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@15:c2fc239e85df, 2017-05-11 (annotated)

Committer:
ClementBreteau
Date:
Thu May 11 12:55:52 2017 +0000
Revision:
15:c2fc239e85df
Parent:
14:c8fc06c4887f
Child:
16:7321fb3bb396
crac strat le 11/05/17

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 15:c2fc239e85df 1
antbig 1:116040d14164 2 #include "StrategieManager.h"
antbig 3:19f2285a4757 3 #ifdef ROBOT_BIG
antbig 3:19f2285a4757 4 #include "Config_big.h"
antbig 0:ad97421fb1fb 5
antbig 12:14729d584500 6 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 7
antbig 0:ad97421fb1fb 8 /****************************************************************************************/
antbig 0:ad97421fb1fb 9 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 10 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 11 /****************************************************************************************/
antbig 0:ad97421fb1fb 12 void doFunnyAction(void) {
ClementBreteau 15:c2fc239e85df 13 /* AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_OPEN,AX12_SPEED_FUNNY_ACTION);
ClementBreteau 15:c2fc239e85df 14 AX12_processChange();*/
antbig 0:ad97421fb1fb 15
antbig 0:ad97421fb1fb 16 }
antbig 0:ad97421fb1fb 17
antbig 0:ad97421fb1fb 18 /****************************************************************************************/
antbig 0:ad97421fb1fb 19 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 20 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 21 /****************************************************************************************/
antbig 0:ad97421fb1fb 22 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 12:14729d584500 23 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 24 switch(id) {
antbig 3:19f2285a4757 25
ClementBreteau 15:c2fc239e85df 26 case 100://preparation prise
ClementBreteau 15:c2fc239e85df 27 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 28 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 29 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 30 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 31
ClementBreteau 15:c2fc239e85df 32 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 33 msgTx.data[0]=1;
ClementBreteau 15:c2fc239e85df 34 if (InversStrat){ // si on est inversé, on echange les bras
ClementBreteau 15:c2fc239e85df 35 if (speed == BRAS_GAUCHE) speed = BRAS_DROIT;
ClementBreteau 15:c2fc239e85df 36 else speed = BRAS_GAUCHE;
ClementBreteau 15:c2fc239e85df 37 }
ClementBreteau 15:c2fc239e85df 38 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 39 can1.write(msgTx);
antbig 12:14729d584500 40 break;
ClementBreteau 15:c2fc239e85df 41 case 101://stockage haut
ClementBreteau 15:c2fc239e85df 42 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 43 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 44 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 45 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 46
ClementBreteau 15:c2fc239e85df 47 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 48 msgTx.data[0]=2;
ClementBreteau 15:c2fc239e85df 49 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 50
ClementBreteau 15:c2fc239e85df 51 can1.write(msgTx);
antbig 12:14729d584500 52 break;
antbig 12:14729d584500 53
ClementBreteau 15:c2fc239e85df 54 case 102://stockage bas
ClementBreteau 15:c2fc239e85df 55 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 56 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 57 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 58 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 59
ClementBreteau 15:c2fc239e85df 60 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 61 msgTx.data[0]=3;
ClementBreteau 15:c2fc239e85df 62 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 63
ClementBreteau 15:c2fc239e85df 64 can1.write(msgTx);
antbig 12:14729d584500 65 break;
ClementBreteau 15:c2fc239e85df 66 case 103://deposer
ClementBreteau 15:c2fc239e85df 67 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 68 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 69 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 70 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 71
ClementBreteau 15:c2fc239e85df 72 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 73 msgTx.data[0]=4;
ClementBreteau 15:c2fc239e85df 74 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 75
ClementBreteau 15:c2fc239e85df 76 can1.write(msgTx);
antbig 12:14729d584500 77 break;
antbig 12:14729d584500 78
ClementBreteau 15:c2fc239e85df 79 case 104://preparation depot bas
ClementBreteau 15:c2fc239e85df 80 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 81 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 82 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 83 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 84
ClementBreteau 15:c2fc239e85df 85 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 86 msgTx.data[0]=5;
ClementBreteau 15:c2fc239e85df 87 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 88
ClementBreteau 15:c2fc239e85df 89 can1.write(msgTx);
antbig 12:14729d584500 90 break;
ClementBreteau 15:c2fc239e85df 91 case 105://preparation depot haut
ClementBreteau 15:c2fc239e85df 92 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 93 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 94 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 95 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 96
ClementBreteau 15:c2fc239e85df 97 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 98 msgTx.data[0]=6;
ClementBreteau 15:c2fc239e85df 99 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 100
ClementBreteau 15:c2fc239e85df 101 can1.write(msgTx);
antbig 12:14729d584500 102 break;
ClementBreteau 15:c2fc239e85df 103 case 106://pousser module
ClementBreteau 15:c2fc239e85df 104 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 105 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 106 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 107 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 108
ClementBreteau 15:c2fc239e85df 109 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 110 msgTx.data[0]=7;
ClementBreteau 15:c2fc239e85df 111 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 112
ClementBreteau 15:c2fc239e85df 113 can1.write(msgTx);
antbig 12:14729d584500 114 break;
antbig 12:14729d584500 115
antbig 8:0edc7dfb7f7e 116 case 110://Ouvrir la pince arrière haute
ClementBreteau 15:c2fc239e85df 117 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 118 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 119 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 120 msgTx.len=2;
ClementBreteau 15:c2fc239e85df 121
ClementBreteau 15:c2fc239e85df 122 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 123 msgTx.data[0]=10;
ClementBreteau 15:c2fc239e85df 124 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 125
ClementBreteau 15:c2fc239e85df 126 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 127 break;
antbig 8:0edc7dfb7f7e 128 case 111://Fermer la pince arrière haute
ClementBreteau 15:c2fc239e85df 129 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 130 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 131 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 132 msgTx.len=3;
ClementBreteau 15:c2fc239e85df 133
ClementBreteau 15:c2fc239e85df 134 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 135 msgTx.data[0]=11;
ClementBreteau 15:c2fc239e85df 136 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 137 msgTx.data[2]=angle;
ClementBreteau 15:c2fc239e85df 138
ClementBreteau 15:c2fc239e85df 139 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 140 break;
antbig 9:d0042422d95a 141
antbig 8:0edc7dfb7f7e 142 case 112://Ouvrir la pince arrière basse
ClementBreteau 15:c2fc239e85df 143 msgTx.id=SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 144 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 145 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 146 msgTx.len=2;
antbig 8:0edc7dfb7f7e 147
ClementBreteau 15:c2fc239e85df 148 // action et le cote selectionné
ClementBreteau 15:c2fc239e85df 149 msgTx.data[0]=12;
ClementBreteau 15:c2fc239e85df 150 msgTx.data[1]=speed;
ClementBreteau 15:c2fc239e85df 151
ClementBreteau 15:c2fc239e85df 152 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 153 break;
ClementBreteau 15:c2fc239e85df 154
antbig 12:14729d584500 155 case 120://Activer les pompes
ClementBreteau 15:c2fc239e85df 156 /*AX12_setGoal(AX12_ID_VENTOUSE, AX12_ANGLE_VENTOUSE_UP,AX12_SPEED_VENTOUSE);
ClementBreteau 15:c2fc239e85df 157 AX12_processChange();*/
antbig 12:14729d584500 158
antbig 12:14729d584500 159
antbig 12:14729d584500 160 msgTx.id=POMPE_PWM;
antbig 12:14729d584500 161 msgTx.format=CANStandard;
antbig 12:14729d584500 162 msgTx.type=CANData;
antbig 12:14729d584500 163 msgTx.len=6;
antbig 12:14729d584500 164
antbig 12:14729d584500 165 // x sur 2 octets
antbig 12:14729d584500 166 msgTx.data[0]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 167 msgTx.data[1]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 168 msgTx.data[2]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 169 msgTx.data[3]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 170 msgTx.data[4]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 171 msgTx.data[5]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 172
antbig 12:14729d584500 173 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 174 break;
antbig 12:14729d584500 175 case 121://Désactiver les pompes
antbig 12:14729d584500 176 msgTx.id=POMPE_PWM;
antbig 12:14729d584500 177 msgTx.format=CANStandard;
antbig 12:14729d584500 178 msgTx.type=CANData;
antbig 12:14729d584500 179 msgTx.len=6;
antbig 12:14729d584500 180
antbig 12:14729d584500 181 // x sur 2 octets
antbig 12:14729d584500 182 msgTx.data[0]=(unsigned char)0;
antbig 12:14729d584500 183 msgTx.data[1]=(unsigned char)0;
antbig 12:14729d584500 184 msgTx.data[2]=(unsigned char)0;
antbig 12:14729d584500 185 msgTx.data[3]=(unsigned char)0;
antbig 12:14729d584500 186 msgTx.data[4]=(unsigned char)0;
antbig 12:14729d584500 187 msgTx.data[5]=(unsigned char)0;
antbig 12:14729d584500 188
antbig 12:14729d584500 189 can1.write(msgTx);
antbig 12:14729d584500 190 break;
antbig 12:14729d584500 191
antbig 12:14729d584500 192 case 10://Désactiver le stop
antbig 12:14729d584500 193 isStopEnable = 0;
antbig 12:14729d584500 194 break;
antbig 12:14729d584500 195 case 11://Activer le stop
antbig 12:14729d584500 196 isStopEnable = 1;
antbig 12:14729d584500 197 break;
antbig 12:14729d584500 198 case 20://Désactiver l'asservissement
antbig 12:14729d584500 199 setAsservissementEtat(0);
antbig 12:14729d584500 200 break;
antbig 12:14729d584500 201 case 21://Activer l'asservissement
antbig 12:14729d584500 202 setAsservissementEtat(1);
antbig 12:14729d584500 203 break;
antbig 12:14729d584500 204
antbig 12:14729d584500 205 case 22://Changer la vitesse du robot
antbig 12:14729d584500 206 SendSpeed(speed,(unsigned short)angle);
antbig 12:14729d584500 207 break;
antbig 12:14729d584500 208
antbig 12:14729d584500 209 case 30://Action tempo
antbig 12:14729d584500 210 wait_ms(speed);
antbig 12:14729d584500 211 break;
antbig 12:14729d584500 212
ClementBreteau 14:c8fc06c4887f 213 case 40: // demande au telemetre la position d'un objet
ClementBreteau 14:c8fc06c4887f 214 //SendRawId(TELEMETRE_RECHERCHE_OBJET);
ClementBreteau 15:c2fc239e85df 215
ClementBreteau 15:c2fc239e85df 216 modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 217
ClementBreteau 15:c2fc239e85df 218 //angle = angle /10;
ClementBreteau 15:c2fc239e85df 219
ClementBreteau 15:c2fc239e85df 220 msgTx.id=TELEMETRE_OBJET;
ClementBreteau 15:c2fc239e85df 221 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 222 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 223 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 224 // indice du module sur le terrain
ClementBreteau 15:c2fc239e85df 225 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 226
ClementBreteau 15:c2fc239e85df 227 /*
ClementBreteau 15:c2fc239e85df 228 // x sur 2 octets
ClementBreteau 15:c2fc239e85df 229 msgTx.data[0]=(unsigned char)speed;
ClementBreteau 15:c2fc239e85df 230 msgTx.data[1]=(unsigned char)(speed>>8);
ClementBreteau 15:c2fc239e85df 231 // y sur 2 octets
ClementBreteau 15:c2fc239e85df 232 msgTx.data[2]=(unsigned char)angle;
ClementBreteau 15:c2fc239e85df 233 msgTx.data[3]=(unsigned char)(angle>>8);
ClementBreteau 15:c2fc239e85df 234 // theta signé sur 2 octets
ClementBreteau 15:c2fc239e85df 235 //msgTx.data[4]=(unsigned char)theta;
ClementBreteau 15:c2fc239e85df 236 //msgTx.data[5]=(unsigned char)(theta>>8);
ClementBreteau 15:c2fc239e85df 237 msgTx.data[4]=0;
ClementBreteau 15:c2fc239e85df 238 msgTx.data[5]=0;*/
ClementBreteau 15:c2fc239e85df 239
ClementBreteau 15:c2fc239e85df 240 can1.write(msgTx);
ClementBreteau 15:c2fc239e85df 241
ClementBreteau 15:c2fc239e85df 242 break;
ClementBreteau 14:c8fc06c4887f 243
antbig 12:14729d584500 244 case 130://Lancer mouvement de sortie de la zone de départ
ClementBreteau 15:c2fc239e85df 245 msgTx.id=ACTION_BIG_DEMARRAGE;
ClementBreteau 15:c2fc239e85df 246 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 247 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 248 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 249 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 250 can1.write(msgTx);
antbig 12:14729d584500 251 break;
antbig 12:14729d584500 252
antbig 0:ad97421fb1fb 253 default:
antbig 0:ad97421fb1fb 254 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 255
antbig 0:ad97421fb1fb 256 }
antbig 0:ad97421fb1fb 257 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 258
antbig 0:ad97421fb1fb 259 }
antbig 0:ad97421fb1fb 260
antbig 0:ad97421fb1fb 261 /****************************************************************************************/
antbig 0:ad97421fb1fb 262 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 263 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 264 /****************************************************************************************/
antbig 9:d0042422d95a 265 void initRobot(void)
antbig 9:d0042422d95a 266 {
antbig 9:d0042422d95a 267 //Enregistrement de tous les AX12 présent sur la carte
ClementBreteau 15:c2fc239e85df 268 /*AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 269 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 270 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 271 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 272 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 273 AX12_register(8, AX12_SERIAL1);
ClementBreteau 15:c2fc239e85df 274 AX12_register(7, AX12_SERIAL2);*/
antbig 9:d0042422d95a 275
antbig 12:14729d584500 276 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 277 //AX12_processChange();
antbig 11:ed13a480ddca 278 //runRobotTest();
antbig 9:d0042422d95a 279 }
antbig 9:d0042422d95a 280
antbig 9:d0042422d95a 281 /****************************************************************************************/
antbig 12:14729d584500 282 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 283 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 284 /****************************************************************************************/
antbig 12:14729d584500 285 void initRobotActionneur(void)
antbig 12:14729d584500 286 {
antbig 12:14729d584500 287 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 288 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 289 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 290 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 291 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 292 doAction(106,0,0);//Remonter le support du cone arriere
antbig 12:14729d584500 293 }
antbig 12:14729d584500 294
antbig 12:14729d584500 295 /****************************************************************************************/
antbig 9:d0042422d95a 296 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 297 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 298 /****************************************************************************************/
antbig 9:d0042422d95a 299 void runRobotTest(void)
antbig 9:d0042422d95a 300 {
antbig 12:14729d584500 301 int waitTime = 500;
antbig 12:14729d584500 302
antbig 9:d0042422d95a 303 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 304 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 305 wait_ms(waitTime);
antbig 9:d0042422d95a 306 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 307 wait_ms(waitTime);
antbig 9:d0042422d95a 308 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 309 wait_ms(waitTime);
antbig 9:d0042422d95a 310 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 311 wait_ms(waitTime);
antbig 9:d0042422d95a 312 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 313 wait_ms(waitTime);
antbig 9:d0042422d95a 314 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 315 wait_ms(waitTime);
antbig 12:14729d584500 316 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 317 wait_ms(waitTime);
antbig 12:14729d584500 318 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 319 wait_ms(waitTime);
antbig 12:14729d584500 320 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 321 wait_ms(waitTime);
antbig 12:14729d584500 322 doAction(102,0,0);//Remonter le peigne
antbig 0:ad97421fb1fb 323 }
antbig 3:19f2285a4757 324
antbig 4:88431b537477 325 /****************************************************************************************/
antbig 4:88431b537477 326 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 327 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 328 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 329 /****************************************************************************************/
antbig 4:88431b537477 330 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 331 {
antbig 4:88431b537477 332 switch(id)
antbig 4:88431b537477 333 {
ClementBreteau 15:c2fc239e85df 334 // strat de match
antbig 4:88431b537477 335 case 1:
antbig 11:ed13a480ddca 336 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 337 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 338 case 2:
antbig 11:ed13a480ddca 339 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 340 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 341 case 3:
antbig 11:ed13a480ddca 342 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 343 return FileExists(cheminFileStart);
antbig 12:14729d584500 344 case 4:
antbig 12:14729d584500 345 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 346 return FileExists(cheminFileStart);
antbig 12:14729d584500 347 case 5:
antbig 12:14729d584500 348 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 349 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 350 case 6:
ClementBreteau 14:c8fc06c4887f 351 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 352 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 353 case 7:
ClementBreteau 14:c8fc06c4887f 354 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 355 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 356 case 8:
ClementBreteau 14:c8fc06c4887f 357 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 358 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 359 case 9:
ClementBreteau 14:c8fc06c4887f 360 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 361 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 362 case 10:
ClementBreteau 14:c8fc06c4887f 363 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 364 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 365
ClementBreteau 15:c2fc239e85df 366 // strat de demo
ClementBreteau 14:c8fc06c4887f 367 case 0x10:
ClementBreteau 14:c8fc06c4887f 368 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 369 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 370 case 0x11:
ClementBreteau 15:c2fc239e85df 371 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 372 strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau 15:c2fc239e85df 373 #else
ClementBreteau 15:c2fc239e85df 374 strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau 15:c2fc239e85df 375 #endif
ClementBreteau 14:c8fc06c4887f 376 return FileExists(cheminFileStart);
ClementBreteau 15:c2fc239e85df 377 case 0x12:
ClementBreteau 15:c2fc239e85df 378 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 379 strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau 15:c2fc239e85df 380 #else
ClementBreteau 15:c2fc239e85df 381 strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau 15:c2fc239e85df 382 #endif
ClementBreteau 15:c2fc239e85df 383 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 384 default:
antbig 12:14729d584500 385 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 386 return 0;
antbig 4:88431b537477 387 }
antbig 4:88431b537477 388 }
antbig 4:88431b537477 389
antbig 12:14729d584500 390 /****************************************************************************************/
antbig 12:14729d584500 391 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 392 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 393 /****************************************************************************************/
antbig 12:14729d584500 394 unsigned char needToStop(void)
antbig 12:14729d584500 395 {
antbig 12:14729d584500 396 return isStopEnable;
antbig 12:14729d584500 397 }
antbig 12:14729d584500 398
antbig 12:14729d584500 399 /****************************************************************************************/
antbig 12:14729d584500 400 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 401 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 402 /****************************************************************************************/
antbig 12:14729d584500 403 void doBeforeEndAction(void)
antbig 12:14729d584500 404 {
antbig 12:14729d584500 405 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 406 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 407 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 408 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 409 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 410 }
antbig 12:14729d584500 411
antbig 3:19f2285a4757 412 #endif