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Programme carte strategie (disco)
Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Diff: Robots/Strategie_big.cpp
- Revision:
- 14:c8fc06c4887f
- Parent:
- 12:14729d584500
- Child:
- 15:c2fc239e85df
diff -r 93edbb03a8c6 -r c8fc06c4887f Robots/Strategie_big.cpp --- a/Robots/Strategie_big.cpp Tue Jan 31 16:00:33 2017 +0000 +++ b/Robots/Strategie_big.cpp Fri Mar 31 16:20:26 2017 +0000 @@ -35,6 +35,7 @@ case 102://Remonter le peigne AX12_setGoal(AX12_ID_PEIGNE, AX12_ANGLE_PEIGNE_UP); + SendRawId(0x123); AX12_processChange(); break; case 103://Descendre le peigne @@ -158,6 +159,12 @@ wait_ms(speed); break; + case 40: // demande au telemetre la position d'un objet + //SendRawId(TELEMETRE_RECHERCHE_OBJET); + waitingAckID = ACKNOWLEDGE_TELEMETRE; + waitingAckFrom = 0; + modeTelemetre =1; + case 130://Lancer mouvement de sortie de la zone de départ SendRawId(ACTION_BIG_DEMARRAGE); waitingAckID = ACTION_BIG_DEMARRAGE; @@ -260,6 +267,30 @@ case 5: strcpy(cheminFileStart,"/local/strat5.txt"); return FileExists(cheminFileStart); + case 6: + strcpy(cheminFileStart,"/local/strat6.txt"); + return FileExists(cheminFileStart); + case 7: + strcpy(cheminFileStart,"/local/strat7.txt"); + return FileExists(cheminFileStart); + case 8: + strcpy(cheminFileStart,"/local/strat8.txt"); + return FileExists(cheminFileStart); + case 9: + strcpy(cheminFileStart,"/local/strat9.txt"); + return FileExists(cheminFileStart); + case 10: + strcpy(cheminFileStart,"/local/strat10.txt"); + return FileExists(cheminFileStart); + + // + case 0x10: + strcpy(cheminFileStart,"/local/moteur.txt"); + return FileExists(cheminFileStart); + case 0x11: + strcpy(cheminFileStart,"/local/moteur2.txt"); + return FileExists(cheminFileStart); + default: strcpy(cheminFileStart,"/local/strat1.txt"); return 0;