Programme carte strategie (disco)
Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Robots/Strategie_big.cpp@30:a1e37af4bbde, 2018-04-20 (annotated)
- Committer:
- Sitkah
- Date:
- Fri Apr 20 09:16:13 2018 +0000
- Revision:
- 30:a1e37af4bbde
- Parent:
- 29:41e02746041d
- Child:
- 36:6dd30780bd8e
ne pas en prendre compte !;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Sitkah | 29:41e02746041d | 1 | #include "global.h" |
Sitkah | 29:41e02746041d | 2 | #ifdef ROBOT_BIG |
ClementBreteau | 15:c2fc239e85df | 3 | |
Sitkah | 29:41e02746041d | 4 | |
antbig | 12:14729d584500 | 5 | unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises |
antbig | 12:14729d584500 | 6 | |
antbig | 0:ad97421fb1fb | 7 | /****************************************************************************************/ |
antbig | 0:ad97421fb1fb | 8 | /* FUNCTION NAME: doFunnyAction */ |
antbig | 0:ad97421fb1fb | 9 | /* DESCRIPTION : Permet de faire la funny action en fin de partie */ |
antbig | 0:ad97421fb1fb | 10 | /****************************************************************************************/ |
antbig | 0:ad97421fb1fb | 11 | void doFunnyAction(void) { |
ClementBreteau | 18:cc5fec34ed9c | 12 | //envoie de la funny action |
ClementBreteau | 18:cc5fec34ed9c | 13 | // 0x007, 01, 01 |
ClementBreteau | 18:cc5fec34ed9c | 14 | CANMessage msgTx=CANMessage(); |
ClementBreteau | 18:cc5fec34ed9c | 15 | msgTx.id=GLOBAL_FUNNY_ACTION; |
ClementBreteau | 18:cc5fec34ed9c | 16 | msgTx.format=CANStandard; |
ClementBreteau | 18:cc5fec34ed9c | 17 | msgTx.type=CANData; |
ClementBreteau | 18:cc5fec34ed9c | 18 | msgTx.len=2; |
ClementBreteau | 18:cc5fec34ed9c | 19 | msgTx.data[0]=0x01; |
ClementBreteau | 18:cc5fec34ed9c | 20 | msgTx.data[1]=0x01; |
ClementBreteau | 18:cc5fec34ed9c | 21 | can1.write(msgTx); |
antbig | 0:ad97421fb1fb | 22 | } |
antbig | 0:ad97421fb1fb | 23 | |
antbig | 0:ad97421fb1fb | 24 | /****************************************************************************************/ |
antbig | 0:ad97421fb1fb | 25 | /* FUNCTION NAME: doAction */ |
antbig | 0:ad97421fb1fb | 26 | /* DESCRIPTION : Effectuer une action specifique */ |
antbig | 0:ad97421fb1fb | 27 | /****************************************************************************************/ |
Sitkah | 30:a1e37af4bbde | 28 | unsigned char doAction(unsigned char id, unsigned short var1, short var2) { |
antbig | 12:14729d584500 | 29 | CANMessage msgTx=CANMessage(); |
Sitkah | 30:a1e37af4bbde | 30 | msgTx.format=CANStandard; |
Sitkah | 30:a1e37af4bbde | 31 | msgTx.type=CANData; |
Sitkah | 30:a1e37af4bbde | 32 | //affichage_debug(id); |
Sitkah | 30:a1e37af4bbde | 33 | |
antbig | 0:ad97421fb1fb | 34 | switch(id) { |
Sitkah | 30:a1e37af4bbde | 35 | /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX///////////////////////////////////////////// |
Sitkah | 30:a1e37af4bbde | 36 | /*case 100: //Monte l'immeuble selon le code couleur |
Sitkah | 30:a1e37af4bbde | 37 | msgTx.id=MONTER_IMMEUBLE; |
ClementBreteau | 18:cc5fec34ed9c | 38 | |
Sitkah | 30:a1e37af4bbde | 39 | msgTx.len=3; |
Sitkah | 30:a1e37af4bbde | 40 | msgTx.data[0]=couleur1; |
Sitkah | 30:a1e37af4bbde | 41 | msgTx.data[1]=couleur2; |
Sitkah | 30:a1e37af4bbde | 42 | msgTx.data[2]=couleur3; |
ClementBreteau | 18:cc5fec34ed9c | 43 | can1.write(msgTx); |
Sitkah | 30:a1e37af4bbde | 44 | break;*/ |
ClementBreteau | 15:c2fc239e85df | 45 | |
Sitkah | 30:a1e37af4bbde | 46 | case 101: //baisser l'attrape bloc arrière |
Sitkah | 30:a1e37af4bbde | 47 | SendRawId(BAISSER_ATTRAPE_BLOC); |
Sitkah | 30:a1e37af4bbde | 48 | wait_us(50); |
Sitkah | 30:a1e37af4bbde | 49 | break; |
Sitkah | 30:a1e37af4bbde | 50 | case 102: //Relever l'attrape bloc arrière |
Sitkah | 30:a1e37af4bbde | 51 | SendRawId(RELEVER_ATTRAPE_BLOC); |
Sitkah | 30:a1e37af4bbde | 52 | break; |
Sitkah | 30:a1e37af4bbde | 53 | case 103: // |
Sitkah | 30:a1e37af4bbde | 54 | SendRawId(BAISSER_ATTRAPE_BLOC_CENTRE_G); |
Sitkah | 30:a1e37af4bbde | 55 | break; |
Sitkah | 30:a1e37af4bbde | 56 | case 104: |
Sitkah | 30:a1e37af4bbde | 57 | SendRawId(RELEVER_ATTRAPE_BLOC_CENTRE_G); |
Sitkah | 30:a1e37af4bbde | 58 | break; |
Sitkah | 30:a1e37af4bbde | 59 | case 105: |
Sitkah | 30:a1e37af4bbde | 60 | SendRawId(BAISSER_ATTRAPE_BLOC_CENTRE_D); |
Sitkah | 30:a1e37af4bbde | 61 | break; |
Sitkah | 30:a1e37af4bbde | 62 | case 106: |
Sitkah | 30:a1e37af4bbde | 63 | SendRawId(RELEVER_ATTRAPE_BLOC_CENTRE_D); |
Sitkah | 30:a1e37af4bbde | 64 | break; |
Sitkah | 30:a1e37af4bbde | 65 | case 107: |
Sitkah | 30:a1e37af4bbde | 66 | SendRawId(RELEVER_ATTRAPE_BLOC_EXT_D); |
Sitkah | 30:a1e37af4bbde | 67 | break; |
Sitkah | 30:a1e37af4bbde | 68 | case 108: |
Sitkah | 30:a1e37af4bbde | 69 | SendRawId(BAISSER_ATTRAPE_BLOC_EXT_D); |
Sitkah | 30:a1e37af4bbde | 70 | break; |
Sitkah | 30:a1e37af4bbde | 71 | case 109: |
Sitkah | 30:a1e37af4bbde | 72 | SendRawId(BAISSER_ATTRAPE_BLOC_EXT_G); |
Sitkah | 30:a1e37af4bbde | 73 | break; |
Sitkah | 30:a1e37af4bbde | 74 | case 110: |
Sitkah | 30:a1e37af4bbde | 75 | SendRawId(RELEVER_ATTRAPE_BLOC_EXT_G); |
Sitkah | 30:a1e37af4bbde | 76 | break; |
Sitkah | 30:a1e37af4bbde | 77 | case 111: |
Sitkah | 30:a1e37af4bbde | 78 | SendRawId(BRAS_VENTOUSE_1); |
Sitkah | 30:a1e37af4bbde | 79 | break; |
Sitkah | 30:a1e37af4bbde | 80 | case 112: |
Sitkah | 30:a1e37af4bbde | 81 | SendRawId(BRAS_VENTOUSE_2); |
Sitkah | 30:a1e37af4bbde | 82 | break; |
Sitkah | 30:a1e37af4bbde | 83 | case 113: |
Sitkah | 30:a1e37af4bbde | 84 | SendRawId(LIRE_PANNEAU); |
Sitkah | 30:a1e37af4bbde | 85 | break; |
Sitkah | 30:a1e37af4bbde | 86 | case 114: //allumer panneau |
Sitkah | 30:a1e37af4bbde | 87 | SendRawId(ALLUMER_PANNEAU_UP); |
Sitkah | 30:a1e37af4bbde | 88 | break; |
Sitkah | 30:a1e37af4bbde | 89 | case 115: //range le bras qui allume le panneau |
Sitkah | 30:a1e37af4bbde | 90 | SendRawId(ALLUMER_PANNEAU_DOWN); |
Sitkah | 30:a1e37af4bbde | 91 | break; |
Sitkah | 30:a1e37af4bbde | 92 | case 116: //lève le bras pour pousser l'abeille |
Sitkah | 30:a1e37af4bbde | 93 | SendRawId(BRAS_ABEILLE_UP); |
Sitkah | 30:a1e37af4bbde | 94 | break; |
Sitkah | 30:a1e37af4bbde | 95 | case 117: //abaisse le bras qui pousse l'abeille |
Sitkah | 30:a1e37af4bbde | 96 | SendRawId(BRAS_ABEILLE_DOWN); |
Sitkah | 30:a1e37af4bbde | 97 | break; |
Sitkah | 30:a1e37af4bbde | 98 | ////////////////////////////////////////////////////////130 à 134 GESTIONS BALLES///////////////////////////////////////// |
ClementBreteau | 18:cc5fec34ed9c | 99 | |
antbig | 12:14729d584500 | 100 | case 10://Désactiver le stop |
antbig | 12:14729d584500 | 101 | isStopEnable = 0; |
antbig | 12:14729d584500 | 102 | break; |
antbig | 12:14729d584500 | 103 | case 11://Activer le stop |
antbig | 12:14729d584500 | 104 | isStopEnable = 1; |
antbig | 12:14729d584500 | 105 | break; |
antbig | 12:14729d584500 | 106 | case 20://Désactiver l'asservissement |
antbig | 12:14729d584500 | 107 | setAsservissementEtat(0); |
antbig | 12:14729d584500 | 108 | break; |
antbig | 12:14729d584500 | 109 | case 21://Activer l'asservissement |
antbig | 12:14729d584500 | 110 | setAsservissementEtat(1); |
antbig | 12:14729d584500 | 111 | break; |
antbig | 12:14729d584500 | 112 | |
antbig | 12:14729d584500 | 113 | case 22://Changer la vitesse du robot |
Sitkah | 30:a1e37af4bbde | 114 | SendSpeed(var1,(unsigned short)var2); |
ClementBreteau | 26:2f4fcc2354f3 | 115 | waitingAckFrom = 0; |
ClementBreteau | 26:2f4fcc2354f3 | 116 | waitingAckID = 0; |
ClementBreteau | 26:2f4fcc2354f3 | 117 | wait(0.2); |
antbig | 12:14729d584500 | 118 | break; |
antbig | 12:14729d584500 | 119 | |
antbig | 12:14729d584500 | 120 | case 30://Action tempo |
Sitkah | 30:a1e37af4bbde | 121 | wait_ms(var1); |
antbig | 12:14729d584500 | 122 | break; |
antbig | 12:14729d584500 | 123 | |
ClementBreteau | 18:cc5fec34ed9c | 124 | /*case 40: // demande au telemetre la position d'un objet |
ClementBreteau | 14:c8fc06c4887f | 125 | //SendRawId(TELEMETRE_RECHERCHE_OBJET); |
ClementBreteau | 15:c2fc239e85df | 126 | |
ClementBreteau | 15:c2fc239e85df | 127 | modeTelemetre = 1; |
ClementBreteau | 15:c2fc239e85df | 128 | |
ClementBreteau | 15:c2fc239e85df | 129 | //angle = angle /10; |
ClementBreteau | 15:c2fc239e85df | 130 | |
ClementBreteau | 15:c2fc239e85df | 131 | msgTx.id=TELEMETRE_OBJET; |
ClementBreteau | 15:c2fc239e85df | 132 | msgTx.format=CANStandard; |
ClementBreteau | 15:c2fc239e85df | 133 | msgTx.type=CANData; |
ClementBreteau | 15:c2fc239e85df | 134 | msgTx.len=1; |
ClementBreteau | 15:c2fc239e85df | 135 | // indice du module sur le terrain |
ClementBreteau | 15:c2fc239e85df | 136 | msgTx.data[0] = (unsigned char)speed; |
ClementBreteau | 15:c2fc239e85df | 137 | |
ClementBreteau | 18:cc5fec34ed9c | 138 | |
ClementBreteau | 15:c2fc239e85df | 139 | // x sur 2 octets |
ClementBreteau | 15:c2fc239e85df | 140 | msgTx.data[0]=(unsigned char)speed; |
ClementBreteau | 15:c2fc239e85df | 141 | msgTx.data[1]=(unsigned char)(speed>>8); |
ClementBreteau | 15:c2fc239e85df | 142 | // y sur 2 octets |
ClementBreteau | 15:c2fc239e85df | 143 | msgTx.data[2]=(unsigned char)angle; |
ClementBreteau | 15:c2fc239e85df | 144 | msgTx.data[3]=(unsigned char)(angle>>8); |
ClementBreteau | 15:c2fc239e85df | 145 | // theta signé sur 2 octets |
ClementBreteau | 15:c2fc239e85df | 146 | //msgTx.data[4]=(unsigned char)theta; |
ClementBreteau | 15:c2fc239e85df | 147 | //msgTx.data[5]=(unsigned char)(theta>>8); |
ClementBreteau | 15:c2fc239e85df | 148 | msgTx.data[4]=0; |
ClementBreteau | 18:cc5fec34ed9c | 149 | msgTx.data[5]=0; |
ClementBreteau | 15:c2fc239e85df | 150 | |
ClementBreteau | 15:c2fc239e85df | 151 | can1.write(msgTx); |
ClementBreteau | 15:c2fc239e85df | 152 | |
ClementBreteau | 18:cc5fec34ed9c | 153 | break;*/ |
ClementBreteau | 14:c8fc06c4887f | 154 | |
ClementBreteau | 18:cc5fec34ed9c | 155 | /* case 130://Lancer mouvement de sortie de la zone de départ |
ClementBreteau | 15:c2fc239e85df | 156 | msgTx.id=ACTION_BIG_DEMARRAGE; |
ClementBreteau | 15:c2fc239e85df | 157 | msgTx.format=CANStandard; |
ClementBreteau | 15:c2fc239e85df | 158 | msgTx.type=CANData; |
ClementBreteau | 15:c2fc239e85df | 159 | msgTx.len=1; |
ClementBreteau | 15:c2fc239e85df | 160 | msgTx.data[0] = (unsigned char)speed; |
ClementBreteau | 15:c2fc239e85df | 161 | can1.write(msgTx); |
ClementBreteau | 18:cc5fec34ed9c | 162 | break;*/ |
antbig | 12:14729d584500 | 163 | |
antbig | 0:ad97421fb1fb | 164 | default: |
antbig | 0:ad97421fb1fb | 165 | return 0;//L'action n'existe pas, il faut utiliser le CAN |
antbig | 0:ad97421fb1fb | 166 | |
antbig | 0:ad97421fb1fb | 167 | } |
antbig | 0:ad97421fb1fb | 168 | return 1;//L'action est spécifique. |
antbig | 0:ad97421fb1fb | 169 | |
antbig | 0:ad97421fb1fb | 170 | } |
antbig | 0:ad97421fb1fb | 171 | |
antbig | 0:ad97421fb1fb | 172 | /****************************************************************************************/ |
antbig | 0:ad97421fb1fb | 173 | /* FUNCTION NAME: initRobot */ |
antbig | 0:ad97421fb1fb | 174 | /* DESCRIPTION : initialiser le robot */ |
antbig | 0:ad97421fb1fb | 175 | /****************************************************************************************/ |
antbig | 9:d0042422d95a | 176 | void initRobot(void) |
antbig | 9:d0042422d95a | 177 | { |
antbig | 9:d0042422d95a | 178 | //Enregistrement de tous les AX12 présent sur la carte |
ClementBreteau | 15:c2fc239e85df | 179 | /*AX12_register(5, AX12_SERIAL2); |
antbig | 8:0edc7dfb7f7e | 180 | AX12_register(18, AX12_SERIAL2); |
antbig | 8:0edc7dfb7f7e | 181 | AX12_register(13, AX12_SERIAL2); |
antbig | 12:14729d584500 | 182 | AX12_register(1, AX12_SERIAL1); |
antbig | 12:14729d584500 | 183 | AX12_register(11, AX12_SERIAL1); |
antbig | 12:14729d584500 | 184 | AX12_register(8, AX12_SERIAL1); |
ClementBreteau | 15:c2fc239e85df | 185 | AX12_register(7, AX12_SERIAL2);*/ |
antbig | 9:d0042422d95a | 186 | |
antbig | 12:14729d584500 | 187 | //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION); |
antbig | 12:14729d584500 | 188 | //AX12_processChange(); |
antbig | 11:ed13a480ddca | 189 | //runRobotTest(); |
ClementBreteau | 16:7321fb3bb396 | 190 | |
antbig | 9:d0042422d95a | 191 | } |
antbig | 9:d0042422d95a | 192 | |
antbig | 9:d0042422d95a | 193 | /****************************************************************************************/ |
antbig | 12:14729d584500 | 194 | /* FUNCTION NAME: initRobotActionneur */ |
antbig | 12:14729d584500 | 195 | /* DESCRIPTION : Initialiser la position des actionneurs du robot */ |
antbig | 12:14729d584500 | 196 | /****************************************************************************************/ |
antbig | 12:14729d584500 | 197 | void initRobotActionneur(void) |
antbig | 12:14729d584500 | 198 | { |
ClementBreteau | 23:ab87d308eaf9 | 199 | /*doAction(100,1,0); |
ClementBreteau | 23:ab87d308eaf9 | 200 | doAction(100,2,0); |
ClementBreteau | 23:ab87d308eaf9 | 201 | doAction(110,0,0); |
ClementBreteau | 23:ab87d308eaf9 | 202 | doAction(120,0,0); |
ClementBreteau | 23:ab87d308eaf9 | 203 | doAction(131,0,0);*/ |
ClementBreteau | 23:ab87d308eaf9 | 204 | |
antbig | 12:14729d584500 | 205 | } |
antbig | 12:14729d584500 | 206 | |
antbig | 12:14729d584500 | 207 | /****************************************************************************************/ |
antbig | 9:d0042422d95a | 208 | /* FUNCTION NAME: runTest */ |
antbig | 9:d0042422d95a | 209 | /* DESCRIPTION : tester l'ensemble des actionneurs du robot */ |
antbig | 9:d0042422d95a | 210 | /****************************************************************************************/ |
antbig | 9:d0042422d95a | 211 | void runRobotTest(void) |
antbig | 9:d0042422d95a | 212 | { |
ClementBreteau | 18:cc5fec34ed9c | 213 | /* |
antbig | 12:14729d584500 | 214 | int waitTime = 500; |
antbig | 12:14729d584500 | 215 | |
antbig | 9:d0042422d95a | 216 | //Test des AX12 dans l'ordre |
antbig | 9:d0042422d95a | 217 | doAction(111,0,0);//Fermeture pince arrière haute |
antbig | 12:14729d584500 | 218 | wait_ms(waitTime); |
antbig | 9:d0042422d95a | 219 | doAction(110,0,0);//Ouverture pince arrière haute |
antbig | 12:14729d584500 | 220 | wait_ms(waitTime); |
antbig | 9:d0042422d95a | 221 | doAction(113,0,0);//Fermeture pince arrière basse |
antbig | 12:14729d584500 | 222 | wait_ms(waitTime); |
antbig | 9:d0042422d95a | 223 | doAction(112,0,0);//Ouverture pince arrière basse |
antbig | 12:14729d584500 | 224 | wait_ms(waitTime); |
antbig | 9:d0042422d95a | 225 | doAction(115,0,0);//Fermeture porte arrière |
antbig | 12:14729d584500 | 226 | wait_ms(waitTime); |
antbig | 9:d0042422d95a | 227 | doAction(114,0,0);//Ouverture porte arrière |
antbig | 12:14729d584500 | 228 | wait_ms(waitTime); |
antbig | 12:14729d584500 | 229 | doAction(101,0,0);//Fermer les portes avant |
antbig | 12:14729d584500 | 230 | wait_ms(waitTime); |
antbig | 12:14729d584500 | 231 | doAction(100,0,0);//Ouvrir les portes avant |
antbig | 12:14729d584500 | 232 | wait_ms(waitTime); |
antbig | 12:14729d584500 | 233 | doAction(103,0,0);//Descendre le peigne |
antbig | 12:14729d584500 | 234 | wait_ms(waitTime); |
ClementBreteau | 18:cc5fec34ed9c | 235 | doAction(102,0,0);//Remonter le peigne*/ |
antbig | 0:ad97421fb1fb | 236 | } |
antbig | 3:19f2285a4757 | 237 | |
antbig | 4:88431b537477 | 238 | /****************************************************************************************/ |
antbig | 4:88431b537477 | 239 | /* FUNCTION NAME: SelectStrategy */ |
antbig | 4:88431b537477 | 240 | /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */ |
antbig | 4:88431b537477 | 241 | /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */ |
antbig | 4:88431b537477 | 242 | /****************************************************************************************/ |
Sitkah | 29:41e02746041d | 243 | /*int SelectStrategy(unsigned char id) |
antbig | 4:88431b537477 | 244 | { |
antbig | 4:88431b537477 | 245 | switch(id) |
antbig | 4:88431b537477 | 246 | { |
ClementBreteau | 15:c2fc239e85df | 247 | // strat de match |
antbig | 4:88431b537477 | 248 | case 1: |
antbig | 11:ed13a480ddca | 249 | strcpy(cheminFileStart,"/local/strat1.txt"); |
antbig | 11:ed13a480ddca | 250 | return FileExists(cheminFileStart); |
antbig | 11:ed13a480ddca | 251 | case 2: |
antbig | 11:ed13a480ddca | 252 | strcpy(cheminFileStart,"/local/strat2.txt"); |
antbig | 11:ed13a480ddca | 253 | return FileExists(cheminFileStart); |
antbig | 11:ed13a480ddca | 254 | case 3: |
antbig | 11:ed13a480ddca | 255 | strcpy(cheminFileStart,"/local/strat3.txt"); |
antbig | 11:ed13a480ddca | 256 | return FileExists(cheminFileStart); |
antbig | 12:14729d584500 | 257 | case 4: |
antbig | 12:14729d584500 | 258 | strcpy(cheminFileStart,"/local/strat4.txt"); |
antbig | 12:14729d584500 | 259 | return FileExists(cheminFileStart); |
antbig | 12:14729d584500 | 260 | case 5: |
antbig | 12:14729d584500 | 261 | strcpy(cheminFileStart,"/local/strat5.txt"); |
antbig | 12:14729d584500 | 262 | return FileExists(cheminFileStart); |
ClementBreteau | 14:c8fc06c4887f | 263 | case 6: |
ClementBreteau | 14:c8fc06c4887f | 264 | strcpy(cheminFileStart,"/local/strat6.txt"); |
ClementBreteau | 14:c8fc06c4887f | 265 | return FileExists(cheminFileStart); |
ClementBreteau | 14:c8fc06c4887f | 266 | case 7: |
ClementBreteau | 14:c8fc06c4887f | 267 | strcpy(cheminFileStart,"/local/strat7.txt"); |
ClementBreteau | 14:c8fc06c4887f | 268 | return FileExists(cheminFileStart); |
ClementBreteau | 14:c8fc06c4887f | 269 | case 8: |
ClementBreteau | 14:c8fc06c4887f | 270 | strcpy(cheminFileStart,"/local/strat8.txt"); |
ClementBreteau | 14:c8fc06c4887f | 271 | return FileExists(cheminFileStart); |
ClementBreteau | 14:c8fc06c4887f | 272 | case 9: |
ClementBreteau | 14:c8fc06c4887f | 273 | strcpy(cheminFileStart,"/local/strat9.txt"); |
ClementBreteau | 14:c8fc06c4887f | 274 | return FileExists(cheminFileStart); |
ClementBreteau | 14:c8fc06c4887f | 275 | case 10: |
ClementBreteau | 14:c8fc06c4887f | 276 | strcpy(cheminFileStart,"/local/strat10.txt"); |
ClementBreteau | 14:c8fc06c4887f | 277 | return FileExists(cheminFileStart); |
ClementBreteau | 14:c8fc06c4887f | 278 | |
ClementBreteau | 15:c2fc239e85df | 279 | // strat de demo |
ClementBreteau | 14:c8fc06c4887f | 280 | case 0x10: |
ClementBreteau | 14:c8fc06c4887f | 281 | strcpy(cheminFileStart,"/local/moteur.txt"); |
ClementBreteau | 14:c8fc06c4887f | 282 | return FileExists(cheminFileStart); |
ClementBreteau | 14:c8fc06c4887f | 283 | case 0x11: |
ClementBreteau | 15:c2fc239e85df | 284 | #ifdef ROBOT_BIG |
ClementBreteau | 15:c2fc239e85df | 285 | strcpy(cheminFileStart,"/local/bras.txt"); |
ClementBreteau | 15:c2fc239e85df | 286 | #else |
ClementBreteau | 15:c2fc239e85df | 287 | strcpy(cheminFileStart,"/local/porteAvant.txt"); |
ClementBreteau | 15:c2fc239e85df | 288 | #endif |
ClementBreteau | 14:c8fc06c4887f | 289 | return FileExists(cheminFileStart); |
ClementBreteau | 15:c2fc239e85df | 290 | case 0x12: |
ClementBreteau | 15:c2fc239e85df | 291 | #ifdef ROBOT_BIG |
ClementBreteau | 15:c2fc239e85df | 292 | strcpy(cheminFileStart,"/local/balancier.txt"); |
ClementBreteau | 15:c2fc239e85df | 293 | #else |
ClementBreteau | 15:c2fc239e85df | 294 | strcpy(cheminFileStart,"/local/mainTourneuse.txt"); |
ClementBreteau | 15:c2fc239e85df | 295 | #endif |
ClementBreteau | 15:c2fc239e85df | 296 | return FileExists(cheminFileStart); |
antbig | 11:ed13a480ddca | 297 | default: |
antbig | 12:14729d584500 | 298 | strcpy(cheminFileStart,"/local/strat1.txt"); |
antbig | 11:ed13a480ddca | 299 | return 0; |
antbig | 4:88431b537477 | 300 | } |
Sitkah | 29:41e02746041d | 301 | }*/ |
antbig | 4:88431b537477 | 302 | |
antbig | 12:14729d584500 | 303 | /****************************************************************************************/ |
antbig | 12:14729d584500 | 304 | /* FUNCTION NAME: needToStop */ |
antbig | 12:14729d584500 | 305 | /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */ |
antbig | 12:14729d584500 | 306 | /****************************************************************************************/ |
antbig | 12:14729d584500 | 307 | unsigned char needToStop(void) |
antbig | 12:14729d584500 | 308 | { |
antbig | 12:14729d584500 | 309 | return isStopEnable; |
antbig | 12:14729d584500 | 310 | } |
antbig | 12:14729d584500 | 311 | |
antbig | 12:14729d584500 | 312 | /****************************************************************************************/ |
antbig | 12:14729d584500 | 313 | /* FUNCTION NAME: doBeforeEndAction */ |
antbig | 12:14729d584500 | 314 | /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */ |
antbig | 12:14729d584500 | 315 | /****************************************************************************************/ |
antbig | 12:14729d584500 | 316 | void doBeforeEndAction(void) |
antbig | 12:14729d584500 | 317 | { |
antbig | 12:14729d584500 | 318 | doAction(110,0,0);//Ouverture pince arrière haute |
antbig | 12:14729d584500 | 319 | doAction(112,0,0);//Ouverture pince arrière basse |
antbig | 12:14729d584500 | 320 | doAction(114,0,0);//Ouverture porte arrière |
antbig | 12:14729d584500 | 321 | doAction(100,0,0);//Ouvrir les portes avant |
antbig | 12:14729d584500 | 322 | doAction(102,0,0);//Remonter le peigne |
antbig | 12:14729d584500 | 323 | } |
antbig | 12:14729d584500 | 324 | |
antbig | 3:19f2285a4757 | 325 | #endif |