Diff: Robots/Strategie_small.cpp

Revision:

34:6aa4b46b102e

Parent:

30:a1e37af4bbde

Child:

36:6dd30780bd8e

--- a/Robots/Strategie_small.cpp	Wed Apr 25 12:42:50 2018 +0000
+++ b/Robots/Strategie_small.cpp	Thu Apr 26 20:14:18 2018 +0000
@@ -37,8 +37,11 @@
 /* FUNCTION NAME: doAction                                                              */
 /* DESCRIPTION  : Effectuer une action specifique                                       */
 /****************************************************************************************/
-unsigned char doAction(unsigned char id, unsigned short cote, short arg2) {
+unsigned char doAction(unsigned char id, unsigned short arg1, short arg2) {
     int retour = 1;
+    CANMessage msgTx=CANMessage();
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
     switch(id) {
         case 101: //baisser attrape bloc avant
             SendRawId(BAISSER_ATTRAPE_BLOC);   
@@ -68,7 +71,11 @@
             SendRawId(BLOCAGE_BALLE);
             break;
         case 133: //lance le pwm de tir
-            SendRawId(LANCEMENT_MOTEUR_TIR_ON);
+            msgTx.id=LANCEMENT_MOTEUR_TIR_ON;
+            
+            msgTx.len=1;
+            msgTx.data[0]=arg1;
+            can2.write(msgTx);
             break;
         case 134: ///Arrete le pwm de tir
             SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
@@ -85,6 +92,10 @@
         case 138://position aiguilleur au centre
             SendRawId(TRI_BALLE);
             break;
+        case 139:
+            SendRawId(VIBRO);
+            break;
+        
             
             
         case 200 :
@@ -113,24 +124,24 @@
             setAsservissementEtat(1);
         break; 
         
-        /*case 22://Changer la vitesse du robot
-            SendSpeed(speed,(unsigned short)angle);
+        case 22://Changer la vitesse du robot
+            SendSpeed(arg1,(unsigned short)arg2);
             wait_us(200);
             waitingAckFrom = 0;
             waitingAckID = 0;
         break;
         
         case 19: // CHANGER LA VITESSE + DECELERATION 
-            SendSpeedDecel(speed,(unsigned short) angle);
+            SendSpeedDecel(arg1,(unsigned short) arg2);
             wait_us(200);
             waitingAckFrom = 0;
             waitingAckID =0;
         break;
         
         case 30://Action tempo
-            wait_ms(speed);
+            wait_ms(arg1);
         break;
-        */
+        
         default:
             retour = 0;//L'action n'existe pas, il faut utiliser le CAN