CRAC Team
Carte esclave gros robot
Dependencies: mbed Herkulex_Library_2019 ident_crac actions_Pr
Revision 54:529b24478996, committed 2022-04-22
- Comitter:
- gein
- Date:
- Fri Apr 22 16:14:30 2022 +0000
- Parent:
- 53:b7d2682fba44
- Commit message:
- base bras mesure
Changed in this revision
diff -r b7d2682fba44 -r 529b24478996 Actionneurs/herkulex_rob.cpp
--- a/Actionneurs/herkulex_rob.cpp Sat Jul 17 11:08:16 2021 +0000
+++ b/Actionneurs/herkulex_rob.cpp Fri Apr 22 16:14:30 2022 +0000
@@ -9,8 +9,8 @@
setTorque(2 ,TORQUE_ON ,1);setTorque(5 ,TORQUE_ON ,1);
setTorque(3 ,TORQUE_ON ,1);setTorque(6 ,TORQUE_ON ,1);
- setTorque(1 ,TORQUE_ON ,2);setTorque(4 ,TORQUE_ON ,2);
- setTorque(2 ,TORQUE_ON ,2);setTorque(5 ,TORQUE_ON ,2);
+ setTorque(101 ,TORQUE_ON ,1);setTorque(4 ,TORQUE_ON ,2);
+ setTorque(102 ,TORQUE_ON ,1);setTorque(5 ,TORQUE_ON ,2);
setTorque(3 ,TORQUE_ON ,2);setTorque(6 ,TORQUE_ON ,2);
setTorque(1 ,TORQUE_ON ,3);setTorque(4 ,TORQUE_ON ,3);
@@ -20,6 +20,7 @@
setTorque(7 ,TORQUE_ON,4);setTorque(10 ,TORQUE_ON,4);
setTorque(8 ,TORQUE_ON,4);setTorque(9 ,TORQUE_ON,4);setTorque(11 ,TORQUE_ON,4);
+
}
void verouillage_torque(void) //débloquer les servomoteurs
diff -r b7d2682fba44 -r 529b24478996 Herkulex_Library_2019.lib --- a/Herkulex_Library_2019.lib Sat Jul 17 11:08:16 2021 +0000 +++ b/Herkulex_Library_2019.lib Fri Apr 22 16:14:30 2022 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/CRAC-Team/code/Herkulex_Library_2019/#c56de4781963 +https://os.mbed.com/teams/CRAC-Team/code/Herkulex_Library_2019/#b3c14933d596
diff -r b7d2682fba44 -r 529b24478996 actions_Pr.lib --- a/actions_Pr.lib Sat Jul 17 11:08:16 2021 +0000 +++ b/actions_Pr.lib Fri Apr 22 16:14:30 2022 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/CRAC-Team/code/actions_Pr/#f052129d3b4e +https://os.mbed.com/teams/CRAC-Team/code/actions_Pr/#dd39b63a012a
diff -r b7d2682fba44 -r 529b24478996 ident_crac.lib --- a/ident_crac.lib Sat Jul 17 11:08:16 2021 +0000 +++ b/ident_crac.lib Fri Apr 22 16:14:30 2022 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#55036d818d21 +https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#03f028eacefe
diff -r b7d2682fba44 -r 529b24478996 main.cpp
--- a/main.cpp Sat Jul 17 11:08:16 2021 +0000
+++ b/main.cpp Fri Apr 22 16:14:30 2022 +0000
@@ -5,17 +5,29 @@
CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN
-Serial pc(USBTX,USBRX);
+
+
+Serial pc(USBTX,USBRX,115200);
+DigitalOut me(PA_4,1);
+char data[2]= {0x75};
+CANMessage tx_msg(0x732,data,1,CANData,CANStandard);
CANMessage msgRxBuffer[SIZE_FIFO];
unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
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;
-char bras_choix=0;
+
+AnalogIn avant_droit(PB_0);//1
+AnalogIn avant_gauche(PB_1);//A
+CANMessage tx_message;
+char bidon[8];
+
+char bras_choix=0,num_ca=0,msg_carre=0;
void initialisation_CAN (void) ;
+
void canProcessRx(void);
/*********************************************************************************************/
@@ -24,9 +36,8 @@
/*********************************************************************************************/
void canRx_ISR (void)
{
- if (can.read(msgRxBuffer[FIFO_ecriture]))
- {
- FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
+ if (can.read(msgRxBuffer[FIFO_ecriture])) {
+ FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
}
}
@@ -34,31 +45,35 @@
{
can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
SendRawId(ALIVE_ACTIONNEURS_AVANT);
+ CANMessage tx_message(0x222, bidon, 2, CANData, CANStandard);
servo_interrupt_en(); //permettre les interuptions
wait(1);
deverouillage_torque();
+ setTorque(101,TORQUE_ON,2);
+ setTorque(4,TORQUE_ON,2);
+ setTorque(102,TORQUE_ON,2);
+ setTorque(5,TORQUE_ON,2);
pc.printf("\nLAUNCHED\n\r");
//on rentre tous les bras dans le robot dans le vagin de sa mere
- gabarit_robot_gauche();
- wait_ms(300);
- gabarit_robot_droit();
- wait_ms(300);
- gabarit_robot_manche();
- wait_ms(300);
+// gabarit_robot_gauche();
+// wait_ms(300);
+// gabarit_robot_droit();
+// wait_ms(300);
+// gabarit_robot_manche();
+// wait_ms(300);
//DigitalIn cap2(PC_14);
- SendRawId(CHECK_ACTIONNEURS_AVANT);
- while(1)
- {
+// SendRawId(CHECK_ACTIONNEURS_AVANT);
+ while(1) {
canProcessRx();
- f_mesure();//dt35
-
- selection_bras_attraper();
- selection_bras_relacher();
- automate_manche_air_haut();
- automate_manche_air_bas();
- automate_manche_air_moy();
- selection_bras_prepa();
- selection_bras_poser();
+// f_mesure();//dt35
+ traitement();
+// selection_bras_attraper();
+// selection_bras_relacher();
+// automate_manche_air_haut();
+// automate_manche_air_bas();
+// automate_manche_air_moy();
+// selection_bras_prepa();
+// selection_bras_poser();
/*
automate_bras_attraper_1();
automate_bras_relacher_1();
@@ -69,6 +84,10 @@
*/
//automate_manche_air() ;
/*automate_position_lidar();*/
+ tx_message.data[1] = avant_droit.read() * 260;
+ tx_message.data[0] = avant_gauche.read() * 260;
+ can.write(tx_message);
+ wait_ms(20);
}
}
//fin du main
@@ -92,8 +111,7 @@
if(FIFO_occupation!=0) {
int identifiant=msgRxBuffer[FIFO_lecture].id;
- switch(identifiant)
- {
+ switch(identifiant) {
case GLOBAL_START:
EtatGameStart = 1;
EtatGameEnd = 0;
@@ -101,7 +119,7 @@
case RECALAGE_START :
EtatGameRecalage = 1;
break;
-
+
case INSTRUCTION_END_MOTEUR:
ackFinAction = msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
break;
@@ -164,118 +182,151 @@
break;
//----------------------------------------------------------------cases test-----------------------------------------------------------------//
-
+
case TEST_BRAS_A:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_bras_av_3_at = 0;
break;
-
+
case TEST_BRAS_B:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_bras_av_3_re = 0;
break;
-
+
case TEST_BRAS_C:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_bras_av_3_at = 1;
break;
-
+
case TEST_BRAS_D:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_bras_av_3_re = 1;
break;
-
+
case TEST_BRAS_1:
test_BRAS_1();
break;
-
+
case TEST_BRAS_2:
- test_BRAS_2();
+ test_BRAS_2();
break;
-
+
case TEST_BRAS_3:
- test_BRAS_3();
+ test_BRAS_3();
break;
-
- case TEST_BRAS_4:
- test_BRAS_4();
+
+ case TEST_BRAS_4:
+ test_BRAS_4();
break;
-
- case TEST_BRAS_5:
+
+ case TEST_BRAS_5:
break;
-
- case TEST_BRAS_6:
+
+ case TEST_BRAS_6:
break;
-////////////////////////////////////////////CASE DE COMPETITIONS/////////////////////////////////////////////
+////////////////////////////////////////////CASE DE canPETITIONS/////////////////////////////////////////////
case BRAS_AT:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
- aut_bras_av_at = 1;
+ aut_bras_av_at = 1;
break;
-
+
case BRAS_RE:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_bras_av_re = 1;
break;
-
+
case BRAS_PREPA:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
- aut_bras_av_prepa = 1;
+ aut_bras_av_prepa = 1;
break;
-
+
case BRAS_POSE:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_bras_av_pose = 1;
break;
-
+
case GABARIT_ROBOT:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
gabarit_robot_droit();
gabarit_robot_gauche();
SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
break;
-
+
case AUTOMATE_MANCHE_HAUT:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_manche_haut = 1;
- break;
-
+ break;
+
case AUTOMATE_MANCHE_BAS:
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_manche_bas = 1;
break;
-
+
case AUTOMATE_MANCHE_MOY :
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
bras_choix = msgRxBuffer[FIFO_lecture].data[0];
aut_manche_moy = 1;
break ;
-
+
case PAVILLON_DEPLOYE :
SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
pavilon_deploye();
break ;
-
+
case LECTURE_GIROUETTE :
unsigned char port_final ;
port_final = lecture_girouette() ;
//if( port_final != 2)
- SendMsgCan(VALEUR_GIROUETTE, &port_final, sizeof(char)) ;
+ SendMsgCan(VALEUR_GIROUETTE, &port_final, sizeof(char)) ;
break ;
-
+
case TEST_LECTURE_GIROUETTE :
test_lecture_girou() ;
break ;
-
+ case BF_RANGER:
+ msg_carre=1;
+
+ pc.printf(" ok recu ");
+ break;
+
+ case BF_PRETEST:
+ msg_carre=3;
+
+
+ break;
+
+ case BF_MESURE:
+ msg_carre=2;
+ num_ca=msgRxBuffer[FIFO_lecture].data[0];
+
+ break;
+
+ case BF_COLOR:
+ set_color(msgRxBuffer[FIFO_lecture].data[0] & 0x1);
+ break;
+
+ case BF_TEST:
+ BF_test_mesure(msgRxBuffer[FIFO_lecture].data[0] & 0x1);
+
+ break;
+ case BF_POS:
+ Interrupt2_en();
+ pc.printf(" haut: %d ",getPos(ID_HAUT,2));
+ Interrupt2_en();
+ pc.printf(" MILLIEU: %d ",getPos(ID_MILLIEU,2));
+
+ break;
+
default:
break;
}
@@ -283,10 +334,10 @@
}
}
-void initialisation_CAN(void)
+void initialisation_CAN(void)
{
CANMessage msg_init;
- msg_init.id = CHECK_ACTIONNEURS_AVANT;
+ msg_init.id = CHECK_ACTIONNEURS_AVANT;
msg_init.len=1;
msg_init.format=CANStandard;
msg_init.type=CANData;
diff -r b7d2682fba44 -r 529b24478996 main.h --- a/main.h Sat Jul 17 11:08:16 2021 +0000 +++ b/main.h Fri Apr 22 16:14:30 2022 +0000 @@ -20,6 +20,7 @@ extern Serial pc; extern char bras_choix; +extern char num_ca,msg_carre; extern unsigned short ackFinAction; #endif \ No newline at end of file