Diff: Strategie/Strategie.cpp

Revision:

23:ab87d308eaf9

Parent:

22:a466d08ac42b

Child:

24:4a28a72781a6

--- a/Strategie/Strategie.cpp	Thu May 25 14:40:49 2017 +0000
+++ b/Strategie/Strategie.cpp	Thu May 25 17:14:58 2017 +0000
@@ -25,8 +25,8 @@
 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS,CHECK_AX12,CHECK_POMPES};
 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS,ALIVE_AX12,ALIVE_POMPES};
 
-unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_MOTEUR};
-unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_MOTEUR};
+unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE,CHECK_ACTIONNEURS_AVANT,CHECK_ACTIONNEURS_ARRIERE};
+unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE,ALIVE_ACTIONNEURS_AVANT,ALIVE_ACTIONNEURS_ARRIERE};
 
 InterruptIn jack(p25); //  entrée analogique en interruption pour le jack
 #else
@@ -306,12 +306,16 @@
                         }
                     }
                     localData1 = ((instruction.direction == LEFT)?1:-1);
+                    localData2 =  instruction.arg3;
                     if(InversStrat == 1)
                     {
                         localData1 = -localData1;//Inversion de la direction
+                        #ifdef ROBOT_BIG
+                        localData2 = -localData2;
+                        #endif
                     }
                     
-                    BendRadius(instruction.arg1, instruction.arg3, localData1, localData5);
+                    BendRadius(instruction.arg1, localData2, localData1, localData5);
                 break;
                 case MV_LINE://Ligne droite
                     waitingAckID = ASSERVISSEMENT_RECALAGE;
@@ -350,10 +354,11 @@
                         }
                         
                     }
-                   
+                    #ifdef ROBOT_SMALL
                     if(InversStrat == 1) {
                             localData2 = -localData2;
                         }
+                    #endif
                     Rotate(localData2);
                     waitingAckID = ASSERVISSEMENT_ROTATION;
                     waitingAckFrom = ACKNOWLEDGE_MOTEUR;
@@ -372,6 +377,14 @@
                         localData3 = instruction.arg2;
                         localData2 = instruction.arg3;
                     }
+                    
+                    #ifdef ROBOT_BIG
+                    if(InversStrat == 1) {
+                         localData1 = -localData1;
+                         localData3 = -localData3;
+                    }
+                    #endif
+                    
                     GoToPosition(instruction.arg1,localData3,localData2,localData1);
                     waitingAckID = ASSERVISSEMENT_XYT;
                     waitingAckFrom = ACKNOWLEDGE_MOTEUR;
@@ -658,16 +671,18 @@
         
         switch(msgRxBuffer[FIFO_lecture].id) {
             case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
+            case GLOBAL_JACK:
                 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
                     gameEtat = ETAT_GAME_START;
+                    SendRawId(ACKNOWLEDGE_JACK);
                 }
             break;
             
             case ALIVE_BALISE:
             case ALIVE_MOTEUR:
             case ALIVE_IHM:
-            case ALIVE_ACTIONNEURS:
-            case ALIVE_POMPES:
+            case ALIVE_ACTIONNEURS_AVANT:
+            case ALIVE_ACTIONNEURS_ARRIERE:
             case ALIVE_AX12:
             case ECRAN_ALL_CHECK:
                 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {