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Dépose des 4 pots dans la zone de dépose

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This commit is contained in:
Samuel 2024-05-07 09:55:17 +02:00
parent 5df0f12d2a
commit 7adacfddb8
2 changed files with 4 additions and 3 deletions
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4
Strategie_2024.c
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@ -175,12 +175,12 @@ void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms)
case TAP_DEPOSE_2: case TAP_DEPOSE_2:
if(couleur == COULEUR_BLEU){ if(couleur == COULEUR_BLEU){
angle_destination = 180+15 * DEGRE_EN_RADIAN; angle_destination = (180+15) * DEGRE_EN_RADIAN;
}else{ }else{
angle_destination = (90-(180+15)) * DEGRE_EN_RADIAN; angle_destination = (90-(180+15)) * DEGRE_EN_RADIAN;
} }
Trajet_config(TRAJECT_CONFIG_AVANCE_ET_TOURNE); Trajet_config(TRAJECT_CONFIG_AVANCE_ET_TOURNE);
if(Strategie_tourner_et_aller_a(450, 450, angle_destination, EVITEMENT_PAUSE_DEVANT_OBSTACLE, _step_ms) == ACTION_TERMINEE){ if(Strategie_aller_a_puis_tourner(450, 450, angle_destination, EVITEMENT_PAUSE_DEVANT_OBSTACLE, _step_ms) == ACTION_TERMINEE){
etat_test=TAP_DEPOSE_3; etat_test=TAP_DEPOSE_3;
} }
break; break;

3
Strategie_2024_pots.c
View File

@ -23,7 +23,7 @@ float distance_bras_correction_mm[6] =
{ {
-5, -5,
0, 0,
-10, -5,
-15, -15,
0, 0,
0 0
@ -426,6 +426,7 @@ enum etat_action_t Strat_2024_depose_pot(uint8_t masque_pot, uint32_t step_ms){
case DP_RANGE_BRAS_TEMPO: case DP_RANGE_BRAS_TEMPO:
tempo_ms--; tempo_ms--;
if(tempo_ms < 0){ if(tempo_ms < 0){
etat_depose_pot = DP_BAISSE_BRAS;
return ACTION_TERMINEE; return ACTION_TERMINEE;
} }
break; break;