Jimmy Maingam / StrategieLibRobot1

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Revision 10:c27f3e788466, committed 2019-05-31

Comitter:
JimmyAREM
Date:
Fri May 31 21:03:16 2019 +0000
Parent:
9:00361ecc429d
Commit message:
23h

Changed in this revision

Strategie.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Strategie.cpp	Fri May 31 19:05:28 2019 +0000
+++ b/Strategie.cpp	Fri May 31 21:03:16 2019 +0000
@@ -78,7 +78,7 @@
         pc.printf("On attend le depart du Robot Thanos\n\r");
     }
     tempsArretMvt.attach(&arretSystem, TEMPSMATCH);
-    //initViolet();
+    initViolet();
     //robot.initialisation();
     lancerTimerEcran();
     tempsMatch.start();
@@ -93,18 +93,17 @@
 
             case 0 : { /* On tourne pour aller vers le terrain adverse et on avance jusqu'au milieu du terrain */
 
-                typeMovement = DEPLACEMENT_AVANT;
-                setEmplacementTest();
-                init_odometrie();
-                robot.rotation_rel(90);
-                robot.ligne_droite_basique(50000);
+                wait(1);
+                prendre4Palets();
+                wait(3);
+                stopPompe();
+                wait(5);
+                robot.ligne_droite_basique(120000);
+                robot.marche_arriere(-120000);
                 robot.rotation_rel(-90);
-                robot.ligne_droite_basique(50000);
-                robot.rotation_rel(-90);
-                robot.ligne_droite_basique(50000);
-                robot.rotation_rel(-90);
-                robot.ligne_droite_basique(50000);
-                robot.rotation_rel(-90);
+                robot.ligne_droite_basique(60000);
+                robot.rotation_rel(90);
+                robot.ligne_droite_basique(80000);
                 etapeMatch++;
 
                 break;