CRAC Team / CRAC-Strat_2017_homologation_gros_rob

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Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by CRAC Team

peripheriques/peripheriques.h@16:7321fb3bb396, 2017-05-19 (annotated)

Committer:
ClementBreteau
Date:
Fri May 19 17:13:46 2017 +0000
Revision:
16:7321fb3bb396
Child:
18:cc5fec34ed9c
strat du robot, ann?e 2017, le 19 mai ? 19h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 16:7321fb3bb396 1 #ifndef CRAC_PERIPHERIQUES
ClementBreteau 16:7321fb3bb396 2 #define CRAC_PERIPHERIQUES
ClementBreteau 16:7321fb3bb396 3
ClementBreteau 16:7321fb3bb396 4 #include "global.h"
ClementBreteau 16:7321fb3bb396 5
ClementBreteau 16:7321fb3bb396 6 #define VITESSE 700
ClementBreteau 16:7321fb3bb396 7
ClementBreteau 16:7321fb3bb396 8 /*
ClementBreteau 16:7321fb3bb396 9 DigitalIn IO1(p23);
ClementBreteau 16:7321fb3bb396 10 DigitalIn IO2(p24);
ClementBreteau 16:7321fb3bb396 11 DigitalIn IO3(p25);
ClementBreteau 16:7321fb3bb396 12 DigitalIn IO4(p26);
ClementBreteau 16:7321fb3bb396 13
ClementBreteau 16:7321fb3bb396 14 AnalogIn A_in1(p15);
ClementBreteau 16:7321fb3bb396 15 AnalogIn A_in2(p16);
ClementBreteau 16:7321fb3bb396 16 AnalogIn A_in3(p17);
ClementBreteau 16:7321fb3bb396 17 AnalogIn A_in4(p18);
ClementBreteau 16:7321fb3bb396 18 AnalogIn A_in5(p19);
ClementBreteau 16:7321fb3bb396 19 AnalogIn A_in6(p20);
ClementBreteau 16:7321fb3bb396 20
ClementBreteau 16:7321fb3bb396 21 PwmOut IRL_1(p21);
ClementBreteau 16:7321fb3bb396 22 PwmOut IRL_2(p22);
ClementBreteau 16:7321fb3bb396 23 */
ClementBreteau 16:7321fb3bb396 24
ClementBreteau 16:7321fb3bb396 25 #define TIME 1
ClementBreteau 16:7321fb3bb396 26 #define T_MOT 0.00005
ClementBreteau 16:7321fb3bb396 27 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 28 /* FUNCTION NAME: initAX12 */
ClementBreteau 16:7321fb3bb396 29 /* DESCRIPTION : initialise les AX12 */
ClementBreteau 16:7321fb3bb396 30 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 31 void initAX12(void);
ClementBreteau 16:7321fb3bb396 32
ClementBreteau 16:7321fb3bb396 33 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 34 /* FUNCTION NAME: moteurGauchePWM */
ClementBreteau 16:7321fb3bb396 35 /* DESCRIPTION : bouge le moteur gauche */
ClementBreteau 16:7321fb3bb396 36 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 37 void moteurGauchePWM(float pwm);
ClementBreteau 16:7321fb3bb396 38
ClementBreteau 16:7321fb3bb396 39 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 40 /* FUNCTION NAME: moteurDroitPWM */
ClementBreteau 16:7321fb3bb396 41 /* DESCRIPTION : bouge le moteur gauche */
ClementBreteau 16:7321fb3bb396 42 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 43 void moteurDroitPWM(float pwm);
ClementBreteau 16:7321fb3bb396 44
ClementBreteau 16:7321fb3bb396 45 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 46 /* FUNCTION NAME: initMoteurs */
ClementBreteau 16:7321fb3bb396 47 /* DESCRIPTION : init les moteurs des mains du petit robot */
ClementBreteau 16:7321fb3bb396 48 /*********************************************************************************************************/
ClementBreteau 16:7321fb3bb396 49 void initMoteurs(void);
ClementBreteau 16:7321fb3bb396 50
ClementBreteau 16:7321fb3bb396 51 /* PROTOTYPES DE FONCTIONS ET POINTEURS */
ClementBreteau 16:7321fb3bb396 52
ClementBreteau 16:7321fb3bb396 53 void declarationAX12(void);
ClementBreteau 16:7321fb3bb396 54
ClementBreteau 16:7321fb3bb396 55 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 56 /* FUNCTION NAME: Initialisation_position */
ClementBreteau 16:7321fb3bb396 57 /* DESCRIPTION : Fonction qui place les bras en position verticale */
ClementBreteau 16:7321fb3bb396 58 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 59 void Initialisation_position(void);
ClementBreteau 16:7321fb3bb396 60
ClementBreteau 16:7321fb3bb396 61 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 62 /* FUNCTION NAME: Preparation_prise */
ClementBreteau 16:7321fb3bb396 63 /* DESCRIPTION : Fonction qui prepare le robot pour prendre les modules */
ClementBreteau 16:7321fb3bb396 64 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 65 void Preparation_prise(void);
ClementBreteau 16:7321fb3bb396 66
ClementBreteau 16:7321fb3bb396 67 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 68 /* FUNCTION NAME: Stockage_haut */
ClementBreteau 16:7321fb3bb396 69 /* DESCRIPTION : Fonction qui prend et stocke les modules dans la position haute */
ClementBreteau 16:7321fb3bb396 70 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 71 void Stockage_haut(void);
ClementBreteau 16:7321fb3bb396 72
ClementBreteau 16:7321fb3bb396 73 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 74 /* FUNCTION NAME: Stockage_bas */
ClementBreteau 16:7321fb3bb396 75 /* DESCRIPTION : Fonction qui prend et stocke un module dans la pince */
ClementBreteau 16:7321fb3bb396 76 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 77 void Stockage_bas(void);
ClementBreteau 16:7321fb3bb396 78
ClementBreteau 16:7321fb3bb396 79 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 80 /* FUNCTION NAME: Deposer */
ClementBreteau 16:7321fb3bb396 81 /* DESCRIPTION : Fonction qui permet de déposer un module */
ClementBreteau 16:7321fb3bb396 82 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 83 void Deposer(void);
ClementBreteau 16:7321fb3bb396 84
ClementBreteau 16:7321fb3bb396 85 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 86 /* FUNCTION NAME: Preparation_depos_bas */
ClementBreteau 16:7321fb3bb396 87 /* DESCRIPTION : Fonction qui prépare le depos d'un module en bas */
ClementBreteau 16:7321fb3bb396 88 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 89 void Preparation_depot_bas(void);
ClementBreteau 16:7321fb3bb396 90
ClementBreteau 16:7321fb3bb396 91 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 92 /* FUNCTION NAME: Preparation_depos_haut */
ClementBreteau 16:7321fb3bb396 93 /* DESCRIPTION : Fonction qui prépare le depos d'un module en haut */
ClementBreteau 16:7321fb3bb396 94 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 95 void Preparation_depot_haut(void);
ClementBreteau 16:7321fb3bb396 96
ClementBreteau 16:7321fb3bb396 97 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 98 /* FUNCTION NAME: Pousser_module */
ClementBreteau 16:7321fb3bb396 99 /* DESCRIPTION : Fonction qui permet pousser le module situé à l'entrée de la bas */
ClementBreteau 16:7321fb3bb396 100 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 101 void Pousser_module(void);
ClementBreteau 16:7321fb3bb396 102
ClementBreteau 16:7321fb3bb396 103 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 104 /* FUNCTION NAME: Initialisation_gauche */
ClementBreteau 16:7321fb3bb396 105 /* DESCRIPTION : Fonction qui permet de placer le cote gauche en position initiale */
ClementBreteau 16:7321fb3bb396 106 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 107 void Initialisation_gauche(void);
ClementBreteau 16:7321fb3bb396 108
ClementBreteau 16:7321fb3bb396 109 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 110 /* FUNCTION NAME: Preparation_prise_gauche */
ClementBreteau 16:7321fb3bb396 111 /* DESCRIPTION : Fonction qui permet prendre un module sur le cote gauche */
ClementBreteau 16:7321fb3bb396 112 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 113 void Preparation_prise_gauche(void);
ClementBreteau 16:7321fb3bb396 114
ClementBreteau 16:7321fb3bb396 115 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 116 /* FUNCTION NAME: Prendre_module_gauche */
ClementBreteau 16:7321fb3bb396 117 /* DESCRIPTION : Fonction qui permet prendre un module sur le cote gauche */
ClementBreteau 16:7321fb3bb396 118 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 119 void Prendre_module_gauche(void);
ClementBreteau 16:7321fb3bb396 120
ClementBreteau 16:7321fb3bb396 121 /***************************************************************************************/
ClementBreteau 16:7321fb3bb396 122 /* FUNCTION NAME: RangerBrasGauche */
ClementBreteau 16:7321fb3bb396 123 /* DESCRIPTION : Fonction range le bras gauche */
ClementBreteau 16:7321fb3bb396 124 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 125 void RangerBrasGauche(void);
ClementBreteau 16:7321fb3bb396 126
ClementBreteau 16:7321fb3bb396 127 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 128 /* FUNCTION NAME: Tourner_module_gauche */
ClementBreteau 16:7321fb3bb396 129 /* DESCRIPTION : Fonction qui permet de tourner les modules a gauche */
ClementBreteau 16:7321fb3bb396 130 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 131 void Tourner_module_gauche(void);
ClementBreteau 16:7321fb3bb396 132
ClementBreteau 16:7321fb3bb396 133 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 134 /* FUNCTION NAME: Preparatio_module_gauche */
ClementBreteau 16:7321fb3bb396 135 /* DESCRIPTION : Fonction qui prepare le tournante */
ClementBreteau 16:7321fb3bb396 136 /****************************************************************************************/
ClementBreteau 16:7321fb3bb396 137 void Preparation_module_gauche(void);
ClementBreteau 16:7321fb3bb396 138
ClementBreteau 16:7321fb3bb396 139 void getPosiotionCentrale(void);
ClementBreteau 16:7321fb3bb396 140 void getPosiotionGauche(void);
ClementBreteau 16:7321fb3bb396 141 void getPosiotionDroite(void);
ClementBreteau 16:7321fb3bb396 142
ClementBreteau 16:7321fb3bb396 143
ClementBreteau 16:7321fb3bb396 144
ClementBreteau 16:7321fb3bb396 145
ClementBreteau 16:7321fb3bb396 146
ClementBreteau 16:7321fb3bb396 147
ClementBreteau 16:7321fb3bb396 148 bool dataCouleurGauche(void);
ClementBreteau 16:7321fb3bb396 149 bool dataCouleurDroit(void);
ClementBreteau 16:7321fb3bb396 150 short dataTelemetre(void);
ClementBreteau 16:7321fb3bb396 151 bool dataPressionGauche(void);
ClementBreteau 16:7321fb3bb396 152 bool dataPressionDroit(void);
ClementBreteau 16:7321fb3bb396 153
ClementBreteau 16:7321fb3bb396 154 #endif