CRAC Team
code avec la sortie d'évitement en plus géré par un ticker, ce code et le code "avec_modifs" buggent en match avec seulement la stratégie agressive.
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Diff: Evitement/Evitement.cpp
- Revision:
- 10:1964bb91b925
- Parent:
- 1:7e925468f9d9
- Child:
- 21:d137ec53c3a9
--- a/Evitement/Evitement.cpp Mon Feb 10 08:07:17 2020 +0000
+++ b/Evitement/Evitement.cpp Tue Mar 03 16:41:33 2020 +0000
@@ -38,7 +38,7 @@
signed char fin_angle_detection;
signed char debut_angle_detection;
float angle_moyen_balise_IR = 0.0;
-
+ Debug_Audio(3,2);
//on recupere l'info d'angle de detection--------------------------------------
if(msgRxBuffer[FIFO_lecture].data[0]!=0) { //data balise Petit Robot Detecte
fin_angle_detection = msgRxBuffer[FIFO_lecture].data[0] & 0x0F;
@@ -74,6 +74,7 @@
/* DESCRIPTION : FIFO -> BALISE_END_DANGER */
/****************************************************************************************/
unsigned short balise_end_danger(S_Instruction* instruction,S_Dodge_queue* dodgeq, E_stratGameEtat* gameEtat, signed short target_x_robot, signed short target_y_robot, signed short target_theta_robot, signed short theta_robot,signed short x_robot,signed short y_robot){
+ Debug_Audio(3,1);
switch(instruction->order){
case MV_LINE:
*gameEtat=ETAT_GAME_PROCESS_INSTRUCTION;