CRAC Team / Mbed 2 deprecated carte_strategie_2019

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Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Diff: Robots/Strategie_small.cpp

Revision:
83:23e04b85ae06
Parent:
80:545a9bf561e1
Child:
84:44d6cd2cab99
--- a/Robots/Strategie_small.cpp	Thu May 30 11:50:05 2019 +0000
+++ b/Robots/Strategie_small.cpp	Fri May 31 05:02:55 2019 +0000
@@ -32,7 +32,7 @@
     CANMessage msgTx=CANMessage();
     msgTx.format=CANStandard;
     msgTx.type=CANData;
-    SendMsgCan(0x5BB, &id,1);
+    //SendMsgCan(0x5BB, &id,1);
     switch(id) {
         case 101: //bras gabarit
             SendRawId(GABARIT_PETIT_ROBOT);
@@ -62,9 +62,17 @@
             break;
         case 108: //goldenium avant
             //SendRawId(GOLDENIUM_AVANT);
-            x=arg1;
-            y=arg2;
-            Send2Short(GOLDENIUM_AVANT, x,y);
+            x = arg1;
+            if(InversStrat == 1)
+            {
+                y = 3000 - arg2;
+            }
+            else
+            {
+                y = arg2;
+            }
+            
+            Send2Short(GOLDENIUM_AVANT, x, y);
             break;
         case 109: //goldenium arriere
             x=arg1;
@@ -160,7 +168,7 @@
             
         case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
             isStopEnable =(unsigned char) arg1;
-            SendMsgCan(0x5BC, &isStopEnable,1);
+           // SendMsgCan(0x5BC, &isStopEnable,1);
             waitingAckFrom = 0;
             waitingAckID =0;
             break;