Diff: Robots/Strategie_small.cpp

Revision:

46:a9b6bcb30b1c

Parent:

45:4f93e99bac6e

Child:

50:a5361ffeefc8

--- a/Robots/Strategie_small.cpp	Thu May 09 08:38:45 2019 +0000
+++ b/Robots/Strategie_small.cpp	Thu May 09 17:21:32 2019 +0000
@@ -11,9 +11,10 @@
 /* FUNCTION NAME: doFunnyAction                                                         */
 /* DESCRIPTION  : Permet de faire la funny action en fin de partie                      */
 /****************************************************************************************/
-void doFunnyAction(void) {
-    
-    
+void doFunnyAction(void)
+{
+
+
 }
 
 
@@ -21,17 +22,18 @@
 /* FUNCTION NAME: doAction                                                                       */
 /* DESCRIPTION  : Effectuer une action specifique correspondant au numéro dans le fichier strat  */
 /*************************************************************************************************/
-unsigned char doAction(unsigned char id, unsigned short arg1, 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: //bras gabarit
-            SendRawId(GABARIT_PETIT_ROBOT);   
+            SendRawId(GABARIT_PETIT_ROBOT);
             break;
         case 102: //attraper presentoir avant
-            SendRawId(PRESENTOIR_AVANT);   
+            SendRawId(PRESENTOIR_AVANT);
             break;
         case 103: //attraper presentoir arriere
             SendRawId(PRESENTOIR_ARRIERE);
@@ -60,65 +62,71 @@
         case 111: //sol arriere
             SendRawId(SOL_ARRIERE);
             break;
-        
+        case 112: //sol avant relache
+            SendRawId(SOL_AVANT_RELACHE);
+            break;
+        case 113: //sol arriere relache
+            SendRawId(SOL_ARRIERE_RELACHE);
+            break;
+
         case 150:
             SCORE_PR+=arg1;
             liaison_Tx.envoyer_short(0x30,SCORE_PR);
             waitingAckFrom = 0;
             waitingAckID = 0;
             break;
-               
-            
+
+
         case 200 :
             SendRawId(DATA_TELEMETRE);
             /*telemetreDistance = dataTelemetre();
             wait_ms(1);
             telemetreDistance = dataTelemetre();
             telemetreDistance = telemetreDistance - 170;*/
-        break;
-        
+            break;
+
         case 201 :
             SendRawId(0x99);
             retour = 2;
-        break;
-        
+            break;
+
         case 10://Désactiver le stop
             isStopEnable = 0;
-        break;
+            break;
         case 11://Activer le stop
             isStopEnable = 1;
-        break;
+            break;
         case 20://Désactiver l'asservissement
             setAsservissementEtat(0);
-        break;
+            break;
         case 21://Activer l'asservissement
             setAsservissementEtat(1);
-        break; 
-        
+            break;
+
         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 
+            break;
+
+        case 19: // CHANGER LA VITESSE + DECELERATION
             SendSpeedDecel(arg1,(unsigned short) arg2);
             wait_us(200);
             waitingAckFrom = 0;
             waitingAckID =0;
-        break;
-        
+            break;
+
         case 30://Action tempo
             wait_ms(arg1);
-        break;
-        
+            break;
+
         default:
             retour = 0;//L'action n'existe pas, il faut utiliser le CAN
-        
+
     }
     return retour;//L'action est spécifique.
-    
+
 }
 
 
@@ -138,7 +146,7 @@
 /****************************************************************************************/
 void doBeforeEndAction(void)
 {
-    
+
 }
 
 #endif