Strat pre-homologation: petits ajouts
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@ -442,7 +442,8 @@ enum etat_action_t Strategie(int couleur){
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STRAT_ALLER_GRADINS_1_A, // Déplacement relatif
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STRAT_ALLER_GRADINS_1_B, // Cherche gradin
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STRAT_ALLER_GRADINS_1_C, // Déplacement relatif
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STRAT_DEPOSE_GRADIN_1, // Empile gradin
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STRAT_DEPOSE_GRADIN_1A, // Empile gradin
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STRAT_DEPOSE_GRADIN_1B, // Recule du gradin
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STRAT_ALLER_PREPA_BACKSTAGE, // Déplacement absolu
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STRAT_ALLER_BACKSTAGE // Déplacement relatif
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@ -487,16 +488,26 @@ enum etat_action_t Strategie(int couleur){
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case STRAT_ALLER_GRADINS_1_C:
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etat_action = deplacement_relatif(120, 0, 0, 0);
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if(etat_action == ACTION_TERMINEE){
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etat_strategie = STRAT_DEPOSE_GRADIN_1;
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etat_strategie = STRAT_DEPOSE_GRADIN_1A;
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}
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break;
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case STRAT_DEPOSE_GRADIN_1:
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case STRAT_DEPOSE_GRADIN_1A:
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etat_action = actionneur_action(ACTIONNEUR_EMPILE);
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if(etat_action == ACTION_TERMINEE){
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etat_strategie = STRAT_DEPOSE_GRADIN_1B;
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}
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break;
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case STRAT_DEPOSE_GRADIN_1B:
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translation_x_mm = -250;
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rotation_rad = 0;
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translation_y_mm = 0;
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etat_action = deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 1);
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if(etat_action == ACTION_TERMINEE){
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etat_strategie = STRAT_ALLER_PREPA_BACKSTAGE;
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}
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break;
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case STRAT_ALLER_PREPA_BACKSTAGE:
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if(couleur == COULEUR_JAUNE){
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