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Strat pre-homologation: petits ajouts

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Samuel 2025-05-26 16:15:26 +02:00
parent 598dbd2391
commit 8733b2cd80
1 changed files with 15 additions and 4 deletions
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19
Cerveau/Cerveau.ino
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@ -442,7 +442,8 @@ enum etat_action_t Strategie(int couleur){
STRAT_ALLER_GRADINS_1_A, // Déplacement relatif
STRAT_ALLER_GRADINS_1_B, // Cherche gradin
STRAT_ALLER_GRADINS_1_C, // Déplacement relatif
STRAT_DEPOSE_GRADIN_1, // Empile gradin
STRAT_DEPOSE_GRADIN_1A, // Empile gradin
STRAT_DEPOSE_GRADIN_1B, // Recule du gradin
STRAT_ALLER_PREPA_BACKSTAGE, // Déplacement absolu
STRAT_ALLER_BACKSTAGE // Déplacement relatif
@ -487,16 +488,26 @@ enum etat_action_t Strategie(int couleur){
case STRAT_ALLER_GRADINS_1_C:
etat_action = deplacement_relatif(120, 0, 0, 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_DEPOSE_GRADIN_1;
etat_strategie = STRAT_DEPOSE_GRADIN_1A;
}
break;
case STRAT_DEPOSE_GRADIN_1:
case STRAT_DEPOSE_GRADIN_1A:
etat_action = actionneur_action(ACTIONNEUR_EMPILE);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_DEPOSE_GRADIN_1B;
}
break;
case STRAT_DEPOSE_GRADIN_1B:
translation_x_mm = -250;
rotation_rad = 0;
translation_y_mm = 0;
etat_action = deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 1);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_ALLER_PREPA_BACKSTAGE;
}
break;
case STRAT_ALLER_PREPA_BACKSTAGE:
if(couleur == COULEUR_JAUNE){