Diff: Robots/Strategie_big.cpp

Revision:

75:1db1b929f13d

Parent:

74:cdea2998f0b1

Child:

78:c0533a36da8f

--- a/Robots/Strategie_big.cpp	Mon May 27 10:43:43 2019 +0000
+++ b/Robots/Strategie_big.cpp	Mon May 27 12:38:21 2019 +0000
@@ -34,14 +34,12 @@
     switch(id) {
         /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
         case 201: 
-            CANMessage msgTx=CANMessage();
-            msgTx.id=ASCENSEUR;
-            msgTx.format=CANStandard;
-            msgTx.type=CANData;
-            msgTx.len=1;
-            msgTx.data[0]=(unsigned char)var1;
-        
-            can2.write(msgTx);
+            unsigned char var_tempo;
+            var_tempo = (unsigned char)var1;
+            
+            SendMsgCan(ASCENSEUR, &var_tempo,1);
+            waitingAckFrom = 0;
+            waitingAckID =0;
             break;
         
         case 202: 
@@ -99,6 +97,7 @@
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
+            
         case 20://Désactiver l'asservissement
             setAsservissementEtat(0);
         break;