Diff: Strategie/Strategie.cpp

Revision:

17:1cf2043c5c01

Parent:

16:c6c765e8b982

Child:

18:746bc235199d

--- a/Strategie/Strategie.cpp	Thu Mar 12 09:25:48 2020 +0000
+++ b/Strategie/Strategie.cpp	Thu Mar 12 15:39:40 2020 +0000
@@ -2458,39 +2458,7 @@
     msgTx.format=CANStandard;
     msgTx.type=CANData;
     switch(id) 
-    {
-        case 109: //goldenium arriere
-            x=arg1;
-            y=arg2;
-            //Send2Short(GOLDENIUM_ARRIERE, x,y);
-            break;
-
-       /* case 116://relache une pompe
-            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;
-            break;*/
+    {    
         case 120:
             //SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
             break;
@@ -2506,7 +2474,6 @@
             waitingAckID = 0;
             break;
 
-
         case 200 :
             SendRawId(DATA_TELEMETRE);
             /*telemetreDistance = dataTelemetre();
@@ -2528,8 +2495,6 @@
             waitingAckID =0;
             break;
 
-
-
         case 20://Désactiver l'asservissement
             setAsservissementEtat(0);
             break;
@@ -2544,6 +2509,7 @@
             waitingAckFrom = 0;
             waitingAckID = 0;
             break;
+            
         case 23:
             SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2);
             wait_us(200);
@@ -2559,7 +2525,7 @@
             waitingAckID =0;
             break;
             
-        //pompe 1 à 6 ON
+        //gestion des bras (soit on attrape, soit on relache)
         
         case 214://test bras competition (attraper)
             unsigned char argu_at_bras = arg1;
@@ -2568,14 +2534,14 @@
             waitingAckID =0;
             break;
             
-        case 215://test bras competition(relacher)
+        case 215:
             unsigned char argu_re_bras = arg1;
             SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-            
-        case 216://test ventouses competition (attraper)
+        //gestion des ventouses (soit on attrape, soit on relache)    
+        case 216:
             unsigned char argu_at_ventouse = arg1 - 1;
             SendMsgCan(VENT_AT, &argu_at_ventouse,sizeof(arg1));
             waitingAckFrom = 0;
@@ -2592,11 +2558,11 @@
         case 218://Action tempo
             SendRawId(ECUEIL_AVANT_AT);
             break;
-            
         case 219://Action tempo
             SendRawId(ECUEIL_ARRIERE_AT);
             break;
-        case 220:
+            //case d'envoie audio afin de jouer un son indépendament d'une action 
+        case 220: 
             unsigned char argu_repertoire = arg1;
             unsigned char argu_track = arg2;
             Debug_Audio(argu_repertoire, argu_track);
@@ -2610,4 +2576,4 @@
     }
     return retour;//L'action est spécifique.
 
-}
+}
\ No newline at end of file