Diff: Robots/Strategie_small.cpp

Revision:

67:96f914f92d2d

Parent:

62:c4863b4b2543

Child:

71:67cce4efd33d

--- a/Robots/Strategie_small.cpp	Sat May 25 16:10:21 2019 +0000
+++ b/Robots/Strategie_small.cpp	Sun May 26 12:49:15 2019 +0000
@@ -2,7 +2,8 @@
 
 #ifdef ROBOT_SMALL
 
-
+unsigned short distance_recalage;
+unsigned short distance_revenir;
 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
 //unsigned short telemetreDistance;
 
@@ -28,6 +29,7 @@
     CANMessage msgTx=CANMessage();
     msgTx.format=CANStandard;
     msgTx.type=CANData;
+    SendMsgCan(0x5BB, &id,1);
     switch(id) {
         case 101: //bras gabarit
             SendRawId(GABARIT_PETIT_ROBOT);
@@ -46,12 +48,14 @@
             break;
         case 106: //accelerateur avant
             //SendRawId(ACCELERATEUR_AVANT);
-            unsigned short distance_recalage=arg1;
-            unsigned short distance_revenir=arg2;
+            distance_recalage=arg1;
+            distance_revenir=arg2;
             Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
             break;
         case 107: //accelerateur arriere
-            SendRawId(ACCELERATEUR_ARRIERE);
+            distance_recalage=arg1;
+            distance_revenir=arg2;
+            Send2Short(ACCELERATEUR_ARRIERE, distance_recalage,distance_revenir);
             break;
         case 108: //goldenium avant
             //SendRawId(GOLDENIUM_AVANT);
@@ -105,7 +109,6 @@
                     
             }
             else arg_tempo =(unsigned char)arg1;
-
             SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
             waitingAckFrom = 0;
             waitingAckID =0;
@@ -148,21 +151,20 @@
             retour = 2;
             break;
 
-        case 10://Désactiver le stop
-            isStopEnable = 0;
-            break;
-        case 11://Activer le stop saut de strat
-            isStopEnable = 1;
+            
+        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);
+            waitingAckFrom = 0;
+            waitingAckID =0;
             break;
         
-        case 12://Activer le stop avec evitement
-            isStopEnable = 2;
-            break;
-            
+    
         
         case 20://Désactiver l'asservissement
             setAsservissementEtat(0);
             break;
+            
         case 21://Activer l'asservissement
             setAsservissementEtat(1);
             break;