Diff: main.cpp

Revision:

48:ef0dc0df8c77

Parent:

47:ced7758fb2ce

Child:

49:af201920161a

--- a/main.cpp	Thu Mar 12 06:40:56 2020 +0000
+++ b/main.cpp	Mon May 11 18:28:58 2020 +0000
@@ -12,6 +12,7 @@
 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
 unsigned char EtatGameEnd=0, EtatGameStart = 0, EtatGameRecalage = 0;
 unsigned short ackFinAction = 0;
+unsigned char var_ecueil_avant_at=0, var_ecueil_arriere_at=0;
 char bras_choix=0;
 
 
@@ -39,13 +40,21 @@
     deverouillage_torque();
     pc.printf("\nLAUNCHED\n\r");
     //on rentre tous les bras dans le robot dans le vagin de sa mere
-    gabarit_robot();
+    gabarit_robot_droit();
+    wait(1);
+    gabarit_robot_gauche();
+    wait(1);
     
     while(1) 
     {                       
         canProcessRx();
         f_mesure();//dt35
-        //aut_gabarit_robot();
+        
+        //automates//
+        automate_bras_attraper();
+        automate_bras_relacher();
+        automate_bras_ecueil_attraper();
+        automate_bras_ecueil_relacher();
         }
 }
 //fin du main
@@ -144,45 +153,40 @@
 //----------------------------------------------------------------nouveaux case-----------------------------------------------------------------//
                 
             case TEST_BRAS_A:
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
-                verification();
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                aut_bras_av_at = 1;
+                bras_choix = 6;
                 break;
                 
             case TEST_BRAS_B:
-                gabarit_robot();
+                aut_bras_av_re = 1;
+                bras_choix = 6;
                 break;
                 
             case TEST_BRAS_C:
-                //ecueil_arriere_at();
+                aut_bras_av_ec_at = 1;
                 break;
                 
             case TEST_BRAS_D:
-                //test_BRAS_D();
+                aut_bras_av_ec_re = 1;
                 break;
                   
-            case TEST_BRAS_1:
-                //test_BRAS_1();    
+            case TEST_BRAS_1:                
+                test_BRAS_2();
                 break;
                  
-            case TEST_BRAS_2:
-                //test_BRAS_2();    
+            case TEST_BRAS_2:   
                 break;
                 
-            case TEST_BRAS_3:
-                //test_BRAS_3();    
+            case TEST_BRAS_3:   
                 break;
                 
-            case TEST_BRAS_4:
-                //test_BRAS_4();    
+            case TEST_BRAS_4:   
                 break;
                 
-            case TEST_BRAS_5:
-                //test_BRAS_5();    
+            case TEST_BRAS_5:   
                 break;
                 
-            case TEST_BRAS_6:
-                //test_BRAS_6();    
+            case TEST_BRAS_6:  
                 break;
 ////////////////////////////////////////////CASE DE COMPETITIONS(à optimiser)////////////////////////////////////////   
             case BRAS_AT:
@@ -206,13 +210,15 @@
                 break;
                 
             case GABARIT_ROBOT:
-                gabarit_robot();
+                gabarit_robot_droit();
+                gabarit_robot_gauche();
                 verification();
                 break;
                 
             case ECUEIL_ARRIERE_AT:
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 //var_ecueil_arriere_at = 1;
+                ecueil_arriere_at();
                 verification();
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
@@ -220,6 +226,7 @@
             case ECUEIL_AVANT_AT:
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 //var_ecueil_avant_at = 1;
+                ecueil_avant_at();
                 verification();
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;