Diff: Strategie/Strategie.cpp

Revision:

77:641c7f1a827c

Parent:

76:b5eb99354389

Child:

78:c0533a36da8f

--- a/Strategie/Strategie.cpp	Mon May 27 18:51:34 2019 +0000
+++ b/Strategie/Strategie.cpp	Tue May 28 10:20:59 2019 +0000
@@ -2049,32 +2049,25 @@
                     angle_moyen_balise_IR = debut_angle_detection + (fin_angle_detection-debut_angle_detection)/2;
 
 #ifdef ROBOT_BIG
-                SendRawId(0x663);
                 float seuil_bas_avant = 12.0;  // >=
                 float seuil_haut_avant = 0.0; // <=
                 float seuil_bas_arriere = 4.0;
                 float seuil_haut_arriere = 8.0;
-                /*float seuil_bas_avant = 13.0;
-                float seuil_haut_avant = 15.0;
-                float seuil_bas_arriere = 5.0;
-                float seuil_haut_arriere = 7.0;*/
-#else
-                SendRawId(0x664);
+#else      
                 float seuil_bas_avant = 13.0;
                 float seuil_haut_avant = 15.0;
                 float seuil_bas_arriere = 5.0;
                 float seuil_haut_arriere = 7.0;
-#endif
-                SendRawId(0x665);
+#endif         
                 if (instruction.order == MV_LINE && instruction.direction == FORWARD  && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
                         || instruction.order == MV_LINE && instruction.direction == BACKWARD && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= seuil_haut_arriere
                         || instruction.order == MV_COURBURE && direction == 1 && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
                         || instruction.order == MV_COURBURE && direction == -1 && angle_moyen_balise_IR >= seuil_bas_arriere  && angle_moyen_balise_IR <= seuil_haut_arriere
                         || instruction.order == MV_XYT && instruction.direction == FORWARD && angle_moyen_balise_IR >= seuil_bas_avant  && angle_moyen_balise_IR <= seuil_haut_avant
                         || instruction.order == MV_XYT && instruction.direction == BACKWARD && angle_moyen_balise_IR >= seuil_bas_arriere  && angle_moyen_balise_IR <= seuil_haut_arriere ) { //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
-                    SendRawId(0x666);
+                
                     if(needToStop() != 0 && ingnorBaliseOnce ==0 && ingnorBalise==0) {
-                        SendRawId(0x667);
+                        
                         if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT) {
                             SendRawId(ASSERVISSEMENT_STOP);
                             /*waitingAckID_FIN = ASSERVISSEMENT_STOP;
@@ -2090,7 +2083,6 @@
                         }
                     }
                 }
-                SendRawId(0x668);
                 ingnorBaliseOnce = 0;
                 break;
 
@@ -2560,8 +2552,6 @@
 
     angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
 
-
-
     if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) {
         if(orientationArrondie == 0) {
             angleRecalage -= 900;
@@ -2586,6 +2576,10 @@
 {
     unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes         = 0;
     unsigned int  moyennageTelemetre                                    = 0;
+    
+     unsigned short tempo= telemetreDistance_arriere_gauche;
+    telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
+    telemetreDistance_arriere_droite=tempo;
 
     telemetreDistance_avant_gauche   = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
     telemetreDistance_avant_droite   = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
@@ -2618,6 +2612,10 @@
 {
     unsigned char   nombresDeMesuresAuxTelemetresQuiSontCoherentes        = 0;
     unsigned int    moyennageTelemetre                                    = 0;
+    
+     unsigned short tempo= telemetreDistance_arriere_gauche;
+    telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
+    telemetreDistance_arriere_droite=tempo;
 
     telemetreDistance_avant_gauche   = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_gauche;
     telemetreDistance_avant_droite   = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_droite;