File content as of revision 0:1cfd66c3a181:

// Eléments:
#include "Base.h"
#include "Servo.h"
#include "Infra.h"

extern Base base;
extern Servo servo;
extern Infra infraFrontG;
extern Infra infraFrontD;
extern Infra infraBack;
extern DigitalOut pompe;

// Déplacement pour côté Jaune:
int PURPLE_steps(int state) {
    int timeOut = 3000;
    
    // 0: Avant:
    if (state == 0) {
        base.forward(-1600);
        timeOut = 6000;
    } 
    
    // 1: Tourne:
    else if (state == 1) {
         base.turn(-90.0f);
         infraFrontG.off();
         infraFrontD.off();
         infraBack.on();
    }
    
    // 2: Avance vers palet:
    else if (state == 2) {
        servo.pos(75);
        base.forward(-450);
        timeOut = 3000;
    }
    
    // 3: Servo:
    else if (state == 3) {
        //base.stop();
        servo.pos(35);
        timeOut = 3000;   
    }
    
    // 4: Recule du palet:
    else if (state == 4) {
        base.start();
        base.backward(-400);
        timeOut = 3000;
    }
    
    // 5: Tourne
    else if (state == 5) {
        //base.start();
        base.turn(-90.0f);
    }
    
    // 6: Avance
    else if (state == 6) {
        base.backward(-550);
        infraFrontG.on();
        infraFrontD.on();
        
    }
    
    // 7: Tourne
    else if (state == 7) {
        base.turn(90.0f);
        servo.pos(130.0f);
        infraFrontG.off();
        infraFrontD.off();
    }
    
    // 8: Avance
    else if (state == 8) base.forward(-400.0f);
    
    // 9: Pompe à air
    else if (state == 9) {
        pompe = 1;
        timeOut = 2000;
    }
    
    // 10: Recule du Goldenium
    else if (state == 10) {
        base.backward(-500.0f);
        timeOut = 1000;
    }
    
    // 11: Désactive la pompe
    else if (state == 11) {
        pompe = 0;
        timeOut = 1000;    
    }
    
    // 12: Tourne pour revenir
    else if (state == 12) {
        base.turn(-90.0f);
    }
    
    // 13: Avance pour revenir
    else if (state == 13) {
        base.forward(-1700);
        infraFrontG.on();
        infraFrontD.on();
        timeOut = 6000;
    }
    
    // 14: Fin
    else if (state == 14) {
        base.stop();
    }
    
    return timeOut;
}