CRAC Team / CRAC-Strat_2017-19-05-2017

strat des robots

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Robots/Strategie_small.cpp@10:a788d9cf60f2, 2016-04-29 (annotated)

Committer:
antbig
Date:
Fri Apr 29 09:14:27 2016 +0000
Revision:
10:a788d9cf60f2
Parent:
9:d0042422d95a
Child:
11:ed13a480ddca
Mise en place des angles pour les pinces XL320

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 3:19f2285a4757 1 #include "StrategieManager.h"
antbig 3:19f2285a4757 2 #ifdef ROBOT_SMALL
antbig 3:19f2285a4757 3 #include "Config_small.h"
antbig 3:19f2285a4757 4
antbig 3:19f2285a4757 5 /****************************************************************************************/
antbig 3:19f2285a4757 6 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 7 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 8 /****************************************************************************************/
antbig 3:19f2285a4757 9 void doFunnyAction(void) {
antbig 3:19f2285a4757 10
antbig 3:19f2285a4757 11
antbig 3:19f2285a4757 12 }
antbig 10:a788d9cf60f2 13 //L'angle est entre 0 et 1023
antbig 10:a788d9cf60f2 14 void XL320_setGoal(unsigned char id, unsigned short angle);
antbig 10:a788d9cf60f2 15
antbig 10:a788d9cf60f2 16 void XL320_setGoal(unsigned char id, unsigned short angle)
antbig 10:a788d9cf60f2 17 {
antbig 10:a788d9cf60f2 18 CANMessage msgTx=CANMessage();
antbig 10:a788d9cf60f2 19 msgTx.id=SERVO_XL320;
antbig 10:a788d9cf60f2 20 msgTx.len=3;
antbig 10:a788d9cf60f2 21 msgTx.format=CANStandard;
antbig 10:a788d9cf60f2 22 msgTx.type=CANData;
antbig 10:a788d9cf60f2 23 msgTx.data[0]=(unsigned char)id;
antbig 10:a788d9cf60f2 24 // from sur 2 octets
antbig 10:a788d9cf60f2 25 msgTx.data[1]=(unsigned char)angle;
antbig 10:a788d9cf60f2 26 msgTx.data[2]=(unsigned char)(angle>>8);
antbig 10:a788d9cf60f2 27
antbig 10:a788d9cf60f2 28 can1.write(msgTx);
antbig 10:a788d9cf60f2 29 }
antbig 3:19f2285a4757 30
antbig 3:19f2285a4757 31 /****************************************************************************************/
antbig 3:19f2285a4757 32 /* FUNCTION NAME: doAction */
antbig 3:19f2285a4757 33 /* DESCRIPTION : Effectuer une action specifique */
antbig 3:19f2285a4757 34 /****************************************************************************************/
antbig 3:19f2285a4757 35 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 3:19f2285a4757 36 switch(id) {
antbig 10:a788d9cf60f2 37 case 101://Descendre le bras pour pecher les poissons
antbig 3:19f2285a4757 38 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté gauche
antbig 3:19f2285a4757 39 AX12_setGoal(AX12_ID_BRAS_BASE_INV,200,0x0FF);
antbig 3:19f2285a4757 40 AX12_processChange();
antbig 3:19f2285a4757 41 } else {
antbig 5:dcd817534b57 42 AX12_setGoal(AX12_ID_BRAS_BASE,140,0x0FF);
antbig 5:dcd817534b57 43 AX12_processChange();
antbig 3:19f2285a4757 44 }
antbig 3:19f2285a4757 45 break;
antbig 10:a788d9cf60f2 46 case 102://Remonter le bras avec les poissons dessus
antbig 3:19f2285a4757 47 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté gauche
antbig 5:dcd817534b57 48 AX12_setGoal(AX12_ID_BRAS_BASE_INV,220,0x0FF);
antbig 3:19f2285a4757 49 AX12_processChange();
antbig 3:19f2285a4757 50 } else {
antbig 5:dcd817534b57 51 AX12_setGoal(AX12_ID_BRAS_BASE,100,0x0FF);
antbig 5:dcd817534b57 52 AX12_processChange();
antbig 3:19f2285a4757 53 }
antbig 3:19f2285a4757 54 break;
antbig 10:a788d9cf60f2 55 case 103://Decendre à 30°
antbig 3:19f2285a4757 56 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté gauche
antbig 3:19f2285a4757 57 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,90);//Ouverture du bras
antbig 3:19f2285a4757 58 AX12_processChange();
antbig 3:19f2285a4757 59 } else {
antbig 5:dcd817534b57 60 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,250);//Ouverture du bras
antbig 5:dcd817534b57 61 AX12_processChange();
antbig 3:19f2285a4757 62 }
antbig 3:19f2285a4757 63 break;
antbig 10:a788d9cf60f2 64 case 104://ouvrir séparateur
antbig 3:19f2285a4757 65 if(InversStrat == 1) {//Si c'est inversé, On utilise le bras coté gauche
antbig 3:19f2285a4757 66 AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
antbig 3:19f2285a4757 67 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 3:19f2285a4757 68 AX12_processChange();
antbig 3:19f2285a4757 69 } else {
antbig 5:dcd817534b57 70 AX12_setGoal(AX12_ID_BRAS_BASE,55,0x0FF);
antbig 5:dcd817534b57 71 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,200);//fermer le bras
antbig 5:dcd817534b57 72 AX12_processChange();
antbig 3:19f2285a4757 73 }
antbig 3:19f2285a4757 74 break;
antbig 10:a788d9cf60f2 75 case 105://Rentrer le bras dans le robot, fermer le séparateur
antbig 10:a788d9cf60f2 76 //AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 10:a788d9cf60f2 77 //AX12_processChange();
antbig 10:a788d9cf60f2 78 break;
antbig 10:a788d9cf60f2 79 case 106://descendre l'atrape coquillages gauche si non inversé, droit si inversé
antbig 5:dcd817534b57 80 //AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 5:dcd817534b57 81 //AX12_processChange();
antbig 5:dcd817534b57 82 break;
antbig 10:a788d9cf60f2 83
antbig 10:a788d9cf60f2 84 case 200://ouvir la pince gauche
antbig 10:a788d9cf60f2 85 XL320_setGoal(XL320_ID_PINCE_GAUCHE, 350);
antbig 10:a788d9cf60f2 86 break;
antbig 10:a788d9cf60f2 87 case 205://Sécuriser le palet gauche
antbig 10:a788d9cf60f2 88 XL320_setGoal(XL320_ID_PINCE_GAUCHE, 400);
antbig 10:a788d9cf60f2 89 break;
antbig 10:a788d9cf60f2 90 case 202://fermer pince gauche
antbig 10:a788d9cf60f2 91 XL320_setGoal(XL320_ID_PINCE_GAUCHE, 650);
antbig 10:a788d9cf60f2 92 break;
antbig 10:a788d9cf60f2 93
antbig 10:a788d9cf60f2 94 case 201://ouvir la pince droite
antbig 10:a788d9cf60f2 95 XL320_setGoal(XL320_ID_PINCE_DROITE, 400);
antbig 10:a788d9cf60f2 96 break;
antbig 10:a788d9cf60f2 97 case 204://Sécuriser le palet droit
antbig 10:a788d9cf60f2 98 XL320_setGoal(XL320_ID_PINCE_DROITE, 300);
antbig 10:a788d9cf60f2 99 break;
antbig 10:a788d9cf60f2 100 case 203://fermer pince droite
antbig 10:a788d9cf60f2 101 XL320_setGoal(XL320_ID_PINCE_DROITE, 70);
antbig 10:a788d9cf60f2 102 break;
antbig 10:a788d9cf60f2 103
antbig 3:19f2285a4757 104 default:
antbig 10:a788d9cf60f2 105 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 3:19f2285a4757 106
antbig 3:19f2285a4757 107 }
antbig 9:d0042422d95a 108 //return 1;//L'action est spécifique.
antbig 3:19f2285a4757 109
antbig 3:19f2285a4757 110 }
antbig 3:19f2285a4757 111
antbig 3:19f2285a4757 112 /****************************************************************************************/
antbig 3:19f2285a4757 113 /* FUNCTION NAME: initRobot */
antbig 3:19f2285a4757 114 /* DESCRIPTION : initialiser le robot */
antbig 3:19f2285a4757 115 /****************************************************************************************/
antbig 3:19f2285a4757 116 void initRobot(void) {
antbig 3:19f2285a4757 117 /**
antbig 3:19f2285a4757 118 On enregistre les id des AX12 présent sur la carte
antbig 3:19f2285a4757 119 **/
antbig 5:dcd817534b57 120 AX12_register(1,AX12_SERIAL1,0x0FF);
antbig 5:dcd817534b57 121 AX12_register(2,AX12_SERIAL1);
antbig 5:dcd817534b57 122 AX12_register(18,AX12_SERIAL1);
antbig 5:dcd817534b57 123 AX12_register(4,AX12_SERIAL2);
antbig 5:dcd817534b57 124 AX12_register(16,AX12_SERIAL2);
antbig 5:dcd817534b57 125 AX12_register(17,AX12_SERIAL2,0x0FF);
antbig 5:dcd817534b57 126 /*
antbig 5:dcd817534b57 127 AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
antbig 5:dcd817534b57 128 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 5:dcd817534b57 129 AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF);
antbig 5:dcd817534b57 130 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras
antbig 5:dcd817534b57 131 AX12_processChange();*/
antbig 3:19f2285a4757 132 }
antbig 3:19f2285a4757 133
antbig 4:88431b537477 134 /****************************************************************************************/
antbig 9:d0042422d95a 135 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 136 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 137 /****************************************************************************************/
antbig 9:d0042422d95a 138 void runRobotTest(void)
antbig 9:d0042422d95a 139 {
antbig 9:d0042422d95a 140
antbig 9:d0042422d95a 141 }
antbig 9:d0042422d95a 142
antbig 9:d0042422d95a 143 /****************************************************************************************/
antbig 4:88431b537477 144 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 145 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 146 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 147 /****************************************************************************************/
antbig 4:88431b537477 148 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 149 {
antbig 4:88431b537477 150 switch(id)
antbig 4:88431b537477 151 {
antbig 4:88431b537477 152 case 1:
antbig 4:88431b537477 153 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 4:88431b537477 154 return FileExists(cheminFileStart);
antbig 4:88431b537477 155 case 2:
antbig 4:88431b537477 156 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 4:88431b537477 157 return FileExists(cheminFileStart);
antbig 7:dcce34c7e06e 158 case 3:
antbig 7:dcce34c7e06e 159 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 7:dcce34c7e06e 160 return FileExists(cheminFileStart);
antbig 4:88431b537477 161 default:
antbig 4:88431b537477 162 strcpy(cheminFileStart,"/local/strat.txt");
antbig 4:88431b537477 163 return 0;
antbig 4:88431b537477 164 }
antbig 4:88431b537477 165 }
antbig 4:88431b537477 166
antbig 3:19f2285a4757 167 #endif