artiom	53:e96acb11a51f	90	break;
Artiom	54:8996a5b18d9b	91	case 119:
Artiom	53:e96acb11a51f	92	SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
Artiom	53:e96acb11a51f	93	break;
Artiom	54:8996a5b18d9b	94	case 120:
Artiom	54:8996a5b18d9b	95	SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
Artiom	54:8996a5b18d9b	96	break;
Artiom	54:8996a5b18d9b	97	case 121:
Artiom	54:8996a5b18d9b	98	SendRawId(ACCELERATEUR_INSERTION_DERRIERE_GAUCHE);
Artiom	54:8996a5b18d9b	99	break;
Artiom	46:a9b6bcb30b1c	100
Sitkah	38:76f886a1c8e6	101	case 150:
Sitkah	38:76f886a1c8e6	102	SCORE_PR+=arg1;
Sitkah	38:76f886a1c8e6	103	liaison_Tx.envoyer_short(0x30,SCORE_PR);
Sitkah	38:76f886a1c8e6	104	waitingAckFrom = 0;
Sitkah	38:76f886a1c8e6	105	waitingAckID = 0;
Sitkah	38:76f886a1c8e6	106	break;
Artiom	46:a9b6bcb30b1c	107
Artiom	46:a9b6bcb30b1c	108
ClementBreteau	18:cc5fec34ed9c	109	case 200 :
Sitkah	30:a1e37af4bbde	110	SendRawId(DATA_TELEMETRE);
Sitkah	30:a1e37af4bbde	111	/*telemetreDistance = dataTelemetre();
ClementBreteau	18:cc5fec34ed9c	112	wait_ms(1);
ClementBreteau	18:cc5fec34ed9c	113	telemetreDistance = dataTelemetre();
Sitkah	30:a1e37af4bbde	114	telemetreDistance = telemetreDistance - 170;*/
Artiom	46:a9b6bcb30b1c	115	break;
Artiom	46:a9b6bcb30b1c	116
ClementBreteau	18:cc5fec34ed9c	117	case 201 :
Sitkah	30:a1e37af4bbde	118	SendRawId(0x99);
ClementBreteau	18:cc5fec34ed9c	119	retour = 2;
Artiom	46:a9b6bcb30b1c	120	break;
Artiom	46:a9b6bcb30b1c	121
antbig	12:14729d584500	122	case 10://Désactiver le stop
antbig	12:14729d584500	123	isStopEnable = 0;
Artiom	46:a9b6bcb30b1c	124	break;
antbig	12:14729d584500	125	case 11://Activer le stop
antbig	12:14729d584500	126	isStopEnable = 1;
Artiom	46:a9b6bcb30b1c	127	break;
antbig	12:14729d584500	128	case 20://Désactiver l'asservissement
antbig	12:14729d584500	129	setAsservissementEtat(0);
Artiom	46:a9b6bcb30b1c	130	break;
antbig	12:14729d584500	131	case 21://Activer l'asservissement
antbig	12:14729d584500	132	setAsservissementEtat(1);
Artiom	46:a9b6bcb30b1c	133	break;
Artiom	46:a9b6bcb30b1c	134
Sitkah	34:6aa4b46b102e	135	case 22://Changer la vitesse du robot
Artiom	52:a47350923b5e	136	// SendSpeed(arg1,(unsigned short)arg2);
ClementBreteau	18:cc5fec34ed9c	137	wait_us(200);
antbig	28:acd18776ed2d	138	waitingAckFrom = 0;
antbig	28:acd18776ed2d	139	waitingAckID = 0;
Artiom	46:a9b6bcb30b1c	140	break;
Artiom	46:a9b6bcb30b1c	141
Artiom	46:a9b6bcb30b1c	142	case 19: // CHANGER LA VITESSE + DECELERATION
Artiom	50:a5361ffeefc8	143	//SendSpeedDecel(arg1,(unsigned short) arg2);
antbig	28:acd18776ed2d	144	wait_us(200);
antbig	28:acd18776ed2d	145	waitingAckFrom = 0;
antbig	28:acd18776ed2d	146	waitingAckID =0;
Artiom	46:a9b6bcb30b1c	147	break;
Artiom	46:a9b6bcb30b1c	148
ClementBreteau	16:7321fb3bb396	149	case 30://Action tempo
Sitkah	34:6aa4b46b102e	150	wait_ms(arg1);
Artiom	46:a9b6bcb30b1c	151	break;
Artiom	46:a9b6bcb30b1c	152
antbig	3:19f2285a4757	153	default:
ClementBreteau	18:cc5fec34ed9c	154	retour = 0;//L'action n'existe pas, il faut utiliser le CAN
Artiom	46:a9b6bcb30b1c	155
antbig	3:19f2285a4757	156	}
ClementBreteau	18:cc5fec34ed9c	157	return retour;//L'action est spécifique.
Artiom	46:a9b6bcb30b1c	158
antbig	3:19f2285a4757	159	}
antbig	3:19f2285a4757	160
antbig	3:19f2285a4757	161
antbig	4:88431b537477	162
antbig	12:14729d584500	163	/****************************************************************************************/
antbig	12:14729d584500	164	/* FUNCTION NAME: needToStop */
antbig	12:14729d584500	165	/* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig	12:14729d584500	166	/****************************************************************************************/
antbig	12:14729d584500	167	unsigned char needToStop(void)
antbig	12:14729d584500	168	{
antbig	12:14729d584500	169	return isStopEnable;
antbig	12:14729d584500	170	}
antbig	12:14729d584500	171
antbig	12:14729d584500	172	/****************************************************************************************/
antbig	12:14729d584500	173	/* FUNCTION NAME: doBeforeEndAction */
antbig	12:14729d584500	174	/* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig	12:14729d584500	175	/****************************************************************************************/
antbig	12:14729d584500	176	void doBeforeEndAction(void)
antbig	12:14729d584500	177	{
Artiom	46:a9b6bcb30b1c	178
antbig	12:14729d584500	179	}
antbig	12:14729d584500	180
antbig	3:19f2285a4757	181	#endif

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 May 2019
Imports:	2
Forks:	0
Commits:	61
Dependents:	0
Dependencies:	6
Followers:	96

Robots/Strategie_small.cpp@54:8996a5b18d9b, 2019-05-23 (annotated)

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