Diff: Strategie/Strategie.cpp

Revision:

20:2f0b1c48a35f

Parent:

19:e70b9d4a319c

Child:

21:d137ec53c3a9

--- a/Strategie/Strategie.cpp	Mon May 25 18:25:20 2020 +0000
+++ b/Strategie/Strategie.cpp	Tue Jun 23 13:31:38 2020 +0000
@@ -441,10 +441,10 @@
                     TEST_NUM.Draw(BLEU, BLANC);
                     switch(maximilien){
                     case 1:
-                    //SendRawId(TEST_VENT_1);
+                    SendRawId(TEST_VENT_1_ON);
                     break;
                     case 2:
-                    //SendRawId(TEST_VENT_2);
+                    SendRawId(TEST_VENT_1_OFF);
                     break;
                     case 3:
                     //SendRawId(TEST_VENT_3);
@@ -2458,7 +2458,14 @@
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-
+            
+        case 19: // CHANGER LA VITESSE + DECELERATION
+            //SendSpeedDecel(arg1,(unsigned short) arg2);
+            wait_us(200);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+            
         case 20://Désactiver l'asservissement
             setAsservissementEtat(0);
             break;
@@ -2480,59 +2487,62 @@
             waitingAckFrom = 0;
             waitingAckID = 0;
             break;
-
-
-        case 19: // CHANGER LA VITESSE + DECELERATION
-            //SendSpeedDecel(arg1,(unsigned short) arg2);
-            wait_us(200);
+      
+        case 151:
+            unsigned char argu_at_1_bras = arg1;
+            SendMsgCan(BRAS_AT_1, &argu_at_1_bras,sizeof(arg1));
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
             
-        //gestion des bras (soit on attrape, soit on relache)
-        
-        case 214://test bras competition (attraper)
-            unsigned char argu_at_bras = arg1;
-            SendMsgCan(BRAS_AT, &argu_at_bras,sizeof(arg1));
+        case 152:
+            unsigned char argu_re_1_bras = arg1;
+            SendMsgCan(BRAS_RE_1, &argu_re_1_bras,sizeof(arg1));
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            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 215:
-            unsigned char argu_re_bras = arg1;
-            SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
+        case 154:
+            unsigned char argu_re_2_bras = arg1;
+            SendMsgCan(BRAS_RE_2, &argu_re_2_bras,sizeof(arg1));
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-        //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));
+
+        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 217://test ventouses competition(relacher)
-            unsigned char argu_re_ventouse = arg1 - 1;
-            SendMsgCan(VENT_RE, &argu_re_ventouse,sizeof(arg1));
+        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 218://Action tempo
-            SendRawId(ECUEIL_AVANT_AT);
-            break;
-        case 219://Action tempo
-            SendRawId(ECUEIL_ARRIERE_AT);
-            break;
-            //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);
+
+        case 157:
+            unsigned char argu_at_vent = arg1;
+            SendMsgCan(VENT_AT, &argu_at_vent,sizeof(arg1));
             waitingAckFrom = 0;
             waitingAckID =0;
-            break; 
+            break;
+            
+        case 158:
+            unsigned char argu_re_vent = arg1;
+            SendMsgCan(VENT_RE, &argu_re_vent,sizeof(arg1));
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
             
         default:
             retour = 0;//L'action n'existe pas, il faut utiliser le CAN