Diff: Strategie/Strategie.cpp

Revision:

16:c6c765e8b982

Parent:

15:5ece9c3ba389

Child:

17:1cf2043c5c01

--- a/Strategie/Strategie.cpp	Wed Mar 11 16:35:39 2020 +0000
+++ b/Strategie/Strategie.cpp	Thu Mar 12 09:25:48 2020 +0000
@@ -550,11 +550,12 @@
                 }  else if(TEST_NUM.Touched()) {
                     while (TEST_NUM.Touched());
                     TEST_NUM.Draw(BLEU, BLANC);
-                    Debug_Audio(3,maximilien);
+                    Debug_
+                    Audio(3,maximilien);
                 } else if(TEST_PLUS.Touched()) {
                     while (TEST_PLUS.Touched());
                     TEST_PLUS.Draw(BLEU, BLANC);
-                    if(maximilien!=10)maximilien++;
+                    if(maximilien!=20)maximilien++;
                     sprintf(toto,"%hd",maximilien);
                     lcd.SetBackColor(LCD_COLOR_WHITE);
                     lcd.SetTextColor(LCD_COLOR_BLACK);
@@ -2458,87 +2459,12 @@
     msgTx.type=CANData;
     switch(id) 
     {
-        case 101: //bras avant droit
-            SendRawId(TEST_BRAS_1_AT);
-            break;
-        case 102: //bras avant millieu
-            SendRawId(TEST_BRAS_2_AT);
-            break;
-        case 103: //attraper presentoir arriere
-            //SendRawId(PRESENTOIR_ARRIERE);
-            break;
-        case 104: //balance avant
-            //SendRawId(BALANCE_AVANT);
-            break;
-        case 105: //balance arriere
-            //SendRawId(BALANCE_ARRIERE);
-            break;
-        case 106: //accelerateur avant
-            //SendRawId(ACCELERATEUR_AVANT);
-            //distance_recalage=arg1;
-            //distance_revenir=arg2;
-            //Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
-            break;
-        case 107: //accelerateur arriere
-            //distance_recalage=arg1;
-            //distance_revenir=arg2;
-            //Send2Short(ACCELERATEUR_ARRIERE, distance_recalage,distance_revenir);
-            break;
-        case 108: //goldenium avant
-            //SendRawId(GOLDENIUM_AVANT);
-            x = arg1;
-            if(InversStrat == 1) {
-                y = 3000 - arg2;
-            } else {
-                y = arg2;
-            }
-            //Send2Short(GOLDENIUM_AVANT, x, y);
-            break;
         case 109: //goldenium arriere
             x=arg1;
             y=arg2;
             //Send2Short(GOLDENIUM_ARRIERE, x,y);
             break;
-        case 110: //sol avant
-            //SendRawId(SOL_AVANT);
-        case 130: //sol avant
-            SendRawId(TEST_BRAS_1_RE);
-            break;
-        case 131: //sol avant
-            SendRawId(TEST_BRAS_2_RE);
-            break;
-        case 132: //sol avant
-            SendRawId(TEST_BRAS_3_RE);
-            break;
-        case 133: //sol avant
-            SendRawId(TEST_BRAS_4_RE);
-            break;
-        case 134: //sol avant
-            SendRawId(TEST_BRAS_5_RE);
-            break;
-        case 135: //sol avant
-            SendRawId(TEST_BRAS_6_RE);
-            break;
-        case 111: //sol arriere
-           // SendRawId(SOL_ARRIERE);
-            break;
-        case 112: //sol avant relache
-            //SendRawId(SOL_AVANT_RELACHE);
-            break;
-        case 113: //sol arriere relache
-            //SendRawId(SOL_ARRIERE_RELACHE);
-            break;
-        case 114://relache les 3 ventouses avants
-           // SendRawId(AVANT_RELACHE);
-            break;
 
-        case 115://bras avant gauche attraper
-            SendRawId(TEST_BRAS_3_AT);
-            break;
-            
-        case 116://bras arreiere droit
-            SendRawId(TEST_BRAS_6_AT);
-            break;
        /* case 116://relache une pompe
             unsigned char arg_tempo;
             if(InversStrat == 1) {
@@ -2565,15 +2491,6 @@
             waitingAckFrom = 0;
             waitingAckID =0;
             break;*/
-        case 117://bras arriere millieu
-            SendRawId(TEST_BRAS_5_AT);
-            break;
-        case 118://bras arriere gauche
-            SendRawId(TEST_BRAS_4_AT);
-            break;
-        case 119:
-            //SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
-            break;
         case 120:
             //SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
             break;
@@ -2641,90 +2558,55 @@
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-
-        case 30://Action tempo
-            wait_ms(arg1);
-            waitingAckFrom = 0;
-            waitingAckID = 0;
-            break;
+            
         //pompe 1 à 6 ON
-        case 202 :
-            //SendRawId(TEST_VENT_1_ON);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 203 :
-            //SendRawId(TEST_VENT_2_ON);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 204 :
-            //SendRawId(TEST_VENT_3_ON);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 205 :
-           // SendRawId(TEST_VENT_4_ON);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 206 :
-           // SendRawId(TEST_VENT_5_ON);
+        
+        case 214://test bras competition (attraper)
+            unsigned char argu_at_bras = arg1;
+            SendMsgCan(BRAS_AT, &argu_at_bras,sizeof(arg1));
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-        case 207 :
-           // SendRawId(TEST_VENT_6_ON);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 208 :
-           // SendRawId(TEST_VENT_1_OFF);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 209 :
-            //SendRawId(TEST_VENT_2_OFF);
+            
+        case 215://test bras competition(relacher)
+            unsigned char argu_re_bras = arg1;
+            SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
-        case 210 :
-           // SendRawId(TEST_VENT_3_OFF);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 211 :
-            //SendRawId(TEST_VENT_4_OFF);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 212 :
-           // SendRawId(TEST_VENT_5_OFF);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 213 :
-            //SendRawId(TEST_VENT_6_OFF);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-        case 214://test bras competition (avant)
-            unsigned char argu_at = arg1;
-            SendMsgCan(BRAS_AT, &argu_at,sizeof(arg1));
+            
+        case 216://test ventouses competition (attraper)
+            unsigned char argu_at_ventouse = arg1 - 1;
+            SendMsgCan(VENT_AT, &argu_at_ventouse,sizeof(arg1));
             waitingAckFrom = 0;
             waitingAckID =0;
             break;
             
-        case 215://test bras competition(arriere)
-            unsigned char argu_re = arg1;
-            SendMsgCan(BRAS_RE, &argu_re,sizeof(argu_re));
+        case 217://test ventouses competition(relacher)
+            unsigned char argu_re_ventouse = arg1 - 1;
+            SendMsgCan(VENT_RE, &argu_re_ventouse,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 220:
+            unsigned char argu_repertoire = arg1;
+            unsigned char argu_track = arg2;
+            Debug_Audio(argu_repertoire, argu_track);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break; 
             
         default:
             retour = 0;//L'action n'existe pas, il faut utiliser le CAN
-
+            break;
     }
     return retour;//L'action est spécifique.