CRAC Team / Mbed 2 deprecated Bloc_Pompe

Classes et code de la partie pompe du Robot 2021

Dependencies:   mbed ident_crac

main.cpp@9:6869e3869638, 2021-07-17 (annotated)

Committer:
goldmas
Date:
Sat Jul 17 11:09:18 2021 +0000
Revision:
9:6869e3869638
Parent:
8:ba95705cf7d4 
Dernier code de la coupe de fracne 2021

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goldmas 0:253443d82cba 1 #include "bloc_8_pompe.h"
goldmas 0:253443d82cba 2
goldmas 1:815ca6061e15 3 //initialisations relatives au Bus CAN
goldmas 4:4bae30d48662 4 CAN bus_CAN(PB_8, PB_9, 1000000) ;
goldmas 4:4bae30d48662 5 CANMessage commande_carte ;
goldmas 6:b06c430a7e14 6 CANMessage envoie ;
goldmas 1:815ca6061e15 7 int flag_reception_CAN = 0 ;
goldmas 9:6869e3869638 8 Timer scoreTimer;
goldmas 2:61ffa6e3eee5 9 void interruption_reception(void) ;
goldmas 4:4bae30d48662 10 void gestion_Message_CAN(void) ;
goldmas 9:6869e3869638 11 void Envoi_msg_CAN(char donnee[6]);
smarecar 8:ba95705cf7d4 12 void initialisation_CAN(void) ;
goldmas 9:6869e3869638 13 void ventouse_etat(void);
goldmas 9:6869e3869638 14 void SendRawId (unsigned short id);
goldmas 1:815ca6061e15 15
goldmas 4:4bae30d48662 16 //Fin de jeu
goldmas 4:4bae30d48662 17 char end_game = 0;
goldmas 4:4bae30d48662 18
goldmas 4:4bae30d48662 19 bloc_8_pompe::bloc_8_pompe classe_pompe (PC_9, PA_8, PB_0, //bloc 1
goldmas 9:6869e3869638 20 PB_7, PA_10, PB_1, //bloc 2
goldmas 9:6869e3869638 21 PA_11, PA_15, PC_1, //bloc 3
goldmas 9:6869e3869638 22 PA_9, PB_6, PC_0, //bloc 4
goldmas 9:6869e3869638 23 PC_7, PC_8, PC_5, //bloc 5
goldmas 9:6869e3869638 24 PB_10, PB_2, PC_4, //bloc 6
goldmas 9:6869e3869638 25 PA_6, PA_5, PA_7, //bloc 7
goldmas 9:6869e3869638 26 PA_0, PA_1, PA_4); //bloc 8
goldmas 4:4bae30d48662 27
goldmas 4:4bae30d48662 28 int main()
goldmas 4:4bae30d48662 29 {
goldmas 4:4bae30d48662 30 bus_CAN.attach(&interruption_reception) ;
goldmas 9:6869e3869638 31 static int old_Timer=0;
goldmas 9:6869e3869638 32 initialisation_CAN() ;
smarecar 8:ba95705cf7d4 33
goldmas 9:6869e3869638 34 scoreTimer.start();
smarecar 8:ba95705cf7d4 35
goldmas 0:253443d82cba 36 while(1)
goldmas 0:253443d82cba 37 {
goldmas 9:6869e3869638 38 //bus_CAN(envoie);
goldmas 9:6869e3869638 39 if(flag_reception_CAN)
goldmas 9:6869e3869638 40 {
goldmas 6:b06c430a7e14 41 gestion_Message_CAN() ;
goldmas 6:b06c430a7e14 42 }
goldmas 0:253443d82cba 43
goldmas 6:b06c430a7e14 44 if(end_game)
goldmas 6:b06c430a7e14 45 {
goldmas 6:b06c430a7e14 46 for (int i=0 ; i<8 ; i++)
goldmas 6:b06c430a7e14 47 {
goldmas 6:b06c430a7e14 48 classe_pompe.stop_pompe(i);
goldmas 6:b06c430a7e14 49 wait_ms(10) ;
goldmas 6:b06c430a7e14 50 }
goldmas 6:b06c430a7e14 51 }
goldmas 9:6869e3869638 52
goldmas 9:6869e3869638 53 ventouse_etat();
goldmas 9:6869e3869638 54
goldmas 9:6869e3869638 55 //Appelle toutes les 100ms pour regarder l'état des pompes
goldmas 9:6869e3869638 56 /*
goldmas 9:6869e3869638 57 if((scoreTimer.read_ms()-old_Timer)>=100)
goldmas 9:6869e3869638 58 {
goldmas 9:6869e3869638 59 ventouse_etat();
goldmas 9:6869e3869638 60 old_Timer=scoreTimer.read_ms();
goldmas 9:6869e3869638 61 }
goldmas 9:6869e3869638 62 */
smarecar 7:b7dc6201b520 63 //Envoi_msg_CAN(1); //envoie un msg pour tester la liaison can
goldmas 0:253443d82cba 64 }
goldmas 0:253443d82cba 65
goldmas 4:4bae30d48662 66 }
goldmas 4:4bae30d48662 67
goldmas 4:4bae30d48662 68 void interruption_reception(void)
goldmas 4:4bae30d48662 69 {
goldmas 4:4bae30d48662 70 if (bus_CAN.read(commande_carte))
goldmas 4:4bae30d48662 71 flag_reception_CAN = 1 ;
goldmas 4:4bae30d48662 72 }
goldmas 4:4bae30d48662 73
goldmas 4:4bae30d48662 74 void gestion_Message_CAN(void)
goldmas 4:4bae30d48662 75 {
goldmas 4:4bae30d48662 76 int identifiant = commande_carte.id ;
goldmas 4:4bae30d48662 77 char num_groupe = 1 ;
goldmas 6:b06c430a7e14 78 char etat_groupe = 0 ;
goldmas 4:4bae30d48662 79
goldmas 4:4bae30d48662 80 switch (identifiant)
goldmas 4:4bae30d48662 81 {
goldmas 4:4bae30d48662 82 case VENT_AT:
goldmas 4:4bae30d48662 83 num_groupe = commande_carte.data[0];
smarecar 8:ba95705cf7d4 84 if(num_groupe<6)
smarecar 8:ba95705cf7d4 85 {
smarecar 8:ba95705cf7d4 86 if(num_groupe == 0) num_groupe = 3;
smarecar 8:ba95705cf7d4 87 else if (num_groupe == 1) num_groupe = 2;
smarecar 8:ba95705cf7d4 88 else if (num_groupe == 2) num_groupe = 1;
smarecar 8:ba95705cf7d4 89 else if (num_groupe == 3) num_groupe = 5;
smarecar 8:ba95705cf7d4 90 else if (num_groupe == 4) num_groupe = 6;
smarecar 8:ba95705cf7d4 91 else if (num_groupe == 5) num_groupe = 7;
smarecar 8:ba95705cf7d4 92 classe_pompe.aspirer(num_groupe);
smarecar 8:ba95705cf7d4 93 }
smarecar 8:ba95705cf7d4 94 else if(num_groupe>5)
smarecar 8:ba95705cf7d4 95 {
smarecar 8:ba95705cf7d4 96 switch(num_groupe)
smarecar 8:ba95705cf7d4 97 {
smarecar 8:ba95705cf7d4 98 case 10:
goldmas 9:6869e3869638 99 classe_pompe.aspirer(2);
smarecar 8:ba95705cf7d4 100 classe_pompe.aspirer(3);
smarecar 8:ba95705cf7d4 101 break;
smarecar 8:ba95705cf7d4 102
smarecar 8:ba95705cf7d4 103 case 20:
smarecar 8:ba95705cf7d4 104 classe_pompe.aspirer(1);
smarecar 8:ba95705cf7d4 105 classe_pompe.aspirer(3);
smarecar 8:ba95705cf7d4 106 break;
smarecar 8:ba95705cf7d4 107
smarecar 8:ba95705cf7d4 108 case 21:
smarecar 8:ba95705cf7d4 109 classe_pompe.aspirer(2);
smarecar 8:ba95705cf7d4 110 classe_pompe.aspirer(1);
smarecar 8:ba95705cf7d4 111 break;
smarecar 8:ba95705cf7d4 112
smarecar 8:ba95705cf7d4 113 case 210:
goldmas 9:6869e3869638 114 classe_pompe.aspirer(3);
goldmas 9:6869e3869638 115 classe_pompe.aspirer(2);
smarecar 8:ba95705cf7d4 116 classe_pompe.aspirer(1);
smarecar 8:ba95705cf7d4 117 break;
smarecar 8:ba95705cf7d4 118
smarecar 8:ba95705cf7d4 119 case 43:
smarecar 8:ba95705cf7d4 120 classe_pompe.aspirer(5);
smarecar 8:ba95705cf7d4 121 classe_pompe.aspirer(6);
smarecar 8:ba95705cf7d4 122 break;
smarecar 8:ba95705cf7d4 123
smarecar 8:ba95705cf7d4 124 case 53:
smarecar 8:ba95705cf7d4 125 classe_pompe.aspirer(5);
smarecar 8:ba95705cf7d4 126 classe_pompe.aspirer(7);
smarecar 8:ba95705cf7d4 127 break;
smarecar 8:ba95705cf7d4 128
smarecar 8:ba95705cf7d4 129 case 54:
smarecar 8:ba95705cf7d4 130 classe_pompe.aspirer(7);
smarecar 8:ba95705cf7d4 131 classe_pompe.aspirer(6);
smarecar 8:ba95705cf7d4 132 break;
smarecar 8:ba95705cf7d4 133
smarecar 8:ba95705cf7d4 134 case 66:
smarecar 8:ba95705cf7d4 135 classe_pompe.aspirer(7);
smarecar 8:ba95705cf7d4 136 classe_pompe.aspirer(6);
smarecar 8:ba95705cf7d4 137 classe_pompe.aspirer(5);
smarecar 8:ba95705cf7d4 138 break;
smarecar 8:ba95705cf7d4 139 }
smarecar 8:ba95705cf7d4 140 }
goldmas 4:4bae30d48662 141 break;
goldmas 4:4bae30d48662 142
goldmas 4:4bae30d48662 143 case VENT_RE:
goldmas 4:4bae30d48662 144 num_groupe = commande_carte.data[0];
smarecar 8:ba95705cf7d4 145 if(num_groupe<6)
smarecar 8:ba95705cf7d4 146 {
smarecar 8:ba95705cf7d4 147 if(num_groupe == 0) num_groupe = 3;
smarecar 8:ba95705cf7d4 148 else if (num_groupe == 1) num_groupe = 2;
smarecar 8:ba95705cf7d4 149 else if (num_groupe == 2) num_groupe = 1;
smarecar 8:ba95705cf7d4 150 else if (num_groupe == 3) num_groupe = 5;
smarecar 8:ba95705cf7d4 151 else if (num_groupe == 4) num_groupe = 6;
smarecar 8:ba95705cf7d4 152 else if (num_groupe == 5) num_groupe = 7;
smarecar 8:ba95705cf7d4 153 classe_pompe.relacher(num_groupe);
smarecar 8:ba95705cf7d4 154 }
smarecar 8:ba95705cf7d4 155 else if(num_groupe>5)
smarecar 8:ba95705cf7d4 156 {
smarecar 8:ba95705cf7d4 157 switch(num_groupe)
smarecar 8:ba95705cf7d4 158 {
smarecar 8:ba95705cf7d4 159 case 10:
smarecar 8:ba95705cf7d4 160 classe_pompe.relacher(2);
goldmas 9:6869e3869638 161 classe_pompe.relacher(3);
smarecar 8:ba95705cf7d4 162 break;
smarecar 8:ba95705cf7d4 163
smarecar 8:ba95705cf7d4 164 case 20:
smarecar 8:ba95705cf7d4 165 classe_pompe.relacher(1);
smarecar 8:ba95705cf7d4 166 classe_pompe.relacher(3);
smarecar 8:ba95705cf7d4 167 break;
smarecar 8:ba95705cf7d4 168
smarecar 8:ba95705cf7d4 169 case 21:
smarecar 8:ba95705cf7d4 170 classe_pompe.relacher(2);
smarecar 8:ba95705cf7d4 171 classe_pompe.relacher(1);
smarecar 8:ba95705cf7d4 172 break;
smarecar 8:ba95705cf7d4 173
smarecar 8:ba95705cf7d4 174 case 210:
smarecar 8:ba95705cf7d4 175 classe_pompe.relacher(3);
smarecar 8:ba95705cf7d4 176 classe_pompe.relacher(2);
smarecar 8:ba95705cf7d4 177 classe_pompe.relacher(1);
smarecar 8:ba95705cf7d4 178 break;
smarecar 8:ba95705cf7d4 179
smarecar 8:ba95705cf7d4 180 case 43:
smarecar 8:ba95705cf7d4 181 classe_pompe.relacher(5);
smarecar 8:ba95705cf7d4 182 classe_pompe.relacher(6);
smarecar 8:ba95705cf7d4 183 break;
smarecar 8:ba95705cf7d4 184
smarecar 8:ba95705cf7d4 185 case 53:
smarecar 8:ba95705cf7d4 186 classe_pompe.relacher(7);
smarecar 8:ba95705cf7d4 187 classe_pompe.relacher(5);
smarecar 8:ba95705cf7d4 188 break;
smarecar 8:ba95705cf7d4 189
smarecar 8:ba95705cf7d4 190 case 54:
smarecar 8:ba95705cf7d4 191 classe_pompe.relacher(7);
smarecar 8:ba95705cf7d4 192 classe_pompe.relacher(6);
smarecar 8:ba95705cf7d4 193 break;
smarecar 8:ba95705cf7d4 194
smarecar 8:ba95705cf7d4 195 case 66:
smarecar 8:ba95705cf7d4 196 classe_pompe.relacher(7);
smarecar 8:ba95705cf7d4 197 classe_pompe.relacher(6);
smarecar 8:ba95705cf7d4 198 classe_pompe.relacher(5);
smarecar 8:ba95705cf7d4 199 break;
smarecar 8:ba95705cf7d4 200 }
smarecar 8:ba95705cf7d4 201 }
goldmas 4:4bae30d48662 202 break;
goldmas 4:4bae30d48662 203
goldmas 4:4bae30d48662 204 case VENT_ETAT:
goldmas 6:b06c430a7e14 205 num_groupe = commande_carte.data[0];
goldmas 9:6869e3869638 206 if(num_groupe<6)
goldmas 9:6869e3869638 207 {
goldmas 9:6869e3869638 208 if(num_groupe == 0) num_groupe = 3;
goldmas 9:6869e3869638 209 else if (num_groupe == 1) num_groupe = 2;
goldmas 9:6869e3869638 210 else if (num_groupe == 2) num_groupe = 1;
goldmas 9:6869e3869638 211 else if (num_groupe == 3) num_groupe = 5;
goldmas 9:6869e3869638 212 else if (num_groupe == 4) num_groupe = 6;
goldmas 9:6869e3869638 213 else if (num_groupe == 5) num_groupe = 7;
goldmas 9:6869e3869638 214 }
goldmas 6:b06c430a7e14 215 etat_groupe = classe_pompe.etat_actuel(num_groupe) ;
goldmas 6:b06c430a7e14 216
goldmas 6:b06c430a7e14 217 if(etat_groupe == 0x07)
goldmas 6:b06c430a7e14 218 {
goldmas 6:b06c430a7e14 219 classe_pompe.aspirer(num_groupe) ;
goldmas 6:b06c430a7e14 220 etat_groupe = classe_pompe.etat_actuel(num_groupe) ;
goldmas 6:b06c430a7e14 221 }
goldmas 6:b06c430a7e14 222
goldmas 6:b06c430a7e14 223
goldmas 9:6869e3869638 224 //Envoi_msg_CAN(etat_groupe);
goldmas 6:b06c430a7e14 225
goldmas 4:4bae30d48662 226 break;
goldmas 4:4bae30d48662 227
goldmas 4:4bae30d48662 228 case GLOBAL_GAME_END:
goldmas 4:4bae30d48662 229 end_game = 1;
goldmas 6:b06c430a7e14 230 break;
goldmas 4:4bae30d48662 231
goldmas 6:b06c430a7e14 232
goldmas 4:4bae30d48662 233 /*
goldmas 4:4bae30d48662 234
goldmas 4:4bae30d48662 235 case TEST_VENT_1_ON:
goldmas 4:4bae30d48662 236 classe_pompe[AV_DROIT]->action(1);
goldmas 4:4bae30d48662 237 classe_pompe[AV_CENTRE]->action(1);
goldmas 4:4bae30d48662 238 classe_pompe[AV_GAUCHE]->action(1);
goldmas 4:4bae30d48662 239 classe_pompe[AR_DROIT]->action(1);
goldmas 4:4bae30d48662 240 classe_pompe[AR_CENTRE]->action(1);
goldmas 4:4bae30d48662 241 classe_pompe[AR_GAUCHE]->action(1);
goldmas 4:4bae30d48662 242 break;
goldmas 4:4bae30d48662 243
goldmas 4:4bae30d48662 244 case TEST_VENT_1_OFF:
goldmas 4:4bae30d48662 245 classe_pompe[AV_CENTRE]->action(0);
goldmas 4:4bae30d48662 246 classe_pompe[AV_GAUCHE]->action(0);
goldmas 4:4bae30d48662 247 classe_pompe[AR_DROIT]->action(0);
goldmas 4:4bae30d48662 248 classe_pompe[AR_CENTRE]->action(0);
goldmas 4:4bae30d48662 249 classe_pompe[AR_GAUCHE]->action(0);
goldmas 4:4bae30d48662 250 classe_pompe[AV_DROIT]->action(0);
goldmas 4:4bae30d48662 251 break;*/
goldmas 4:4bae30d48662 252 default:
goldmas 4:4bae30d48662 253 break;
goldmas 6:b06c430a7e14 254 }
goldmas 6:b06c430a7e14 255 flag_reception_CAN = 0 ;
goldmas 4:4bae30d48662 256
goldmas 4:4bae30d48662 257 }
goldmas 4:4bae30d48662 258
goldmas 9:6869e3869638 259 void Envoi_msg_CAN(char donnee[6])
goldmas 4:4bae30d48662 260 {
goldmas 9:6869e3869638 261 CANMessage etat_ventouses=CANMessage();
goldmas 6:b06c430a7e14 262 etat_ventouses.id = 0x220;
goldmas 9:6869e3869638 263 etat_ventouses.len=6;
goldmas 4:4bae30d48662 264 etat_ventouses.type=CANData;
goldmas 9:6869e3869638 265 for(int num_octet=0; num_octet<6; num_octet++)
goldmas 9:6869e3869638 266 {
goldmas 9:6869e3869638 267 etat_ventouses.data[num_octet]=donnee[num_octet];
goldmas 9:6869e3869638 268 }
goldmas 6:b06c430a7e14 269 bus_CAN.write(etat_ventouses);
smarecar 8:ba95705cf7d4 270 }
smarecar 8:ba95705cf7d4 271
smarecar 8:ba95705cf7d4 272 void initialisation_CAN(void)
smarecar 8:ba95705cf7d4 273 {
smarecar 8:ba95705cf7d4 274 CANMessage msg_init;
smarecar 8:ba95705cf7d4 275 msg_init.id = ALIVE_ACTIONNEURS_ARRIERE;
smarecar 8:ba95705cf7d4 276 msg_init.len=0;
smarecar 8:ba95705cf7d4 277
smarecar 8:ba95705cf7d4 278 bus_CAN.write(msg_init);
goldmas 9:6869e3869638 279 }
goldmas 9:6869e3869638 280
goldmas 9:6869e3869638 281 void ventouse_etat(void)
goldmas 9:6869e3869638 282 {
goldmas 9:6869e3869638 283 char num_groupe;
goldmas 9:6869e3869638 284 char etat_groupe[6];
goldmas 9:6869e3869638 285 static char old_etat_groupe[6] = {0,0,0,0,0,0};
goldmas 9:6869e3869638 286
goldmas 9:6869e3869638 287 for(int i=0;i<6;i++)
goldmas 9:6869e3869638 288 {
goldmas 9:6869e3869638 289 if(i == 0) num_groupe = 3;
goldmas 9:6869e3869638 290 else if (i == 1) num_groupe = 2;
goldmas 9:6869e3869638 291 else if (i == 2) num_groupe = 1;
goldmas 9:6869e3869638 292 else if (i == 3) num_groupe = 5;
goldmas 9:6869e3869638 293 else if (i == 4) num_groupe = 6;
goldmas 9:6869e3869638 294 else if (i == 5) num_groupe = 7;
goldmas 9:6869e3869638 295
goldmas 9:6869e3869638 296 etat_groupe[i] = classe_pompe.etat_actuel(num_groupe);
goldmas 9:6869e3869638 297 }
goldmas 9:6869e3869638 298
goldmas 9:6869e3869638 299 for(int i=0;i<6;i++)
goldmas 9:6869e3869638 300 {
goldmas 9:6869e3869638 301 if(old_etat_groupe[i] != etat_groupe[i])
goldmas 9:6869e3869638 302 {
goldmas 9:6869e3869638 303 Envoi_msg_CAN(etat_groupe);
goldmas 9:6869e3869638 304 }
goldmas 9:6869e3869638 305 old_etat_groupe[i] = etat_groupe[i];
goldmas 9:6869e3869638 306 }
goldmas 9:6869e3869638 307 }
goldmas 9:6869e3869638 308
goldmas 9:6869e3869638 309
goldmas 9:6869e3869638 310 void SendRawId (unsigned short id)
goldmas 9:6869e3869638 311 {
goldmas 9:6869e3869638 312 CANMessage msgTx;
goldmas 9:6869e3869638 313 msgTx.id=id;
goldmas 9:6869e3869638 314 msgTx.len=0;
goldmas 9:6869e3869638 315 bus_CAN.write(msgTx);
goldmas 9:6869e3869638 316 }