BOOL armUp(int color, int index) {
BOOL result;
if (color) {
result = armDriver2012Up(index);
}
else {
result = armDriver2012Up(index);
}
delaymSec(500);
setReadyForNextMotion(TRUE);
return result;
}
void homologation5_Totem(int color) {
unsigned int index = getMotionInstructionIndex();
switch (index) {
case 1:
armDriver2012Down(ARM_LEFT);
armDriver2012Down(ARM_RIGHT);
delaymSec(1000);
setReadyForNextMotion(TRUE);
break;
case 2:
motionDriverForward(500.0f);
break;
case 3:
armDriver2012Up(ARM_LEFT);
armDriver2012Up(ARM_RIGHT);
break;
}
}
BOOL isEnd() {
if (doNotEnd) {
return FALSE;
}
if (!matchStarted) {
appendString(getOutputStreamLogger(ERROR), "You must call startMatch before");
}
BOOL result = currentTimeInSecond >= MATCH_DURATION;
if (result) {
// If END
armDriver2012Up(0);
}
return result;
}
bool isEnd(void) {
if (doNotEnd) {
return false;
}
if (!matchStarted) {
appendString(getErrorOutputStreamLogger(), "You must call startMatch before");
}
bool result = currentTimeInSecond >= MATCH_DURATION;
if (result) {
// If END
// TODO : Provide a callback in the Interface and not in the endMatchDetectorDevice !
armDriver2012Up(0);
}
return result;
}
