code petit robot pour homologation
Fork of CRAC-Strat_2017_V2 by
Diff: Robots/Strategie_big.cpp
- Revision:
- 9:d0042422d95a
- Parent:
- 8:0edc7dfb7f7e
- Child:
- 11:ed13a480ddca
diff -r 0edc7dfb7f7e -r d0042422d95a Robots/Strategie_big.cpp --- a/Robots/Strategie_big.cpp Wed Apr 27 13:05:03 2016 +0000 +++ b/Robots/Strategie_big.cpp Thu Apr 28 08:11:36 2016 +0000 @@ -7,7 +7,9 @@ /* DESCRIPTION : Permet de faire la funny action en fin de partie */ /****************************************************************************************/ void doFunnyAction(void) { - + AX12_setGoal(AX12_ID_FUNNY_ACTION, 275); + AX12_setGoal(AX12_ID_FUNNY_ACTION, 180); + AX12_processChange(); } @@ -17,9 +19,7 @@ /****************************************************************************************/ unsigned char doAction(unsigned char id, unsigned short speed, short angle) { switch(id) { - case 101: - break; case 110://Ouvrir la pince arrière haute AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 205); AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 95); @@ -30,12 +30,18 @@ AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 155); AX12_processChange(); break; + case 112://Ouvrir la pince arrière basse - + AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 205); + AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 95); + AX12_processChange(); break; case 113://Fermer la pince arrière basse + AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 145); + AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 155); + AX12_processChange(); + break; - break; case 114://Ouvrir les portes arrières AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 250); AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 50); @@ -58,13 +64,38 @@ /* FUNCTION NAME: initRobot */ /* DESCRIPTION : initialiser le robot */ /****************************************************************************************/ -void initRobot(void) { +void initRobot(void) +{ + //Enregistrement de tous les AX12 présent sur la carte AX12_register(4, AX12_SERIAL1); AX12_register(14, AX12_SERIAL1); AX12_register(15, AX12_SERIAL1); AX12_register(5, AX12_SERIAL2); AX12_register(18, AX12_SERIAL2); AX12_register(13, AX12_SERIAL2); + AX12_register(1, AX12_SERIAL2); + + runRobotTest(); +} + +/****************************************************************************************/ +/* FUNCTION NAME: runTest */ +/* DESCRIPTION : tester l'ensemble des actionneurs du robot */ +/****************************************************************************************/ +void runRobotTest(void) +{ + //Test des AX12 dans l'ordre + doAction(111,0,0);//Fermeture pince arrière haute + wait_ms(500); + doAction(110,0,0);//Ouverture pince arrière haute + wait_ms(500); + doAction(113,0,0);//Fermeture pince arrière basse + wait_ms(500); + doAction(112,0,0);//Ouverture pince arrière basse + wait_ms(500); + doAction(115,0,0);//Fermeture porte arrière + wait_ms(500); + doAction(114,0,0);//Ouverture porte arrière } /****************************************************************************************/