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strat des robots

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Robots/Strategie_big.cpp@8:0edc7dfb7f7e, 2016-04-27 (annotated)

Committer:
antbig
Date:
Wed Apr 27 13:05:03 2016 +0000
Revision:
8:0edc7dfb7f7e
Parent:
7:dcce34c7e06e
Child:
9:d0042422d95a
D?but des actions du gros robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 1:116040d14164 1 #include "StrategieManager.h"
antbig 3:19f2285a4757 2 #ifdef ROBOT_BIG
antbig 3:19f2285a4757 3 #include "Config_big.h"
antbig 0:ad97421fb1fb 4
antbig 0:ad97421fb1fb 5 /****************************************************************************************/
antbig 0:ad97421fb1fb 6 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 7 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 8 /****************************************************************************************/
antbig 0:ad97421fb1fb 9 void doFunnyAction(void) {
antbig 0:ad97421fb1fb 10
antbig 0:ad97421fb1fb 11
antbig 0:ad97421fb1fb 12 }
antbig 0:ad97421fb1fb 13
antbig 0:ad97421fb1fb 14 /****************************************************************************************/
antbig 0:ad97421fb1fb 15 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 16 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 17 /****************************************************************************************/
antbig 0:ad97421fb1fb 18 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 0:ad97421fb1fb 19 switch(id) {
antbig 7:dcce34c7e06e 20 case 101:
antbig 3:19f2285a4757 21
antbig 7:dcce34c7e06e 22 break;
antbig 8:0edc7dfb7f7e 23 case 110://Ouvrir la pince arrière haute
antbig 8:0edc7dfb7f7e 24 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 205);
antbig 8:0edc7dfb7f7e 25 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 95);
antbig 8:0edc7dfb7f7e 26 AX12_processChange();
antbig 8:0edc7dfb7f7e 27 break;
antbig 8:0edc7dfb7f7e 28 case 111://Fermer la pince arrière haute
antbig 8:0edc7dfb7f7e 29 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 145);
antbig 8:0edc7dfb7f7e 30 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 155);
antbig 8:0edc7dfb7f7e 31 AX12_processChange();
antbig 8:0edc7dfb7f7e 32 break;
antbig 8:0edc7dfb7f7e 33 case 112://Ouvrir la pince arrière basse
antbig 8:0edc7dfb7f7e 34
antbig 8:0edc7dfb7f7e 35 break;
antbig 8:0edc7dfb7f7e 36 case 113://Fermer la pince arrière basse
antbig 8:0edc7dfb7f7e 37
antbig 8:0edc7dfb7f7e 38 break;
antbig 8:0edc7dfb7f7e 39 case 114://Ouvrir les portes arrières
antbig 8:0edc7dfb7f7e 40 AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 250);
antbig 8:0edc7dfb7f7e 41 AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 50);
antbig 8:0edc7dfb7f7e 42 AX12_processChange();
antbig 8:0edc7dfb7f7e 43 break;
antbig 8:0edc7dfb7f7e 44 case 115://Fermer les portes arrière
antbig 8:0edc7dfb7f7e 45 AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 145);
antbig 8:0edc7dfb7f7e 46 AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 155);
antbig 8:0edc7dfb7f7e 47 AX12_processChange();
antbig 8:0edc7dfb7f7e 48 break;
antbig 0:ad97421fb1fb 49 default:
antbig 0:ad97421fb1fb 50 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 51
antbig 0:ad97421fb1fb 52 }
antbig 0:ad97421fb1fb 53 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 54
antbig 0:ad97421fb1fb 55 }
antbig 0:ad97421fb1fb 56
antbig 0:ad97421fb1fb 57 /****************************************************************************************/
antbig 0:ad97421fb1fb 58 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 59 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 60 /****************************************************************************************/
antbig 0:ad97421fb1fb 61 void initRobot(void) {
antbig 8:0edc7dfb7f7e 62 AX12_register(4, AX12_SERIAL1);
antbig 8:0edc7dfb7f7e 63 AX12_register(14, AX12_SERIAL1);
antbig 8:0edc7dfb7f7e 64 AX12_register(15, AX12_SERIAL1);
antbig 8:0edc7dfb7f7e 65 AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 66 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 67 AX12_register(13, AX12_SERIAL2);
antbig 0:ad97421fb1fb 68 }
antbig 3:19f2285a4757 69
antbig 4:88431b537477 70 /****************************************************************************************/
antbig 4:88431b537477 71 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 72 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 73 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 74 /****************************************************************************************/
antbig 4:88431b537477 75 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 76 {
antbig 4:88431b537477 77 switch(id)
antbig 4:88431b537477 78 {
antbig 4:88431b537477 79 case 1:
antbig 4:88431b537477 80
antbig 4:88431b537477 81 break;
antbig 4:88431b537477 82 }
antbig 4:88431b537477 83 return 0;
antbig 4:88431b537477 84 }
antbig 4:88431b537477 85
antbig 3:19f2285a4757 86 #endif