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:
- 33:c54841d11156
- Parent:
- 32:7f8e3ee2adac
- Child:
- 35:2a745eeb7922
--- a/Strategie/Strategie.cpp Tue May 11 15:02:31 2021 +0000
+++ b/Strategie/Strategie.cpp Wed May 12 14:40:52 2021 +0000
@@ -1612,145 +1612,19 @@
break;
case 151:
- 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;
- }
- }
+ unsigned char argu_at_bras = arg1;
+ if(argu_at_bras == 543) argu_at_bras = 66;
+ SendMsgCan(BRAS_AT, &argu_at_bras,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
break;
case 152:
- 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;
- }
- }
+ unsigned char argu_re_bras = arg1;
+ if(argu_re_bras == 543) argu_re_bras = 66;
+ SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
break;
case 153:
@@ -1768,6 +1642,18 @@
waitingAckID =0;
break;
+ case 157 :
+ unsigned char argu_manche_haut = arg1;
+ SendMsgCan(AUTOMATE_MANCHE_HAUT, &argu_manche_haut,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+
+ case 158 :
+ unsigned char argu_manche_bas = arg1;
+ SendMsgCan(AUTOMATE_MANCHE_BAS, &argu_manche_bas,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+
default:
retour = 0;//L'action n'existe pas, il faut utiliser le CAN
break;