CRAC Team / Mbed 2 deprecated carte_strategie_2019

carte_strategie_2019

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Files at this revision

API Documentation at this revision

Revision 91:42ae63e5daf5, committed 2019-06-01

Comitter:
kyxstark
Date:
Sat Jun 01 02:50:52 2019 +0000
Parent:
90:2a3e2dca09a0
Commit message:
reprise erreur asserv correction bug;

Changed in this revision

Robots/Strategie_big.cpp Show annotated file Show diff for this revision Revisions of this file
Strategie/Strategie.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Robots/Strategie_big.cpp	Sat Jun 01 01:42:42 2019 +0000
+++ b/Robots/Strategie_big.cpp	Sat Jun 01 02:50:52 2019 +0000
@@ -127,7 +127,7 @@
             break;
 
         case 23:
-            SendAccel(var1,(unsigned short)var2);//,(unsigned short)arg2, (unsigned short)arg2);
+            SendAccel((unsigned short)var1,(unsigned short)var2);//,(unsigned short)arg2, (unsigned short)arg2);
             wait_us(200);
             waitingAckFrom = 0;
             waitingAckID = 0;

--- a/Strategie/Strategie.cpp	Sat Jun 01 01:42:42 2019 +0000
+++ b/Strategie/Strategie.cpp	Sat Jun 01 02:50:52 2019 +0000
@@ -1325,6 +1325,10 @@
                     break;
 
                 case ACTION:
+                
+                    waitingAckID_FIN = 0;
+                    waitingAckFrom_FIN = 0;
+
                     int tempo = 0;
                     waitingAckID= ACK_ACTION;       //On veut un ack de type action
                     waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
@@ -1443,8 +1447,8 @@
                                     waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
                                 } else if(telemetreDistance == 5000) {
                                     // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
-                                    waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
-                                    waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
+                                    //waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
+                                    //waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
                                     telemetreDistance = 0;
                                 }
                             } else { // si on attend la reponse du telemetre
@@ -2114,9 +2118,10 @@
 
             case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
             {
+                
                 unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0]  | ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
                 memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
-                if(recieveAckID == waitingAckID_FIN)
+                if(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR)
                 { 
                     if(flagNonRepriseErrorMot) {
                         actual_instruction = instruction.nextLineError;