Diff: Robots/Strategie_small.cpp

Revision:

42:657b6a573e11

Parent:

38:76f886a1c8e6

Child:

45:4f93e99bac6e

--- a/Robots/Strategie_small.cpp	Fri May 11 12:09:26 2018 +0000
+++ b/Robots/Strategie_small.cpp	Thu May 17 13:08:31 2018 +0000
@@ -17,10 +17,10 @@
 }
 
 
-/****************************************************************************************/
-/* FUNCTION NAME: doAction                                                              */
-/* DESCRIPTION  : Effectuer une action specifique                                       */
-/****************************************************************************************/
+/*************************************************************************************************/
+/* FUNCTION NAME: doAction                                                                       */
+/* DESCRIPTION  : Effectuer une action specifique correspondant au numéro dans le fichier strat  */
+/*************************************************************************************************/
 unsigned char doAction(unsigned char id, unsigned short arg1, short arg2) {
     int retour = 1;
     CANMessage msgTx=CANMessage();
@@ -140,112 +140,7 @@
     
 }
 
-/****************************************************************************************/
-/* FUNCTION NAME: initRobot                                                             */
-/* DESCRIPTION  : initialiser le robot                                                  */
-/****************************************************************************************/
-//void initRobot(void) {
-    /**
-    On enregistre les id des AX12 présent sur la carte
-    **/
-    /*AX12_register(1,AX12_SERIAL1,0x0FF);
-    AX12_register(2,AX12_SERIAL1);
-    AX12_register(18,AX12_SERIAL1);
-    AX12_register(4,AX12_SERIAL2);
-    AX12_register(16,AX12_SERIAL2);
-    AX12_register(17,AX12_SERIAL2,0x0FF);*/
-    
-    //runRobotTest();
-    
-    /*
-    AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
-    AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
-    AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF);
-    AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras
-    AX12_processChange();*/
-    
-    //initialisation_AX12();
-    
-//}
 
-/****************************************************************************************/
-/* FUNCTION NAME: initRobotActionneur                                                   */
-/* DESCRIPTION  : Initialiser la position des actionneurs du robot                      */
-/****************************************************************************************/
-/*void initRobotActionneur(void)
-{
-    moteurGauchePWM(0);
-    moteurDroitPWM(0);
-    AX12_automate(AX12_PINCE_CENTRALE_POSITION_INITIALE);
-    AX12_automate(AX12_GAUCHE_CROC_INITIALE);
-    AX12_automate(AX12_DROIT_CROC_INITIALE);
-    AX12_automate(AX12_TOURNANTE_GAUCHE_POSITION_INITIALE);
-    AX12_automate(AX12_TOURNANTE_DROIT_POSITION_INITIALE);
-}
-*/
-/****************************************************************************************/
-/* FUNCTION NAME: runTest                                                               */
-/* DESCRIPTION  : tester l'ensemble des actionneurs du robot                            */
-/****************************************************************************************/
-void runRobotTest(void) 
-{
-
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: SelectStrategy                                                        */
-/* DESCRIPTION  : Charger le fichier de stratégie correspondante à un id                */
-/* RETURN       : 0=> Erreur, 1=> OK si le fichier existe                               */
-/****************************************************************************************/
-int SelectStrategy(unsigned char id)
-{
-    
-    switch(id)
-    {
-        case 1:
-            strcpy(cheminFileStart,"/sd/strat1.txt");
-            return FileExists(cheminFileStart);
-        case 2:
-            strcpy(cheminFileStart,"/sd/strat2.txt");
-            return FileExists(cheminFileStart);
-        case 3:
-            strcpy(cheminFileStart,"/sd/strat3.txt");
-            return FileExists(cheminFileStart);
-        case 4:
-            strcpy(cheminFileStart,"/sd/strat4.txt");
-            return FileExists(cheminFileStart);
-        case 5:
-            strcpy(cheminFileStart,"/sd/strat5.txt");
-            return FileExists(cheminFileStart);
-        case 6:
-            strcpy(cheminFileStart,"/sd/strat6.txt");
-            return FileExists(cheminFileStart);
-        case 7:
-            strcpy(cheminFileStart,"/sd/strat7.txt");
-            return FileExists(cheminFileStart);
-        case 8:
-            strcpy(cheminFileStart,"/sd/strat8.txt");
-            return FileExists(cheminFileStart);
-        case 9:
-            strcpy(cheminFileStart,"/sd/strat9.txt");
-            return FileExists(cheminFileStart);
-        case 10:
-            strcpy(cheminFileStart,"/sd/strat10.txt");
-            return FileExists(cheminFileStart);
-        case 11:
-            strcpy(cheminFileStart,"/sd/grand_8.txt");
-            return FileExists(cheminFileStart);
-        
-        case 0x10:
-            strcpy(cheminFileStart,"/sd/demoBras.txt");
-            return FileExists(cheminFileStart);
-        
-        default:
-            strcpy(cheminFileStart,"/sd/strat1.txt");
-            SendRawId(0x258);
-            return 0;
-    }
-}
 
 /****************************************************************************************/
 /* FUNCTION NAME: needToStop                                                            */