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code strat avant match 2, strat inversée OK normalement

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Robots/Strategie_big.cpp@14:c8fc06c4887f, 2017-03-31 (annotated)

Committer:
ClementBreteau
Date:
Fri Mar 31 16:20:26 2017 +0000
Revision:
14:c8fc06c4887f
Parent:
12:14729d584500
Child:
15:c2fc239e85df
code strategie du robot, version 31 mars 2017

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 12:14729d584500 5 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 6
antbig 0:ad97421fb1fb 7 /****************************************************************************************/
antbig 0:ad97421fb1fb 8 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 9 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 10 /****************************************************************************************/
antbig 0:ad97421fb1fb 11 void doFunnyAction(void) {
antbig 12:14729d584500 12 AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_OPEN,AX12_SPEED_FUNNY_ACTION);
antbig 9:d0042422d95a 13 AX12_processChange();
antbig 0:ad97421fb1fb 14
antbig 0:ad97421fb1fb 15 }
antbig 0:ad97421fb1fb 16
antbig 0:ad97421fb1fb 17 /****************************************************************************************/
antbig 0:ad97421fb1fb 18 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 19 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 20 /****************************************************************************************/
antbig 0:ad97421fb1fb 21 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 12:14729d584500 22 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 23 switch(id) {
antbig 3:19f2285a4757 24
antbig 12:14729d584500 25 case 100://Ouvrir les portes avant
antbig 12:14729d584500 26 AX12_setGoal(AX12_ID_PORTE_AVANT_GAUCHE, AX12_ANGLE_PORTE_AVANT_GAUCHE_OUVERTE);
antbig 12:14729d584500 27 AX12_setGoal(AX12_ID_PORTE_AVANT_DROITE, AX12_ANGLE_PORTE_AVANT_DROITE_OUVERTE);
antbig 12:14729d584500 28 AX12_processChange();
antbig 12:14729d584500 29 break;
antbig 12:14729d584500 30 case 101://Fermer les portes avant
antbig 12:14729d584500 31 AX12_setGoal(AX12_ID_PORTE_AVANT_GAUCHE, AX12_ANGLE_PORTE_AVANT_GAUCHE_FERMER);
antbig 12:14729d584500 32 AX12_setGoal(AX12_ID_PORTE_AVANT_DROITE, AX12_ANGLE_PORTE_AVANT_DROITE_FERMER);
antbig 12:14729d584500 33 AX12_processChange();
antbig 12:14729d584500 34 break;
antbig 12:14729d584500 35
antbig 12:14729d584500 36 case 102://Remonter le peigne
antbig 12:14729d584500 37 AX12_setGoal(AX12_ID_PEIGNE, AX12_ANGLE_PEIGNE_UP);
ClementBreteau 14:c8fc06c4887f 38 SendRawId(0x123);
antbig 12:14729d584500 39 AX12_processChange();
antbig 12:14729d584500 40 break;
antbig 12:14729d584500 41 case 103://Descendre le peigne
antbig 12:14729d584500 42 AX12_setGoal(AX12_ID_PEIGNE, AX12_ANGLE_PEIGNE_DOWN);
antbig 12:14729d584500 43 AX12_processChange();
antbig 12:14729d584500 44 break;
antbig 12:14729d584500 45
antbig 12:14729d584500 46 case 104://Monter le support ventouse haut
antbig 12:14729d584500 47 AX12_setGoal(AX12_ID_VENTOUSE, AX12_ANGLE_VENTOUSE_UP);
antbig 12:14729d584500 48 AX12_processChange();
antbig 12:14729d584500 49 break;
antbig 12:14729d584500 50 case 105://Descendre le support ventouse haut
antbig 12:14729d584500 51 AX12_setGoal(AX12_ID_VENTOUSE, AX12_ANGLE_VENTOUSE_DOWN);
antbig 12:14729d584500 52 AX12_processChange();
antbig 12:14729d584500 53 break;
antbig 12:14729d584500 54 case 106://Remonter le support du cone arriere
antbig 12:14729d584500 55 AX12_setGoal(AX12_ID_CONE, AX12_ANGLE_CONE_INSIDE);
antbig 12:14729d584500 56 AX12_processChange();
antbig 12:14729d584500 57 break;
antbig 12:14729d584500 58 case 107://Descendre le support du cone arriere
antbig 12:14729d584500 59 AX12_setGoal(AX12_ID_CONE, AX12_ANGLE_CONE_OUTSIDE);
antbig 12:14729d584500 60 AX12_processChange();
antbig 12:14729d584500 61 break;
antbig 12:14729d584500 62
antbig 8:0edc7dfb7f7e 63 case 110://Ouvrir la pince arrière haute
antbig 8:0edc7dfb7f7e 64 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 205);
antbig 8:0edc7dfb7f7e 65 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 95);
antbig 8:0edc7dfb7f7e 66 AX12_processChange();
antbig 8:0edc7dfb7f7e 67 break;
antbig 8:0edc7dfb7f7e 68 case 111://Fermer la pince arrière haute
antbig 8:0edc7dfb7f7e 69 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 145);
antbig 8:0edc7dfb7f7e 70 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 155);
antbig 8:0edc7dfb7f7e 71 AX12_processChange();
antbig 12:14729d584500 72 /*waitingAckID = AX12_ID_PINCE_ARRIERE_HAUTE_DROITE;
antbig 12:14729d584500 73 waitingAckFrom = SERVO_AX12_DONE;*/
antbig 8:0edc7dfb7f7e 74 break;
antbig 9:d0042422d95a 75
antbig 8:0edc7dfb7f7e 76 case 112://Ouvrir la pince arrière basse
antbig 12:14729d584500 77 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 215);
antbig 12:14729d584500 78 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 85);
antbig 9:d0042422d95a 79 AX12_processChange();
antbig 8:0edc7dfb7f7e 80 break;
antbig 8:0edc7dfb7f7e 81 case 113://Fermer la pince arrière basse
antbig 9:d0042422d95a 82 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 145);
antbig 9:d0042422d95a 83 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 155);
antbig 9:d0042422d95a 84 AX12_processChange();
antbig 12:14729d584500 85 /* waitingAckID = AX12_ID_PINCE_ARRIERE_BASSE_DROITE;
antbig 12:14729d584500 86 waitingAckFrom = SERVO_AX12_DONE;*/
antbig 9:d0042422d95a 87 break;
antbig 8:0edc7dfb7f7e 88
antbig 8:0edc7dfb7f7e 89 case 114://Ouvrir les portes arrières
antbig 8:0edc7dfb7f7e 90 AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 250);
antbig 8:0edc7dfb7f7e 91 AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 50);
antbig 8:0edc7dfb7f7e 92 AX12_processChange();
antbig 8:0edc7dfb7f7e 93 break;
antbig 8:0edc7dfb7f7e 94 case 115://Fermer les portes arrière
antbig 12:14729d584500 95 //AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 145);
antbig 12:14729d584500 96 //AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 155);
antbig 12:14729d584500 97 AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 142);
antbig 12:14729d584500 98 AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 158);
antbig 12:14729d584500 99 AX12_processChange();
antbig 12:14729d584500 100 //waitingAckID = AX12_ID_PORTE_ARRIERE_DROITE;
antbig 12:14729d584500 101 //waitingAckFrom = SERVO_AX12_DONE;
antbig 12:14729d584500 102 break;
antbig 12:14729d584500 103
antbig 12:14729d584500 104 case 120://Activer les pompes
antbig 12:14729d584500 105 AX12_setGoal(AX12_ID_VENTOUSE, AX12_ANGLE_VENTOUSE_UP,AX12_SPEED_VENTOUSE);
antbig 8:0edc7dfb7f7e 106 AX12_processChange();
antbig 12:14729d584500 107
antbig 12:14729d584500 108
antbig 12:14729d584500 109 msgTx.id=POMPE_PWM;
antbig 12:14729d584500 110 msgTx.format=CANStandard;
antbig 12:14729d584500 111 msgTx.type=CANData;
antbig 12:14729d584500 112 msgTx.len=6;
antbig 12:14729d584500 113
antbig 12:14729d584500 114 // x sur 2 octets
antbig 12:14729d584500 115 msgTx.data[0]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 116 msgTx.data[1]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 117 msgTx.data[2]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 118 msgTx.data[3]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 119 msgTx.data[4]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 120 msgTx.data[5]=(unsigned char)POMPES_PWM;
antbig 12:14729d584500 121
antbig 12:14729d584500 122 can1.write(msgTx);
antbig 8:0edc7dfb7f7e 123 break;
antbig 12:14729d584500 124 case 121://Désactiver les pompes
antbig 12:14729d584500 125 msgTx.id=POMPE_PWM;
antbig 12:14729d584500 126 msgTx.format=CANStandard;
antbig 12:14729d584500 127 msgTx.type=CANData;
antbig 12:14729d584500 128 msgTx.len=6;
antbig 12:14729d584500 129
antbig 12:14729d584500 130 // x sur 2 octets
antbig 12:14729d584500 131 msgTx.data[0]=(unsigned char)0;
antbig 12:14729d584500 132 msgTx.data[1]=(unsigned char)0;
antbig 12:14729d584500 133 msgTx.data[2]=(unsigned char)0;
antbig 12:14729d584500 134 msgTx.data[3]=(unsigned char)0;
antbig 12:14729d584500 135 msgTx.data[4]=(unsigned char)0;
antbig 12:14729d584500 136 msgTx.data[5]=(unsigned char)0;
antbig 12:14729d584500 137
antbig 12:14729d584500 138 can1.write(msgTx);
antbig 12:14729d584500 139 break;
antbig 12:14729d584500 140
antbig 12:14729d584500 141 case 10://Désactiver le stop
antbig 12:14729d584500 142 isStopEnable = 0;
antbig 12:14729d584500 143 break;
antbig 12:14729d584500 144 case 11://Activer le stop
antbig 12:14729d584500 145 isStopEnable = 1;
antbig 12:14729d584500 146 break;
antbig 12:14729d584500 147 case 20://Désactiver l'asservissement
antbig 12:14729d584500 148 setAsservissementEtat(0);
antbig 12:14729d584500 149 break;
antbig 12:14729d584500 150 case 21://Activer l'asservissement
antbig 12:14729d584500 151 setAsservissementEtat(1);
antbig 12:14729d584500 152 break;
antbig 12:14729d584500 153
antbig 12:14729d584500 154 case 22://Changer la vitesse du robot
antbig 12:14729d584500 155 SendSpeed(speed,(unsigned short)angle);
antbig 12:14729d584500 156 break;
antbig 12:14729d584500 157
antbig 12:14729d584500 158 case 30://Action tempo
antbig 12:14729d584500 159 wait_ms(speed);
antbig 12:14729d584500 160 break;
antbig 12:14729d584500 161
ClementBreteau 14:c8fc06c4887f 162 case 40: // demande au telemetre la position d'un objet
ClementBreteau 14:c8fc06c4887f 163 //SendRawId(TELEMETRE_RECHERCHE_OBJET);
ClementBreteau 14:c8fc06c4887f 164 waitingAckID = ACKNOWLEDGE_TELEMETRE;
ClementBreteau 14:c8fc06c4887f 165 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 166 modeTelemetre =1;
ClementBreteau 14:c8fc06c4887f 167
antbig 12:14729d584500 168 case 130://Lancer mouvement de sortie de la zone de départ
antbig 12:14729d584500 169 SendRawId(ACTION_BIG_DEMARRAGE);
antbig 12:14729d584500 170 waitingAckID = ACTION_BIG_DEMARRAGE;
antbig 12:14729d584500 171 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 12:14729d584500 172 break;
antbig 12:14729d584500 173
antbig 0:ad97421fb1fb 174 default:
antbig 0:ad97421fb1fb 175 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 176
antbig 0:ad97421fb1fb 177 }
antbig 0:ad97421fb1fb 178 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 179
antbig 0:ad97421fb1fb 180 }
antbig 0:ad97421fb1fb 181
antbig 0:ad97421fb1fb 182 /****************************************************************************************/
antbig 0:ad97421fb1fb 183 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 184 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 185 /****************************************************************************************/
antbig 9:d0042422d95a 186 void initRobot(void)
antbig 9:d0042422d95a 187 {
antbig 9:d0042422d95a 188 //Enregistrement de tous les AX12 présent sur la carte
antbig 8:0edc7dfb7f7e 189 AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 190 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 191 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 192 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 193 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 194 AX12_register(8, AX12_SERIAL1);
antbig 12:14729d584500 195 AX12_register(7, AX12_SERIAL2);
antbig 9:d0042422d95a 196
antbig 12:14729d584500 197 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 198 //AX12_processChange();
antbig 11:ed13a480ddca 199 //runRobotTest();
antbig 9:d0042422d95a 200 }
antbig 9:d0042422d95a 201
antbig 9:d0042422d95a 202 /****************************************************************************************/
antbig 12:14729d584500 203 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 204 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 205 /****************************************************************************************/
antbig 12:14729d584500 206 void initRobotActionneur(void)
antbig 12:14729d584500 207 {
antbig 12:14729d584500 208 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 209 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 210 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 211 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 212 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 213 doAction(106,0,0);//Remonter le support du cone arriere
antbig 12:14729d584500 214 }
antbig 12:14729d584500 215
antbig 12:14729d584500 216 /****************************************************************************************/
antbig 9:d0042422d95a 217 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 218 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 219 /****************************************************************************************/
antbig 9:d0042422d95a 220 void runRobotTest(void)
antbig 9:d0042422d95a 221 {
antbig 12:14729d584500 222 int waitTime = 500;
antbig 12:14729d584500 223
antbig 9:d0042422d95a 224 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 225 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 226 wait_ms(waitTime);
antbig 9:d0042422d95a 227 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 228 wait_ms(waitTime);
antbig 9:d0042422d95a 229 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 230 wait_ms(waitTime);
antbig 9:d0042422d95a 231 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 232 wait_ms(waitTime);
antbig 9:d0042422d95a 233 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 234 wait_ms(waitTime);
antbig 9:d0042422d95a 235 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 236 wait_ms(waitTime);
antbig 12:14729d584500 237 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 238 wait_ms(waitTime);
antbig 12:14729d584500 239 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 240 wait_ms(waitTime);
antbig 12:14729d584500 241 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 242 wait_ms(waitTime);
antbig 12:14729d584500 243 doAction(102,0,0);//Remonter le peigne
antbig 0:ad97421fb1fb 244 }
antbig 3:19f2285a4757 245
antbig 4:88431b537477 246 /****************************************************************************************/
antbig 4:88431b537477 247 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 248 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 249 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 250 /****************************************************************************************/
antbig 4:88431b537477 251 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 252 {
antbig 4:88431b537477 253 switch(id)
antbig 4:88431b537477 254 {
antbig 4:88431b537477 255 case 1:
antbig 11:ed13a480ddca 256 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 257 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 258 case 2:
antbig 11:ed13a480ddca 259 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 260 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 261 case 3:
antbig 11:ed13a480ddca 262 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 263 return FileExists(cheminFileStart);
antbig 12:14729d584500 264 case 4:
antbig 12:14729d584500 265 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 266 return FileExists(cheminFileStart);
antbig 12:14729d584500 267 case 5:
antbig 12:14729d584500 268 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 269 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 270 case 6:
ClementBreteau 14:c8fc06c4887f 271 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 272 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 273 case 7:
ClementBreteau 14:c8fc06c4887f 274 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 275 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 276 case 8:
ClementBreteau 14:c8fc06c4887f 277 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 278 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 279 case 9:
ClementBreteau 14:c8fc06c4887f 280 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 281 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 282 case 10:
ClementBreteau 14:c8fc06c4887f 283 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 284 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 285
ClementBreteau 14:c8fc06c4887f 286 //
ClementBreteau 14:c8fc06c4887f 287 case 0x10:
ClementBreteau 14:c8fc06c4887f 288 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 289 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 290 case 0x11:
ClementBreteau 14:c8fc06c4887f 291 strcpy(cheminFileStart,"/local/moteur2.txt");
ClementBreteau 14:c8fc06c4887f 292 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 293
antbig 11:ed13a480ddca 294 default:
antbig 12:14729d584500 295 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 296 return 0;
antbig 4:88431b537477 297 }
antbig 4:88431b537477 298 }
antbig 4:88431b537477 299
antbig 12:14729d584500 300 /****************************************************************************************/
antbig 12:14729d584500 301 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 302 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 303 /****************************************************************************************/
antbig 12:14729d584500 304 unsigned char needToStop(void)
antbig 12:14729d584500 305 {
antbig 12:14729d584500 306 return isStopEnable;
antbig 12:14729d584500 307 }
antbig 12:14729d584500 308
antbig 12:14729d584500 309 /****************************************************************************************/
antbig 12:14729d584500 310 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 311 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 312 /****************************************************************************************/
antbig 12:14729d584500 313 void doBeforeEndAction(void)
antbig 12:14729d584500 314 {
antbig 12:14729d584500 315 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 316 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 317 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 318 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 319 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 320 }
antbig 12:14729d584500 321
antbig 3:19f2285a4757 322 #endif