File content as of revision 37:f1a8734c193d:

#include "global.h"

// {X,Y,T,Sens}
int Nord_haut[4]={175,500,-90,1};
int Sud_haut[4]={1500,500,-90,1};

int Nord_bas[4]={175,500,-90,1};
int Sud_bas[4]={1500,500,-90,1};

int X_rob;
int Y_rob;
int T_rob;
int Sens;

int tourner;


void arriver_bon_port(void)
{   

//Variable de comptage des points
port_lu = val_girou + 1;
    
////////////////////////////////Girouette Sud////////////////////////////////
    if(val_girou == 0) //Sud
    {
        if(Hauteur == 0) //Bas
        {
            if(InversStrat == 1) 
            {
                X_rob = Sud_bas[0];
                Y_rob = 3000 - Sud_bas[1];//Inversion du Y
                T_rob = -Sud_bas[2];
                Sens  = Sud_bas[3];
            } 
            else 
            {
                X_rob = Sud_bas[0];
                Y_rob = Sud_bas[1];
                T_rob = Sud_bas[2];
                Sens  = Sud_bas[3];
            }
        }
        else if(Hauteur == 1) //Haut
        {
            if(InversStrat == 1) 
            {
                X_rob = Sud_haut[0];
                Y_rob = 3000 - Sud_haut[1];//Inversion du Y
                T_rob = -Sud_haut[2];
                Sens  = Sud_haut[3];
            } 
            else 
            {
                X_rob = Sud_haut[0];
                Y_rob = Sud_haut[1];
                T_rob = Sud_haut[2];
                Sens  = Sud_haut[3];
            }
        }
        
        GoToPosition(X_rob, Y_rob, T_rob, Sens);
        waitingAckID = ASSERVISSEMENT_XYT;
        waitingAckFrom = ACKNOWLEDGE_MOTEUR;
        
        //target_x_robot = X_rob;
        //target_y_robot = Y_rob;
        //target_theta_robot = T_rob;
            
        //GoStraight(Sens*350,0,0,0); 
    }
    
////////////////////////////////Girouette Nord////////////////////////////////
    else if(val_girou == 1) //Nord
    {
        if(Hauteur == 0) //Bas
        {
            if(InversStrat == 1) 
            {
                X_rob = Nord_bas[0];
                Y_rob = 3000 - Nord_bas[1];//Inversion du Y
                T_rob = -Nord_bas[2];
                Sens  = Nord_bas[3];
            } 
            else 
            {
                X_rob = Nord_bas[0];
                Y_rob = Nord_bas[1];
                T_rob = Nord_bas[2];
                Sens  = Nord_bas[3];
            }   
        }
        else if(Hauteur == 1) //Haut
        {
            if(InversStrat == 1) 
            {
                X_rob = Nord_haut[0];
                Y_rob = 3000 - Nord_haut[1];//Inversion du Y
                T_rob = -Nord_haut[2];
                Sens  = Nord_haut[3];
            } 
            else 
            {
                X_rob = Nord_haut[0];
                Y_rob = Nord_haut[1];
                T_rob = Nord_haut[2];
                Sens  = Nord_haut[3];
            } 
        }
        GoToPosition(X_rob, Y_rob, T_rob, Sens);
        waitingAckID = ASSERVISSEMENT_XYT;
        waitingAckFrom = ACKNOWLEDGE_MOTEUR;
    
        //target_x_robot = X_rob;
        //target_y_robot = Y_rob;
        //target_theta_robot = T_rob;
            
        //GoStraight(Sens*350,0,0,0);   
    }
    
////////////////////////////////Girouette Inconnu////////////////////////////////
    else if(val_girou == 2) //Jsp
    {
        tourner = 3600;

        if(InversStrat == 1) 
        {
            tourner = -tourner;
        }

        waitingAckID = ASSERVISSEMENT_ROTATION;
        waitingAckFrom = ACKNOWLEDGE_MOTEUR;
        Rotate(tourner); 
    }
}