![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
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: Strategie/Strategie.cpp
- Revision:
- 15:5ece9c3ba389
- Parent:
- 14:6aa8aa1699ad
- Child:
- 16:c6c765e8b982
--- a/Strategie/Strategie.cpp Wed Mar 11 14:21:02 2020 +0000 +++ b/Strategie/Strategie.cpp Wed Mar 11 16:35:39 2020 +0000 @@ -2708,68 +2708,16 @@ waitingAckFrom = 0; waitingAckID =0; break; - case 214 : - SendRawId(BRAS_AT); - break; - - case 215://test bras competition ( à tester) - unsigned char arg_tempo; - switch(arg1) - { - case AV_DROIT: - arg_tempo = 1; - break; - case AV_CENTRE: - arg_tempo = 2; - break; - case AV_GAUCHE: - arg_tempo = 3; - break; - case AR_DROIT: - arg_tempo = 4; - break; - case AR_CENTRE: - arg_tempo = 5; - break; - case AR_GAUCHE: - arg_tempo = 6; - break; - default : - arg_tempo =(unsigned char)arg1; - break; - } - SendMsgCan(BRAS_AT, 0,arg_tempo); + case 214://test bras competition (avant) + unsigned char argu_at = arg1; + SendMsgCan(BRAS_AT, &argu_at,sizeof(arg1)); waitingAckFrom = 0; waitingAckID =0; break; - case 216://test bras competition ( à tester) - unsigned char arg_tempo1; - switch(arg1) - { - case AV_DROIT: - arg_tempo1 = 1; - break; - case AV_CENTRE: - arg_tempo1 = 2; - break; - case AV_GAUCHE: - arg_tempo1 = 3; - break; - case AR_DROIT: - arg_tempo1 = 4; - break; - case AR_CENTRE: - arg_tempo1 = 5; - break; - case AR_GAUCHE: - arg_tempo1 = 6; - break; - default : - arg_tempo1 =(unsigned char)arg1; - break; - } - //SendMsgCan(BRAS_RE, 0,arg_temp1); + case 215://test bras competition(arriere) + unsigned char argu_re = arg1; + SendMsgCan(BRAS_RE, &argu_re,sizeof(argu_re)); waitingAckFrom = 0; waitingAckID =0; break;