Diff: Robots/Strategie_small.cpp

Revision:

84:44d6cd2cab99

Parent:

83:23e04b85ae06

diff -r 23e04b85ae06 -r 44d6cd2cab99 Robots/Strategie_small.cpp
--- a/Robots/Strategie_small.cpp	Fri May 31 05:02:55 2019 +0000
+++ b/Robots/Strategie_small.cpp	Fri May 31 17:33:28 2019 +0000
@@ -63,15 +63,11 @@
         case 108: //goldenium avant
             //SendRawId(GOLDENIUM_AVANT);
             x = arg1;
-            if(InversStrat == 1)
-            {
+            if(InversStrat == 1) {
                 y = 3000 - arg2;
-            }
-            else
-            {
+            } else {
                 y = arg2;
             }
-            
             Send2Short(GOLDENIUM_AVANT, x, y);
             break;
         case 109: //goldenium arriere
@@ -91,19 +87,18 @@
         case 113: //sol arriere relache
             SendRawId(SOL_ARRIERE_RELACHE);
             break;
-        case 114:
+        case 114://relache les 3 ventouses avants
             SendRawId(AVANT_RELACHE);
             break;
 
-        case 115:
+        case 115://relache les 3 ventouses arrieres
             SendRawId(ARRIERE_RELACHE);
             break;
 
-        case 116:
+        case 116://relache une pompe
             unsigned char arg_tempo;
-            if(InversStrat == 1)
-            {
-                switch(arg1){
+            if(InversStrat == 1) {
+                switch(arg1) {
                     case AV_DROIT:
                         arg_tempo = AV_GAUCHE;
                         break;
@@ -120,9 +115,8 @@
                         arg_tempo =(unsigned char)arg1;
                         break;
                 }
-                    
-            }
-            else arg_tempo =(unsigned char)arg1;
+
+            } else arg_tempo =(unsigned char)arg1;
             SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
             waitingAckFrom = 0;
             waitingAckID =0;
@@ -139,11 +133,11 @@
         case 120:
             SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
             break;
-            
+
         case 121:
             SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
             break;
-            
+
         case 150:
             SCORE_PR+=arg1;
             liaison_Tx.envoyer_short(0x30,SCORE_PR);
@@ -165,20 +159,20 @@
             retour = 2;
             break;
 
-            
+
         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);
+            // 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;
@@ -195,7 +189,7 @@
             waitingAckFrom = 0;
             waitingAckID = 0;
             break;
-            
+
 
         case 19: // CHANGER LA VITESSE + DECELERATION
             //SendSpeedDecel(arg1,(unsigned short) arg2);