CRAC Team / Mbed 2 deprecated carte_strategie_2019

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Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Diff: Robots/Strategie_small.cpp

Revision:
59:500271ac0881
Parent:
55:1e3dab1f90f4
Child:
60:97bf2bdd51cc
diff -r faef8d1b8ed8 -r 500271ac0881 Robots/Strategie_small.cpp
--- a/Robots/Strategie_small.cpp	Thu May 23 13:22:02 2019 +0000
+++ b/Robots/Strategie_small.cpp	Thu May 23 14:28:01 2019 +0000
@@ -77,7 +77,32 @@
             break;
 
         case 116:
-            unsigned char arg_tempo=(unsigned char)arg1;
+            unsigned char arg_tempo;
+            if(InversStrat == 1)
+            {
+                switch(arg1){
+                    case AV_DROIT:
+                        arg_tempo = AV_GAUCHE;
+                        break;
+                    case AV_GAUCHE:
+                        arg_tempo = AV_DROIT;
+                        break;
+                    case AR_DROIT:
+                        arg_tempo = AR_GAUCHE;
+                        break;
+                    case AR_GAUCHE:
+                        arg_tempo = AR_DROIT;
+                        break;
+                    default :
+                        arg_tempo =(unsigned char)arg1;
+                        break;
+                }
+                    
+            }
+            else arg_tempo =(unsigned char)arg1;
+
+            
+            
             SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
             waitingAckFrom = 0;
             waitingAckID =0;