Diff: Strategie/Strategie.cpp

Revision:

87:349194e73b77

Parent:

86:05a0c066bdbe

Child:

88:37714217b4c4

--- a/Strategie/Strategie.cpp	Fri May 31 19:13:59 2019 +0000
+++ b/Strategie/Strategie.cpp	Sat Jun 01 00:26:35 2019 +0000
@@ -74,7 +74,7 @@
 short SCORE_PR=0;
 
 int flag = 0, flag_strat = 0, flag_timer;
-int flagReceptionTelemetres = 0; 
+int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0; 
 char Ack_strat = 0;
 signed char Strat = 0;
 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
@@ -1040,6 +1040,7 @@
             //tactile_printf("Start");//Pas vraiment utile mais bon
             break;
         case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
+            flagNonRepriseErrorMot = 0;
             /*
             Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
             */
@@ -2117,6 +2118,20 @@
                 }
                 flag=1;
                 break;
+            
+            case INSTRUCTION_ERROR_MOTEUR//erreur asservissement
+                if(flagNonRepriseErrorMot)
+                {                
+                    actual_instruction = instruction.nextLineError;
+                    gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
+                    flagNonRepriseErrorMot = 0;
+                }
+                else
+                {
+                    flagNonRepriseErrorMot = 1;
+                    gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;            
+                }
+                break;
 
             /////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
             case ACKNOWLEDGE_HERKULEX:
@@ -2138,12 +2153,7 @@
 //on desactive la balise dans les rotations
                 if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1;
                 if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0;
-//erreur asservissement
-                /*if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ERROR_MOTEUR==recieveAckID){
-                    timeoutWarningWaitEnd.reset();
-                    timeoutWarningWaitEnd.start();
-                    gameEtat = ETAT_WARING_END_BALISE_WAIT;            
-                    }*/
+
                     
                 // SendMsgCan(0x666,&ingnorBalise,1);