Diff: Robots/Strategie_big.cpp

Revision:

84:44d6cd2cab99

Parent:

83:23e04b85ae06

Child:

86:05a0c066bdbe

--- a/Robots/Strategie_big.cpp	Fri May 31 05:02:55 2019 +0000
+++ b/Robots/Strategie_big.cpp	Fri May 31 17:33:28 2019 +0000
@@ -9,24 +9,26 @@
 /* FUNCTION NAME: doFunnyAction                                                         */
 /* DESCRIPTION  : Permet de faire la funny action en fin de partie                      */
 /****************************************************************************************/
-void doFunnyAction(void) {
+void doFunnyAction(void)
+{
     //envoie de la funny action
     // 0x007, 01, 01
-        CANMessage msgTx=CANMessage();
-        msgTx.id=GLOBAL_FUNNY_ACTION;
-        msgTx.format=CANStandard;
-        msgTx.type=CANData;
-        msgTx.len=2;
-        msgTx.data[0]=0x01;
-        msgTx.data[1]=0x01;
-        can1.write(msgTx);
+    CANMessage msgTx=CANMessage();
+    msgTx.id=GLOBAL_FUNNY_ACTION;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    msgTx.len=2;
+    msgTx.data[0]=0x01;
+    msgTx.data[1]=0x01;
+    can1.write(msgTx);
 }
 
 /****************************************************************************************/
 /* FUNCTION NAME: doAction                                                              */
 /* DESCRIPTION  : Effectuer une action specifique                                       */
 /****************************************************************************************/
-unsigned char doAction(unsigned char id, unsigned short var1, short var2) {
+unsigned char doAction(unsigned char id, unsigned short var1, short var2)
+{
     CANMessage msgTx=CANMessage();
     msgTx.format=CANStandard;
     msgTx.type=CANData;
@@ -37,42 +39,36 @@
         case 118:
             SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
             break;
-        case 201: 
+
+        case 201:
             unsigned char var_tempo;
             var_tempo = (unsigned char)var1;//0auto 1forceon 2 forceoff
             SendMsgCan(ASCENSEUR, &var_tempo,1);
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-        
-        case 202: 
+
+        case 202:
             msgTx.id=VIDER_CONVOYEUR;
-            
             msgTx.len=1;
-            msgTx.data[0]=(unsigned char)var1;
-        
+            msgTx.data[0]=(unsigned char)var1; //
             can2.write(msgTx);
             break;
-            
-        case 203: 
+
+        case 203:
             x = var1;
-            if(InversStrat == 1)
-            {
+            if(InversStrat == 1) {
                 y = 3000 - var2;
-            }
-            else
-            {
+            } else {
                 y = var2;
             }
-            
             Send2Short(GOLDENIUM_AVANT, x, y);
             break;
-            
+
         case 204:
             unsigned char arg_tempo;
-            if(InversStrat == 1)
-            {
-                switch(var1){
+            if(InversStrat == 1) {
+                switch(var1) {
                     case AV_DROIT:
                         arg_tempo = AV_GAUCHE;
                         break;
@@ -83,19 +79,18 @@
                         arg_tempo =(unsigned char)var1;
                         break;
                 }
-                    
-            }
-            else arg_tempo =(unsigned char)var1;
+
+            } else arg_tempo =(unsigned char)var1;
             SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-            
+
         case 205:
             SendRawId(PRESENTOIR_AVANT);
             break;
-        
-        
+
+
         case 150:
             SCORE_GR+=var1;
             SCORE_GLOBAL=SCORE_GR+SCORE_PR;
@@ -103,57 +98,58 @@
             waitingAckFrom = 0;
             waitingAckID = 0;
             break;
-           
-            
-       case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
+
+
+        case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
             isStopEnable =(unsigned char) var1;
-           // SendMsgCan(0x5BC, &isStopEnable,1);
+            // SendMsgCan(0x5BC, &isStopEnable,1);
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-            
+
         case 20://Désactiver l'asservissement
             setAsservissementEtat(0);
-        break;
-        
+            break;
+
         case 21://Activer l'asservissement
             setAsservissementEtat(1);
-        break;
-        
+            break;
+
         case 22://Changer la vitesse du robot
             SendSpeed(var1);
             waitingAckFrom = 0;
             waitingAckID = 0;
             wait(0.2);
-        break;
+            break;
+
         case 23:
             SendAccel(var1,(unsigned short)var2);//,(unsigned short)arg2, (unsigned short)arg2);
             wait_us(200);
             waitingAckFrom = 0;
             waitingAckID = 0;
             break;
-        
+
         case 30://Action tempo
             wait_ms(var1);
             waitingAckFrom = 0;
             waitingAckID = 0;
-        break;
-        
-       
-        
+            break;
+
+
+
         default:
             return 0;//L'action n'existe pas, il faut utiliser le CAN
-        
+
     }
     return 1;//L'action est spécifique.
-    
+
 }
 
 /****************************************************************************************/
 /* FUNCTION NAME: initRobot                                                             */
 /* DESCRIPTION  : initialiser le robot                                                  */
 /****************************************************************************************/
-void initRobot(void) 
+void initRobot(void)
 {
     //Enregistrement de tous les AX12 présent sur la carte
     /*AX12_register(5,  AX12_SERIAL2);
@@ -163,11 +159,11 @@
     AX12_register(11,  AX12_SERIAL1);
     AX12_register(8,  AX12_SERIAL1);
     AX12_register(7,  AX12_SERIAL2);*/
-    
+
     //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
     //AX12_processChange();
     //runRobotTest();
-    
+
 }
 
 /****************************************************************************************/
@@ -176,23 +172,23 @@
 /****************************************************************************************/
 void initRobotActionneur(void)
 {
-    /*doAction(100,1,0);  
+    /*doAction(100,1,0);
     doAction(100,2,0);
     doAction(110,0,0);
     doAction(120,0,0);
     doAction(131,0,0);*/
-    
+
 }
 
 /****************************************************************************************/
 /* FUNCTION NAME: runTest                                                               */
 /* DESCRIPTION  : tester l'ensemble des actionneurs du robot                            */
 /****************************************************************************************/
-void runRobotTest(void) 
+void runRobotTest(void)
 {
     /*
     int waitTime = 500;
-    
+
     //Test des AX12 dans l'ordre
     doAction(111,0,0);//Fermeture pince arrière haute
     wait_ms(waitTime);
@@ -255,7 +251,7 @@
         case 10:
             strcpy(cheminFileStart,"/local/strat10.txt");
             return FileExists(cheminFileStart);
-        
+
         // strat de demo
         case 0x10:
             strcpy(cheminFileStart,"/local/moteur.txt");