CRAC Team
code avec modifs, programme mit dans les robots pour les derniers matchs
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Diff: Strategie/Strategie.cpp
- Revision:
- 32:7f8e3ee2adac
- Parent:
- 28:7f2990747e09
- Child:
- 33:c54841d11156
--- a/Strategie/Strategie.cpp Mon May 10 09:14:28 2021 +0000
+++ b/Strategie/Strategie.cpp Tue May 11 15:02:31 2021 +0000
@@ -1612,55 +1612,155 @@
break;
case 151:
- unsigned char argu_at_1_bras = arg1;
- SendMsgCan(BRAS_AT_1, &argu_at_1_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
+ unsigned char argu_at_1_bras = arg1, numero_bras_at;
+ if(argu_at_1_bras<6)
+ {
+ SendMsgCan(BRAS_AT_1, &argu_at_1_bras,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ }
+ else if(argu_at_1_bras>5)
+ {
+ switch(argu_at_1_bras)
+ {
+ case 10:
+ numero_bras_at = 0 ;
+ SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 20:
+ numero_bras_at = 1 ;
+ SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 21:
+ numero_bras_at = 2 ;
+ SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 210:
+ numero_bras_at = 1 ;
+ SendMsgCan(BRAS_AT_3, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 43:
+ numero_bras_at = 3 ;
+ SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 53:
+ numero_bras_at = 4 ;
+ SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 54:
+ numero_bras_at = 5 ;
+ SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 543:
+ numero_bras_at = 0 ;
+ SendMsgCan(BRAS_AT_3, &numero_bras_at,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ }
+ }
break;
case 152:
- unsigned char argu_re_1_bras = arg1;
- SendMsgCan(BRAS_RE_1, &argu_re_1_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
+ unsigned char argu_re_1_bras = arg1, numero_bras_re;
+ if(argu_re_1_bras<6)
+ {
+ SendMsgCan(BRAS_RE_1, &argu_re_1_bras,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ }
+ else if(argu_re_1_bras>5)
+ {
+ switch(argu_re_1_bras)
+ {
+ case 10:
+ numero_bras_re = 0 ;
+ SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 20:
+ numero_bras_re = 1 ;
+ SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 21:
+ numero_bras_re = 2 ;
+ SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 210:
+ numero_bras_re = 1 ;
+ SendMsgCan(BRAS_RE_3, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 43:
+ numero_bras_re = 3 ;
+ SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 53:
+ numero_bras_re = 4 ;
+ SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 54:
+ numero_bras_re = 5 ;
+ SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
+ case 543:
+ numero_bras_re = 0 ;
+ SendMsgCan(BRAS_RE_3, &numero_bras_re,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ }
+ }
break;
case 153:
- unsigned char argu_at_2_bras = arg1;
- SendMsgCan(BRAS_AT_2, &argu_at_2_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 154:
- unsigned char argu_re_2_bras = arg1;
- SendMsgCan(BRAS_RE_2, &argu_re_2_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 155:
- unsigned char argu_at_3_bras = arg1;
- SendMsgCan(BRAS_AT_3, &argu_at_3_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 156:
- unsigned char argu_re_3_bras = arg1;
- SendMsgCan(BRAS_RE_3, &argu_re_3_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 157:
unsigned char argu_at_vent = arg1;
SendMsgCan(VENT_AT, &argu_at_vent,sizeof(arg1));
waitingAckFrom = 0;
waitingAckID =0;
break;
- case 158:
+ case 154:
unsigned char argu_re_vent = arg1;
SendMsgCan(VENT_RE, &argu_re_vent,sizeof(arg1));
wait_ms(500);