Diff: main.cpp

Revision:

25:9627700d989f

Parent:

24:33c7ff467bd9

Child:

30:d034f469359e

--- a/main.cpp	Wed May 22 20:24:42 2019 +0000
+++ b/main.cpp	Wed May 22 20:56:42 2019 +0000
@@ -1,4 +1,4 @@
-#include "mbed.h"
+
 #include "main.h"
 
 #define SIZE_FIFO 50
@@ -15,10 +15,6 @@
 void canProcessRx(void);
 
 
-#ifdef ROBOT_BIG
-int rotation_couroies = 0;
-#endif
-
 /*********************************************************************************************/
 /* FUNCTION NAME: canRx_ISR                                                                  */
 /* DESCRIPTION  : lit les messages sur le can et les stocke dans la FIFO                     */
@@ -89,10 +85,10 @@
 #endif
 
 #ifdef ROBOT_BIG
-        automate_ventouse_presentoir_avant();
+        /*automate_ventouse_presentoir_avant();
         automate_ventouse_goldenium_avant();
         automate_ventouse_relache_avant();
-        automate_ventouse_accelerateur_avant();
+        automate_ventouse_accelerateur_avant();*/
         
         fifo_couleur();
         ascenseur();
@@ -168,6 +164,30 @@
                 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
                 break;
                 
+
+
+//--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
+
+
+            case HACHEUR_STATUT_VENTOUSES:
+                status_pompe = msgRxBuffer[FIFO_lecture].data[1];
+                //can.write(CANMessage(0x529, &status_pompe,1));
+                break;
+
+            case HACHEUR_GET_ATOM_ACK:
+                status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
+                //can.write(CANMessage(0x529, &status_pompe,1));
+                break;
+
+            case HACHEUR_RELEASE_ATOM_ACK :
+                status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
+                break;
+
+//-------------------------------------------------------------------------------------------------------------------------------------------
+
+            
+
+#ifdef ROBOT_SMALL
             case PRESENTOIR_AVANT:
                 fpresentoir_avant=1;
                 break;
@@ -194,29 +214,6 @@
             case AVANT_RELACHE:
                 favant_relache=1;
                 break;
-
-//--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
-
-
-            case HACHEUR_STATUT_VENTOUSES:
-                status_pompe = msgRxBuffer[FIFO_lecture].data[1];
-                //can.write(CANMessage(0x529, &status_pompe,1));
-                break;
-
-            case HACHEUR_GET_ATOM_ACK:
-                status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
-                //can.write(CANMessage(0x529, &status_pompe,1));
-                break;
-
-            case HACHEUR_RELEASE_ATOM_ACK :
-                status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
-                break;
-
-//-------------------------------------------------------------------------------------------------------------------------------------------
-
-            
-
-#ifdef ROBOT_SMALL
 //-------------------------------------------------------------------------Actions petit robot----------------------------------------------
             case GABARIT_PETIT_ROBOT:
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);