CRAC Team / Mbed 2 deprecated Bloc_Pompe

Classes et code de la partie pompe du Robot 2021

Dependencies:   mbed ident_crac

main.cpp@5:88ab89ab12ad, 2021-01-19 (annotated)

Committer:
smarecar
Date:
Tue Jan 19 07:11:38 2021 +0000
Revision:
5:88ab89ab12ad
Parent:
4:4bae30d48662 
+com

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goldmas 0:253443d82cba 1 #include "bloc_8_pompe.h"
goldmas 4:4bae30d48662 2 #include "ident_crac.h"
goldmas 0:253443d82cba 3
goldmas 1:815ca6061e15 4 //initialisations relatives au Bus CAN
smarecar 5:88ab89ab12ad 5 CAN bus_CAN(PB_8, PB_9, 1000000) ; //instanciation du bus CAN
smarecar 5:88ab89ab12ad 6 CANMessage commande_carte ; // creation d'une varaible de type CANMessage, instruction vennant de la carte maitre
goldmas 1:815ca6061e15 7 int flag_reception_CAN = 0 ;
smarecar 5:88ab89ab12ad 8 //***************************************PROTOYPE DE FOCNTION************************************************
goldmas 2:61ffa6e3eee5 9 void interruption_reception(void) ;
goldmas 4:4bae30d48662 10 void gestion_Message_CAN(void) ;
goldmas 4:4bae30d48662 11 void Envoi_msg_test(void);
goldmas 1:815ca6061e15 12
goldmas 4:4bae30d48662 13 //Fin de jeu
goldmas 4:4bae30d48662 14 char end_game = 0;
goldmas 4:4bae30d48662 15
smarecar 5:88ab89ab12ad 16 ////instanciation du bloc_8_pompe en globale
goldmas 4:4bae30d48662 17 bloc_8_pompe::bloc_8_pompe classe_pompe (PC_9, PA_8, PB_0, //bloc 1
goldmas 0:253443d82cba 18 PA_9, PA_10, PB_1, //bloc 2
goldmas 0:253443d82cba 19 PA_11, PA_15, PC_1, //bloc 3
goldmas 0:253443d82cba 20 PB_7, PB_6, PC_0, //bloc 4
goldmas 0:253443d82cba 21 PC_7, PC_8, PC_5, //bloc 5
goldmas 0:253443d82cba 22 PB_10, PB_2, PC_4, //bloc 6
goldmas 0:253443d82cba 23 PA_6, PA_5, PA_7, //bloc 7
goldmas 0:253443d82cba 24 PA_0, PA_1, PA_4); //bloc 8
smarecar 5:88ab89ab12ad 25
smarecar 5:88ab89ab12ad 26 //**********************************************MAIN********************************************************
goldmas 4:4bae30d48662 27
goldmas 4:4bae30d48662 28 int main()
goldmas 4:4bae30d48662 29 {
goldmas 4:4bae30d48662 30 bus_CAN.attach(&interruption_reception) ;
goldmas 4:4bae30d48662 31
goldmas 1:815ca6061e15 32
goldmas 0:253443d82cba 33
goldmas 0:253443d82cba 34 while(1)
goldmas 0:253443d82cba 35 {
goldmas 4:4bae30d48662 36 bus_CAN(envoie);
goldmas 4:4bae30d48662 37 //if(flag_reception_CAN)
goldmas 4:4bae30d48662 38 // {
goldmas 4:4bae30d48662 39 // gestion_Message_CAN() ;
goldmas 4:4bae30d48662 40 // }
goldmas 4:4bae30d48662 41 //
goldmas 4:4bae30d48662 42 // if(end_game)
goldmas 4:4bae30d48662 43 // {
goldmas 4:4bae30d48662 44 // for (int i=0 ; i<8 ; i++)
goldmas 4:4bae30d48662 45 // {
goldmas 4:4bae30d48662 46 // classe_pompe.stop_pompe(i);
goldmas 4:4bae30d48662 47 // wait_ms(10) ;
goldmas 4:4bae30d48662 48 // }
goldmas 4:4bae30d48662 49 // }
goldmas 4:4bae30d48662 50 //for(int i=1 ; i<9 ; i++)
goldmas 4:4bae30d48662 51 // {
goldmas 4:4bae30d48662 52 classe_pompe.aspirer(2) ;
goldmas 4:4bae30d48662 53 wait(1) ;
goldmas 4:4bae30d48662 54 classe_pompe.relacher(2) ;
goldmas 4:4bae30d48662 55 wait_ms(100) ;
goldmas 0:253443d82cba 56 //detrompeur_possession = classe_pompe.possession(2) ;
goldmas 4:4bae30d48662 57
goldmas 0:253443d82cba 58 //detrompeur_possession = classe_pompe.possession(2) ;
goldmas 0:253443d82cba 59 wait_ms(1000) ;
goldmas 4:4bae30d48662 60 // }
goldmas 0:253443d82cba 61
goldmas 0:253443d82cba 62 }
goldmas 0:253443d82cba 63
goldmas 4:4bae30d48662 64 }
goldmas 4:4bae30d48662 65
smarecar 5:88ab89ab12ad 66 // fonction d'interruption qui nous avertie de l'arriver d'un message via liaison bus CAN
goldmas 4:4bae30d48662 67 void interruption_reception(void)
goldmas 4:4bae30d48662 68 {
goldmas 4:4bae30d48662 69 if (bus_CAN.read(commande_carte))
goldmas 4:4bae30d48662 70 flag_reception_CAN = 1 ;
goldmas 4:4bae30d48662 71 }
goldmas 4:4bae30d48662 72
smarecar 5:88ab89ab12ad 73 // la fonction gestion_Message_CAN gere l'arriver de la consigne donner par la carte maitre et les appliques aux blocs concernes selon les identifiant recu
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 4:4bae30d48662 78
goldmas 4:4bae30d48662 79 switch (identifiant)
goldmas 4:4bae30d48662 80 {
goldmas 4:4bae30d48662 81 case VENT_AT:
goldmas 4:4bae30d48662 82 num_groupe = commande_carte.data[0];
goldmas 4:4bae30d48662 83 classe_pompe.aspirer(num_groupe) ;
goldmas 4:4bae30d48662 84 break;
goldmas 4:4bae30d48662 85
goldmas 4:4bae30d48662 86 case VENT_RE:
goldmas 4:4bae30d48662 87 num_groupe = commande_carte.data[0];
goldmas 4:4bae30d48662 88 classe_pompe.relacher(num_groupe) ;
goldmas 4:4bae30d48662 89 break;
goldmas 4:4bae30d48662 90
goldmas 4:4bae30d48662 91 case VENT_ETAT:
goldmas 4:4bae30d48662 92 classe_pompe.etat_actuel(num_groupe) ;
goldmas 4:4bae30d48662 93 break;
goldmas 4:4bae30d48662 94
goldmas 4:4bae30d48662 95 case GLOBAL_GAME_END:
goldmas 4:4bae30d48662 96 end_game = 1;
goldmas 4:4bae30d48662 97
goldmas 4:4bae30d48662 98 break;
goldmas 4:4bae30d48662 99 /*
goldmas 4:4bae30d48662 100
goldmas 4:4bae30d48662 101 case TEST_VENT_1_ON:
goldmas 4:4bae30d48662 102 classe_pompe[AV_DROIT]->action(1);
goldmas 4:4bae30d48662 103 classe_pompe[AV_CENTRE]->action(1);
goldmas 4:4bae30d48662 104 classe_pompe[AV_GAUCHE]->action(1);
goldmas 4:4bae30d48662 105 classe_pompe[AR_DROIT]->action(1);
goldmas 4:4bae30d48662 106 classe_pompe[AR_CENTRE]->action(1);
goldmas 4:4bae30d48662 107 classe_pompe[AR_GAUCHE]->action(1);
goldmas 4:4bae30d48662 108 break;
goldmas 4:4bae30d48662 109
goldmas 4:4bae30d48662 110 case TEST_VENT_1_OFF:
goldmas 4:4bae30d48662 111 classe_pompe[AV_CENTRE]->action(0);
goldmas 4:4bae30d48662 112 classe_pompe[AV_GAUCHE]->action(0);
goldmas 4:4bae30d48662 113 classe_pompe[AR_DROIT]->action(0);
goldmas 4:4bae30d48662 114 classe_pompe[AR_CENTRE]->action(0);
goldmas 4:4bae30d48662 115 classe_pompe[AR_GAUCHE]->action(0);
goldmas 4:4bae30d48662 116 classe_pompe[AV_DROIT]->action(0);
goldmas 4:4bae30d48662 117 break;*/
goldmas 4:4bae30d48662 118 default:
goldmas 4:4bae30d48662 119 break;
goldmas 4:4bae30d48662 120 }
goldmas 4:4bae30d48662 121
goldmas 4:4bae30d48662 122 }
smarecar 5:88ab89ab12ad 123 //fonction test qui envoi un message test au bus can
goldmas 4:4bae30d48662 124 void Envoi_msg_test(void)
goldmas 4:4bae30d48662 125 {
goldmas 4:4bae30d48662 126 CANMessage etat_ventouses;
goldmas 4:4bae30d48662 127 etat_ventouses.len=2;
goldmas 4:4bae30d48662 128 etat_ventouses.format=CANStandard;
goldmas 4:4bae30d48662 129 etat_ventouses.type=CANData;
goldmas 4:4bae30d48662 130 etat_ventouses.data[0]=0;
goldmas 4:4bae30d48662 131 etat_ventouses.data[1]=1;
goldmas 4:4bae30d48662 132
goldmas 4:4bae30d48662 133 can.write(etat_ventouses);
goldmas 0:253443d82cba 134 }