CRAC Team
/
ACRAC_carte_esclave_GROS_ROBOT_2019
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Dependencies: mbed Herkulex_Library_2019 ident_crac actions_Pr
Diff: main.cpp
- Revision:
- 23:93a427b242ce
- Parent:
- 22:9e92a2b941ba
- Child:
- 24:33c7ff467bd9
- Child:
- 27:d9c3af6b14f6
diff -r 9e92a2b941ba -r 93a427b242ce main.cpp
--- a/main.cpp Wed May 22 15:46:40 2019 +0000
+++ b/main.cpp Wed May 22 20:07:49 2019 +0000
@@ -69,27 +69,26 @@
canProcessRx();
f_mesure();//dt35
+ automate_ventouse_presentoir_avant();
+ automate_ventouse_goldenium_avant();
+ automate_ventouse_relache_avant();
+ automate_ventouse_accelerateur_avant();
#ifdef ROBOT_SMALL
- automate_ventouse_presentoir_avant();
automate_ventouse_presentoir_arriere();
- automate_ventouse_goldenium_avant();
automate_ventouse_goldenium_arriere();
automate_ventouse_sol_avant();
automate_ventouse_sol_arriere();
- automate_ventouse_balance_avant();
automate_ventouse_balance_arriere();
- automate_ventouse_relache_avant();
automate_ventouse_relache_arriere();
automate_ventouse_sol_avant_relache();
automate_ventouse_sol_arriere_relache();
- automate_ventouse_accelerateur_avant();
automate_ventouse_accelerateur_arriere();
#endif
@@ -167,6 +166,54 @@
can.write(msgTx);
SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
break;
+
+ case PRESENTOIR_AVANT:
+ fpresentoir_avant=1;
+ break;
+
+ case BALANCE_AVANT:
+ fbalance_avant=1;
+ break;
+
+ case ACCELERATEUR_AVANT:
+ faccelerateur_avant=1;
+ break;
+
+ case GOLDENIUM_AVANT:
+ fgoldenium_avant=1;
+ break;
+
+ case VENTOUSE_AV_CENTRE_BALANCE:
+ SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+ goldenium_avant();
+ verification();
+ SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+ break;
+
+ 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----------------------------------------------
@@ -176,34 +223,18 @@
SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
break;
- case PRESENTOIR_AVANT:
- fpresentoir_avant=1;
- break;
-
case PRESENTOIR_ARRIERE:
fpresentoir_arriere=1;
break;
- case BALANCE_AVANT:
- fbalance_avant=1;
- break;
-
case BALANCE_ARRIERE:
fbalance_arriere=1;
break;
- case ACCELERATEUR_AVANT:
- faccelerateur_avant=1;
- break;
-
case ACCELERATEUR_ARRIERE:
faccelerateur_arriere=1;
break;
- case GOLDENIUM_AVANT:
- fgoldenium_avant=1;
- break;
-
case GOLDENIUM_ARRIERE:
fgoldenium_arriere=1;
break;
@@ -223,9 +254,6 @@
case SOL_ARRIERE_RELACHE:
fsol_arriere_relache=1;
break;
- case AVANT_RELACHE:
- favant_relache=1;
- break;
case ARRIERE_RELACHE:
farriere_relache=1;
@@ -238,14 +266,6 @@
SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
break;
- case VENTOUSE_AV_CENTRE_BALANCE:
- SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
- goldenium_avant();
- positionControl(AV_poigne_D, 270,1,BLED_ON,1);//actionneur
- verification();
- SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
- break;
-
case VENTOUSE_AR_CENTRE_BALANCE:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
goldenium_arriere();
@@ -254,37 +274,14 @@
SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
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;
-
-
-//-------------------------------------------------------------------------------------------------------------------------------------------
-
#endif
+
#ifdef ROBOT_BIG
case ASCENSEUR:
flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0];
break;
- case 5:
-
- break;
-
#endif
}
FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;