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:
60:97bf2bdd51cc
Parent:
59:500271ac0881
Child:
62:c4863b4b2543
diff -r 500271ac0881 -r 97bf2bdd51cc Robots/Strategie_small.cpp
--- a/Robots/Strategie_small.cpp	Thu May 23 14:28:01 2019 +0000
+++ b/Robots/Strategie_small.cpp	Fri May 24 14:58:22 2019 +0000
@@ -45,13 +45,18 @@
             SendRawId(BALANCE_ARRIERE);
             break;
         case 106: //accelerateur avant
-            SendRawId(ACCELERATEUR_AVANT);
+            //SendRawId(ACCELERATEUR_AVANT);
+            unsigned short distance_recalage=arg1;
+            unsigned short distance_revenir=arg2;
+            Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
             break;
         case 107: //accelerateur arriere
             SendRawId(ACCELERATEUR_ARRIERE);
             break;
         case 108: //goldenium avant
-            SendRawId(GOLDENIUM_AVANT);
+            //SendRawId(GOLDENIUM_AVANT);
+            unsigned short distance_goldenium=arg1;
+            Send2Short(GOLDENIUM_AVANT, distance_goldenium,0);
             break;
         case 109: //goldenium arriere
             SendRawId(GOLDENIUM_ARRIERE);
@@ -101,8 +106,6 @@
             }
             else arg_tempo =(unsigned char)arg1;
 
-            
-            
             SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
             waitingAckFrom = 0;
             waitingAckID =0;
@@ -119,10 +122,11 @@
         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);