CRAC Team
/
AX12_PR
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test_carteAToutFaire_PR
by 
CRAC Team
Diff: Actionneur.h
- Revision:
- 3:0175a071dd65
- Parent:
- 2:9d280856a536
diff -r 9d280856a536 -r 0175a071dd65 Actionneur.h
--- a/Actionneur.h Fri May 19 08:06:49 2017 +0000
+++ b/Actionneur.h Sat May 20 09:36:35 2017 +0000
@@ -1,20 +1,41 @@
-#include "all_includes.h"
-
-
-
-#define AX12_INITIALISATION 0
-#define AX12_PREPARATION_PRISE 1
-#define AX12_STOCKAGE_HAUT 2
-#define AX12_STOCKAGE_BAS 3
-#define AX12_DEPOSER 4
-#define AX12_PREPARATION_DEPOT_BAS 5
-#define AX12_PREPARATION_DEPOT_HAUT 6
-#define AX12_POUSSER_MODULE 7
-#define AX12_VIDER_FUSEE_POMPE 8
-#define AX12_REMPLIR_BASE_POMPE 9
-#define AX12_GET_POSITION 10
-#define AX12_VIDER_FUSEE_POMPEBLEU 11
-#define AX12_DEFAUT 20
+#define AX12_PINCE_CENTRALE_POSITION_INITIALE 1
+#define AX12_PINCE_CENTRALE_PREPARATION_PRISE 2
+#define AX12_PINCE_CENTRALE_PRISE_MODULE 3
+#define AX12_PINCE_CENTRALE_STOCKAGE_HAUT 4
+#define AX12_PINCE_CENTRALE_STOCKAGE_BAS 5
+#define AX12_PINCE_CENTRALE_PREPARATION_DEPOT 6
+#define AX12_PINCE_CENTRALE_DEPOSER 7
+#define AX12_PINCE_CENTRALE_DEPOT_HAUT 8
+
+#define AX12_GAUCHE_CROC_OUVERT 11
+#define AX12_GAUCHE_CROC_FERME 12
+#define AX12_DROIT_CROC_INITIALE 13
+
+
+#define AX12_DROIT_CROC_OUVERT 14
+#define AX12_DROIT_CROC_FERME 15
+#define AX12_GAUCHE_CROC_INITIALE 16
+
+#define AX12_TOURNANTE_GAUCHE_POSITION_INITIALE 21
+#define AX12_TOURNANTE_GAUCHE_PREPARATION 22
+#define AX12_TOURNANTE_GAUCHE_MODULE 23
+
+#define AX12_TOURNANTE_DROIT_POSITION_INITIALE 24
+#define AX12_TOURNANTE_DROIT_PREPARATION 25
+#define AX12_TOURNANTE_DROIT_MODULE 26
+
+#define AX12_POSITION 100
+#define AX12_DEFAUT 0
+
+#define AX12_DOIGT 4
+#define AX12_BASE 5
+#define AX12_COUDE 6
+#define AX12_PINCEG 7
+#define AX12_PINCED 8
+#define AX12_GAUCHE_EPAULE 1
+#define AX12_GAUCHE_COUDE 2
+#define AX12_DROIT_EPAULE 9
+#define AX12_DROIT_COUDE 10
#define TOLERANCE_AX12 50
@@ -35,291 +56,14 @@
/****************************************************************************************/
void Initialisation_position(unsigned char choix);
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_prise */
-/* DESCRIPTION : Fonction qui prepare le robot pour prendre les modules */
-/****************************************************************************************/
-void Preparation_prise(unsigned char choix);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Stockage_haut */
-/* DESCRIPTION : Fonction qui prend et stocke les modules dans la position haute */
-/****************************************************************************************/
-void Stockage_haut(unsigned char choix);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Stockage_bas */
-/* DESCRIPTION : Fonction qui prend et stocke un module dans la pince */
-/****************************************************************************************/
-void Stockage_bas(unsigned char choix);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Deposer */
-/* DESCRIPTION : Fonction qui permet de déposer un module */
-/****************************************************************************************/
-void Deposer(unsigned char choix);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_depos_bas */
-/* DESCRIPTION : Fonction qui prépare le depos d'un module en bas */
-/****************************************************************************************/
-void Preparation_depot_bas(unsigned char choix);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_depos_haut */
-/* DESCRIPTION : Fonction qui prépare le depos d'un module en haut */
-/****************************************************************************************/
-void Preparation_depot_haut(unsigned char choix);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Pousser_module */
-/* DESCRIPTION : Fonction qui permet pousser le module situé à l'entrée de la bas */
-/****************************************************************************************/
-void Pousser_module(unsigned char choix);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Check_positionAX12 */
-/* DESCRIPTION : Fonction qui permet de verifier la position des AX12 */
-/****************************************************************************************/
-void Check_positionAX12(char* TAB, unsigned char choix);
-
-
-///////////TABLEAU PINCE DROITE /////////////////////////// --> choix_bras == 1
-static char TAB1[25]= {0x12,0xDA, 0x00, 0xFF, 0x00, ///Position initiale
- 0x04,0xF4, 0x01, 0xFF, 0x00,
- 0x07,0x00, 0x01, 0xFF, 0x00,
- 0x0F,0x00, 0x03, 0xFF, 0x00};
-
-static char TAB2[25]= {0x12,0xFF, 0x02, 0xFF, 0x03, ///Preparation prise
- 0x04,0xE9, 0x00, 0xFF, 0x03,
- 0x07,0xF4, 0x01, 0xFF, 0x03,
- 0x0F,0xF4, 0x01, 0xFF, 0x03};
-
-static char TAB3[25]= {0x12,0xFF, 0x02, 0xFF, 0x03, ///Stockage haut/bas (attraper module)
- 0x04,0xE9, 0x00, 0xFF, 0x03,
- 0x07,0xD5, 0x00, 0xFF, 0x00,
- 0x0F,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB4[25]= {0x12,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (bras en l'air)
- 0x04,0x00, 0x02, 0xFF, 0x03,
- 0x07,0xD5, 0x00, 0xFF, 0x00,
- 0x0F,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB5[25]= {0x12,0x35, 0x01, 0xFF, 0x00, ///Stockage haut (module sur tige)
- 0x04,0x60, 0x01, 0xFF, 0x00,
- 0x07,0xD5, 0x00, 0xFF, 0x00,
- 0x0F,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB6[25]= {0x12,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (pince ouverte)
- 0x04,0x50, 0x01, 0xFF, 0x03,
- 0x07,0x0A, 0x01, 0xFF, 0x03,
- 0x0F,0xDD, 0x02, 0xFF, 0x03};
-
-static char TAB7[25]= {0x12,0xA6, 0x00, 0xFF, 0x03, ///Stockage bas (bras en l'air)
- 0x04,0x50, 0x03, 0xFF, 0x03,
- 0x07,0xD5, 0x00, 0xFF, 0x03,
- 0x0F,0x4D, 0x03, 0xFF, 0x03};
-
-static char TAB8[25]= {0x12,0xF4, 0x01, 0xFF, 0x00, ///Deposer (descendre bras)
- 0x04,0x00, 0x03, 0xFF, 0x00,
- 0x07,0xD5, 0x00, 0xFF, 0x00,
- 0x0F,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB9[25]= {0x12,0xF4, 0x01, 0xFF, 0x03, ///Deposer (pince ouverte)
- 0x04,0x00, 0x03, 0xFF, 0x03,
- 0x07,0x0A, 0x01, 0xFF, 0x03,
- 0x0F,0xDD, 0x02, 0xFF, 0x03};
-
-static char TAB10[25]= {0x12,0x35, 0x01, 0xFF, 0x00, ///deposer (preparation module haut)
- 0x04,0x00, 0x02, 0xFF, 0x00,
- 0x07,0xD5, 0x00, 0xFF, 0x00,
- 0x0F,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB11[25]= {0x12,0xB0, 0x01, 0xFF, 0x00, ///Pousser module (bras en bas)
- 0x04,0x00, 0x03, 0xFF, 0x00,
- 0x07,0x0A, 0x01, 0xFF, 0x03,
- 0x0F,0xDD, 0x02, 0xFF, 0x03};
-
-
-//////////////////TABLEAU PINCE GAUCHE ///////////////////////////// --> choix_bras == 2
-static char TAB21[25]= {0x08,0xDA, 0x00, 0xFF, 0x00, ///Position initiale
- 0x03,0xF4, 0x01, 0xFF, 0x00,
- 0x0D,0x00, 0x01, 0xFF, 0x00,
- 0x0E,0x00, 0x03, 0xFF, 0x00};
-
-static char TAB22[25]= {0x08,0xFF, 0x02, 0xFF, 0x03, ///Preparation prise
- 0x03,0xE9, 0x00, 0xFF, 0x03,
- 0x0D,0xF4, 0x01, 0xFF, 0x03,
- 0x0E,0xF4, 0x01, 0xFF, 0x03};
-
-static char TAB23[25]= {0x08,0xFF, 0x02, 0xFF, 0x03, ///Stockage haut/bas (attraper module)
- 0x03,0xE9, 0x00, 0xFF, 0x03,
- 0x0D,0xD5, 0x00, 0xFF, 0x00,
- 0x0E,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB24[25]= {0x08,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (bras en l'air)
- 0x03,0x00, 0x02, 0xFF, 0x03,
- 0x0D,0xD5, 0x00, 0xFF, 0x00,
- 0x0E,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB25[25]= {0x08,0x35, 0x01, 0xFF, 0x00, ///Stockage haut (module sur tige)
- 0x03,0x60, 0x01, 0xFF, 0x00,
- 0x0D,0xD5, 0x00, 0xFF, 0x00,
- 0x0E,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB26[25]= {0x08,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (pince ouverte)
- 0x03,0x50, 0x01, 0xFF, 0x03,
- 0x0D,0x0A, 0x01, 0xFF, 0x03,
- 0x0E,0xDD, 0x02, 0xFF, 0x03};
-
-static char TAB27[25]= {0x08,0xA6, 0x00, 0xFF, 0x03, ///Stockage bas (bras en l'air)
- 0x03,0x50, 0x03, 0xFF, 0x03,
- 0x0D,0xD5, 0x00, 0xFF, 0x03,
- 0x0E,0x4D, 0x03, 0xFF, 0x03};
-
-static char TAB28[25]= {0x08,0xF4, 0x01, 0xFF, 0x00, ///Deposer(descendre bras)
- 0x03,0x00, 0x03, 0xFF, 0x00,
- 0x0D,0xD5, 0x00, 0xFF, 0x00,
- 0x0E,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB29[25]= {0x08,0xF4, 0x01, 0xFF, 0x03, ///Deposer(pince ouverte)
- 0x03,0x00, 0x03, 0xFF, 0x03,
- 0x0D,0xF4, 0x01, 0xFF, 0x03,
- 0x0E,0xF4, 0x01, 0xFF, 0x03};
-
-static char TAB30[25]= {0x08,0x35, 0x01, 0xFF, 0x00, ///deposer(preparation module haut)
- 0x03,0x00, 0x02, 0xFF, 0x00,
- 0x0D,0xD5, 0x00, 0xFF, 0x00,
- 0x0E,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB31[25]= {0x08,0xB0, 0x01, 0xFF, 0x00, ///Pousser module (bras en bas)
- 0x03,0x00, 0x03, 0xFF, 0x00,
- 0x0D,0xD5, 0x00, 0xFF, 0x00,
- 0x0E,0x4D, 0x03, 0xFF, 0x00};
-
-
-char TabBrasPompePosInit[15]= {0x03,0xB0, 0x01, 0xFF, 0x00, /// (bras en bas)
- 0x02,0x00, 0x03, 0xFF, 0x00,
- 0x01,0xD5, 0x00, 0xFF, 0x00};
- /*
-char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xFD, 0x01, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0xF3, 0x00, 0xFF, 0x00,
- 0x01,0x0B, 0x03, 0xFF, 0x00};
-
-
-
-char TabBrasPompeViderFuseeMvt2[15]= {0x03,0x18, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0xA9, 0x00, 0xFF, 0x00,
- 0x01,0xC8, 0x01, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x3D, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x45, 0x00, 0xFF, 0x00,
- 0x01,0x74, 0x01, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x7C, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x71, 0x00, 0xFF, 0x00,
- 0x01,0xE5, 0x00, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x7C, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x0D, 0x01, 0xFF, 0x00,
- 0x01,0x74, 0x00, 0xFF, 0x00};
-*/
-/*
-char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xCE, 0x01, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0xDB, 0x00, 0xFF, 0x00,
- 0x01,0x2F, 0x03, 0xFF, 0x00};
-
-
-
-char TabBrasPompeViderFuseeMvt2[15]= {0x03,0x4D, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x6D, 0x00, 0xFF, 0x00,
- 0x01,0x00, 0x02, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x4D, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x4F, 0x00, 0xFF, 0x00,
- 0x01,0x32, 0x01, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x5B, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0xF3, 0x00, 0xFF, 0x00,
- 0x01,0x5D, 0x00, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x39, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x4C, 0x00, 0xFF, 0x00,
- 0x01,0x80, 0x00, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt6[15]= {0x03,0xBE, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x3F, 0x00, 0xFF, 0x00,
- 0x01,0x80, 0x00, 0xFF, 0x00};
-
-char TabBrasPompeViderFuseeMvt7[15]= {0x03,0x18, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
- 0x02,0x9C, 0x00, 0xFF, 0x00,
- 0x01,0xF3, 0x01, 0xFF, 0x00};
-
- */
-
-char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xE2, 0x01, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0xD5, 0x00, 0xFF, 0x03,
- 0x01,0xFF, 0x01, 0xFF, 0x03};
-
-
-
-char TabBrasPompeViderFuseeMvt2[15]= {0x03,0xF0, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x45,0x00, 0xFF, 0x03,
- 0x01,0x32,0x03, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x3B, 0x00, 0xFF, 0x03,
- 0x01,0x98, 0x02, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt33[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x7E, 0x00, 0xFF, 0x03,
- 0x01,0x65, 0x02, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x65, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0xE9, 0x00, 0xFF, 0x03,
- 0x01,0xFF, 0x01, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt44[15]= {0x03,0x34, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x88, 0x01, 0xFF, 0x03,
- 0x01,0x8B, 0x01, 0xFF, 0x03};
-
-
-
-char TabBrasPompeViderFuseeMvt2_2[15]= {0x03,0xF0, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x45,0x00, 0xFF, 0x03,
- 0x01,0xCC,0x00, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt3_2[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x3B, 0x00, 0xFF, 0x03,
- 0x01,0x66, 0x01, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt33_2[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x7E, 0x00, 0xFF, 0x03,
- 0x01,0x99, 0x01, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt4_2[15]= {0x03,0x65, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0xE9, 0x00, 0xFF, 0x03,
- 0x01,0xFF, 0x01, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt44_2[15]= {0x03,0x34, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x88, 0x01, 0xFF, 0x03,
- 0x01,0x98, 0x02, 0xFF, 0x03};
-
-
-
-char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x40, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x67, 0x00, 0xFF, 0x03,
- 0x01,0x32, 0x00, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt6[15]= {0x03,0x7C, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x56, 0x00, 0xFF, 0x03,
- 0x01,0x32, 0x03, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt7[15]= {0x03,0x14, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0x92, 0x00, 0xFF, 0x03,
- 0x01,0x32, 0x003, 0xFF, 0x03};
-
-char TabBrasPompeViderFuseeMvt8[15]= {0x03,0xDC, 0x01, 0xFF, 0x03, /// (haut, milieu, bas)
- 0x02,0xD5, 0x00, 0xFF, 0x03,
- 0x01,0xFF, 0x01, 0xFF, 0x03};
-
\ No newline at end of file
+void mvtBrasCentralPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1,
+ unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2,
+ unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3,
+ unsigned char ID4, unsigned short GSpeed4, unsigned short GPosition4,
+ unsigned char ID5, unsigned short GSpeed5, unsigned short GPosition5);
+
+void mvtBrasGauchePR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1,
+ unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2);
+
+void mvtBrasDroitPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1,
+ unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2);
\ No newline at end of file