CRAC Team / CRAC-Strat_2017_homologation_gros_rob_testAck

homologation gros robot et test avec les ack de la carte a tout faire

Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by CRAC Team

Globals/global.h@14:c8fc06c4887f, 2017-03-31 (annotated)

Committer:
ClementBreteau
Date:
Fri Mar 31 16:20:26 2017 +0000
Revision:
14:c8fc06c4887f
Parent:
8:0edc7dfb7f7e
Child:
15:c2fc239e85df
code strategie du robot, version 31 mars 2017

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #include "mbed.h"
antbig 0:ad97421fb1fb 2 #include "constantes.h"
antbig 0:ad97421fb1fb 3 #include "ident_crac.h"
antbig 0:ad97421fb1fb 4 #include "Display.h"
antbig 3:19f2285a4757 5 #include "AX12-V2.h"
antbig 0:ad97421fb1fb 6 #include "Instruction.h"
antbig 0:ad97421fb1fb 7 #include "debug.h"
antbig 0:ad97421fb1fb 8 #include "Asservissement.h"
antbig 0:ad97421fb1fb 9 #include "StrategieManager.h"
antbig 0:ad97421fb1fb 10 #include "Strategie.h"
ClementBreteau 14:c8fc06c4887f 11 #include "Telemetre.h"
antbig 0:ad97421fb1fb 12
antbig 0:ad97421fb1fb 13 extern CAN can1;
antbig 0:ad97421fb1fb 14 extern CANMessage msgRxBuffer[SIZE_FIFO];
antbig 0:ad97421fb1fb 15 extern unsigned char FIFO_ecriture;
antbig 0:ad97421fb1fb 16
antbig 8:0edc7dfb7f7e 17 extern DigitalOut led1,led2,led3,led4;
antbig 0:ad97421fb1fb 18
antbig 0:ad97421fb1fb 19 extern char cheminFileStart[SIZE+8]; //Le chemin du fichier de strat, utiliser strcpy(cheminFileStart,"/local/strat.txt");
antbig 0:ad97421fb1fb 20 extern struct S_Instruction strat_instructions[SIZE_BUFFER_FILE]; //La liste des instruction chargé en mémoire
antbig 0:ad97421fb1fb 21 extern unsigned char nb_instructions; //Le nombre d'instruction dans le fichier de strategie
antbig 0:ad97421fb1fb 22 extern unsigned char actual_instruction;//La ligne de l'instruction en cours d'execution
antbig 0:ad97421fb1fb 23
antbig 1:116040d14164 24 extern unsigned char InversStrat;//Si à 1, indique que l'on part de l'autre cote de la table(inversion des Y)
antbig 1:116040d14164 25
antbig 1:116040d14164 26 extern unsigned short waitingAckID;//L'id du ack attendu
antbig 1:116040d14164 27 extern unsigned short waitingAckFrom;//La provenance du ack attendu
ClementBreteau 14:c8fc06c4887f 28 extern char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre