Diff: Strategie/Strategie.cpp

Revision:

55:1e3dab1f90f4

Parent:

54:8996a5b18d9b

Child:

58:faef8d1b8ed8

--- a/Strategie/Strategie.cpp	Thu May 23 07:54:38 2019 +0000
+++ b/Strategie/Strategie.cpp	Thu May 23 10:01:25 2019 +0000
@@ -4,7 +4,7 @@
 #include <math.h>
 //#include "StrategieManager.h"
 
-3
+
 
 #define M_PI 3.14159265358979323846
 #define VERT 0xFF00FF00
@@ -483,7 +483,7 @@
                 }
             }
             break;
-        ///////////////////////////////TESTE LES SERVOS LIES AU TRI DES BALLES///////////////////////////////
+ /*       ///////////////////////////////TESTE LES SERVOS LIES AU TRI DES BALLES///////////////////////////////
         case DEMO_TRIEUR:
             lcd.SetBackColor(LCD_COLOR_WHITE);
             lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
@@ -676,7 +676,7 @@
 
 
 
-
+*/
 
         case TEST_SERVO:        //TEST DU RESTE DES SERVOS DISPO HORS TIR
             lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -702,20 +702,20 @@
                     break;
                 } else if(BRAS_ABEILLE_ON.Touched()) {
                     while (BRAS_ABEILLE_ON.Touched());
-                    SendRawId(BRAS_ABEILLE_UP);
+                    //SendRawId(BRAS_ABEILLE_UP);
                     break;
 
                 } else if(BRAS_ABEILLE_OFF.Touched()) {
                     while (BRAS_ABEILLE_OFF.Touched());
-                    SendRawId(BRAS_ABEILLE_DOWN);
+                    //SendRawId(BRAS_ABEILLE_DOWN);
                     break;
                 } else if(INTERRUPTEUR_ON.Touched()) {
                     while (INTERRUPTEUR_ON.Touched());
-                    SendRawId(ALLUMER_PANNEAU_UP);
+                    //SendRawId(ALLUMER_PANNEAU_UP);
                     break;
                 } else if(INTERRUPTEUR_OFF.Touched()) {
                     while (INTERRUPTEUR_OFF.Touched());
-                    SendRawId(ALLUMER_PANNEAU_DOWN);
+                    //SendRawId(ALLUMER_PANNEAU_DOWN);
                     break;
                 }
             }
@@ -729,6 +729,8 @@
             LANCEUR_ON.Draw(VERT, 0);
             LANCEUR_OFF.Draw(VERT, 0);
             RETOUR.Draw(ROUGE, 0);
+            
+                    etat=DEMO;/*
             while(etat==TEST_TIR) {
                 if(TIR_CHATEAU.Touched()) {
                     while (TIR_CHATEAU.Touched());
@@ -758,7 +760,7 @@
                     etat=DEMO;
 
                 }
-            }
+            }*/
             break;
 
 
@@ -2137,15 +2139,9 @@
 
 
 
-
-
-
-
-//#ifdef ROBOT_BIG
             case ODOMETRIE_BIG_POSITION:
-//#else
             case ODOMETRIE_SMALL_POSITION:
-//#endif
+            
                 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
                 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
                 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
@@ -2305,14 +2301,14 @@
                 }
 
                 break;
-
+/*
             case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
                 actual_instruction = instruction.nextLineError;
                 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
-                /*waitingAckID_FIN=0;
-                waitingAckFrom_FIN=0;*/
+               // waitingAckID_FIN=0;
+               // waitingAckFrom_FIN=0;
                 SendRawId(0x40);
-                break;
+                break;*/
         }
         FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
     }