File content as of revision 74:cdea2998f0b1:

#include "global.h"
#ifdef ROBOT_BIG


unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises

/****************************************************************************************/
/* FUNCTION NAME: doFunnyAction                                                         */
/* DESCRIPTION  : Permet de faire la funny action en fin de partie                      */
/****************************************************************************************/
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);
}

/****************************************************************************************/
/* FUNCTION NAME: doAction                                                              */
/* DESCRIPTION  : Effectuer une action specifique                                       */
/****************************************************************************************/
unsigned char doAction(unsigned char id, unsigned short var1, short var2) {
    CANMessage msgTx=CANMessage();
    msgTx.format=CANStandard;
    msgTx.type=CANData;
    //affichage_debug(id);

    switch(id) {
        /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
        case 201: 
            CANMessage msgTx=CANMessage();
            msgTx.id=ASCENSEUR;
            msgTx.format=CANStandard;
            msgTx.type=CANData;
            msgTx.len=1;
            msgTx.data[0]=(unsigned char)var1;
        
            can2.write(msgTx);
            break;
        
        case 202: 
            msgTx.id=VIDER_CONVOYEUR;
            
            msgTx.len=1;
            msgTx.data[0]=(unsigned char)var1;
        
            can2.write(msgTx);
            break;
            
        case 203: 
            SendRawId(GOLDENIUM_AVANT);
            break;
            
        case 204:
            unsigned char arg_tempo;
            if(InversStrat == 1)
            {
                switch(var1){
                    case AV_DROIT:
                        arg_tempo = AV_GAUCHE;
                        break;
                    case AV_GAUCHE:
                        arg_tempo = AV_DROIT;
                        break;
                    default :
                        arg_tempo =(unsigned char)var1;
                        break;
                }
                    
            }
            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;
            //liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
            waitingAckFrom = 0;
            waitingAckID = 0;
            break;
           
            
       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);
            waitingAckFrom = 0;
            waitingAckID =0;
            break;
        case 20://Désactiver l'asservissement
            setAsservissementEtat(0);
        break;
        
        case 21://Activer l'asservissement
            setAsservissementEtat(1);
        break;
        
        case 22://Changer la vitesse du robot
            SendSpeed(var1);
            waitingAckFrom = 0;
            waitingAckID = 0;
            wait(0.2);
        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;
        
       
        
        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) 
{
    //Enregistrement de tous les AX12 présent sur la carte
    /*AX12_register(5,  AX12_SERIAL2);
    AX12_register(18, AX12_SERIAL2);
    AX12_register(13, AX12_SERIAL2);
    AX12_register(1,  AX12_SERIAL1);
    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();
    
}

/****************************************************************************************/
/* FUNCTION NAME: initRobotActionneur                                                   */
/* DESCRIPTION  : Initialiser la position des actionneurs du robot                      */
/****************************************************************************************/
void initRobotActionneur(void)
{
    /*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) 
{
    /*
    int waitTime = 500;
    
    //Test des AX12 dans l'ordre
    doAction(111,0,0);//Fermeture pince arrière haute
    wait_ms(waitTime);
    doAction(110,0,0);//Ouverture pince arrière haute
    wait_ms(waitTime);
    doAction(113,0,0);//Fermeture pince arrière basse
    wait_ms(waitTime);
    doAction(112,0,0);//Ouverture pince arrière basse
    wait_ms(waitTime);
    doAction(115,0,0);//Fermeture porte arrière
    wait_ms(waitTime);
    doAction(114,0,0);//Ouverture porte arrière
    wait_ms(waitTime);
    doAction(101,0,0);//Fermer les portes avant
    wait_ms(waitTime);
    doAction(100,0,0);//Ouvrir les portes avant
    wait_ms(waitTime);
    doAction(103,0,0);//Descendre le peigne
    wait_ms(waitTime);
    doAction(102,0,0);//Remonter le peigne*/
}

/****************************************************************************************/
/* 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)
    {
        // strat de match
        case 1:
            strcpy(cheminFileStart,"/local/strat1.txt");
            return FileExists(cheminFileStart);
        case 2:
            strcpy(cheminFileStart,"/local/strat2.txt");
            return FileExists(cheminFileStart);
        case 3:
            strcpy(cheminFileStart,"/local/strat3.txt");
            return FileExists(cheminFileStart);
        case 4:
            strcpy(cheminFileStart,"/local/strat4.txt");
            return FileExists(cheminFileStart);
        case 5:
            strcpy(cheminFileStart,"/local/strat5.txt");
            return FileExists(cheminFileStart);
        case 6:
            strcpy(cheminFileStart,"/local/strat6.txt");
            return FileExists(cheminFileStart);
        case 7:
            strcpy(cheminFileStart,"/local/strat7.txt");
            return FileExists(cheminFileStart);
        case 8:
            strcpy(cheminFileStart,"/local/strat8.txt");
            return FileExists(cheminFileStart);
        case 9:
            strcpy(cheminFileStart,"/local/strat9.txt");
            return FileExists(cheminFileStart);
        case 10:
            strcpy(cheminFileStart,"/local/strat10.txt");
            return FileExists(cheminFileStart);
        
        // strat de demo
        case 0x10:
            strcpy(cheminFileStart,"/local/moteur.txt");
            return FileExists(cheminFileStart);
        case 0x11:
#ifdef ROBOT_BIG
            strcpy(cheminFileStart,"/local/bras.txt");
#else
            strcpy(cheminFileStart,"/local/porteAvant.txt");
#endif
            return FileExists(cheminFileStart);
        case 0x12:
#ifdef ROBOT_BIG
            strcpy(cheminFileStart,"/local/balancier.txt");
#else
            strcpy(cheminFileStart,"/local/mainTourneuse.txt");
#endif
            return FileExists(cheminFileStart);
        default:
            strcpy(cheminFileStart,"/local/strat1.txt");
            return 0;
    }
}*/

/****************************************************************************************/
/* FUNCTION NAME: needToStop                                                            */
/* DESCRIPTION  : Savoir si il faut autoriser le stop du robot via balise               */
/****************************************************************************************/
unsigned char needToStop(void)
{
    return isStopEnable;
}

/****************************************************************************************/
/* FUNCTION NAME: doBeforeEndAction                                                     */
/* DESCRIPTION  : Terminer les actions du robot 1s avant la fin du match                */
/****************************************************************************************/
void doBeforeEndAction(void)
{
    doAction(110,0,0);//Ouverture pince arrière haute
    doAction(112,0,0);//Ouverture pince arrière basse
    doAction(114,0,0);//Ouverture porte arrière
    doAction(100,0,0);//Ouvrir les portes avant
    doAction(102,0,0);//Remonter le peigne
}

#endif