code petit robot pour homologation
Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by
peripheriques/actionneurs.cpp@18:cc5fec34ed9c, 2017-05-22 (annotated)
- Committer:
- ClementBreteau
- Date:
- Mon May 22 15:01:49 2017 +0000
- Revision:
- 18:cc5fec34ed9c
- Parent:
- 16:7321fb3bb396
- Child:
- 19:b4b91258c275
v2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ClementBreteau | 16:7321fb3bb396 | 1 | #include "peripheriques.h" |
ClementBreteau | 18:cc5fec34ed9c | 2 | /* contient les fonctions qui servent à utiliser les AX12 et les moteurs sur le petit robot*/ |
ClementBreteau | 18:cc5fec34ed9c | 3 | /* |
ClementBreteau | 18:cc5fec34ed9c | 4 | DigitalIn IO1(p23); |
ClementBreteau | 18:cc5fec34ed9c | 5 | DigitalIn IO2(p24); |
ClementBreteau | 18:cc5fec34ed9c | 6 | DigitalIn IO3(p25); |
ClementBreteau | 18:cc5fec34ed9c | 7 | DigitalIn IO4(p26); |
ClementBreteau | 16:7321fb3bb396 | 8 | |
ClementBreteau | 18:cc5fec34ed9c | 9 | AnalogIn A_in1(p15); |
ClementBreteau | 18:cc5fec34ed9c | 10 | AnalogIn A_in2(p16); |
ClementBreteau | 18:cc5fec34ed9c | 11 | AnalogIn A_in3(p17); |
ClementBreteau | 18:cc5fec34ed9c | 12 | AnalogIn A_in4(p18); |
ClementBreteau | 18:cc5fec34ed9c | 13 | AnalogIn A_in5(p19); |
ClementBreteau | 18:cc5fec34ed9c | 14 | AnalogIn A_in6(p20); |
ClementBreteau | 18:cc5fec34ed9c | 15 | |
ClementBreteau | 18:cc5fec34ed9c | 16 | PwmOut IRL_1(p21); |
ClementBreteau | 18:cc5fec34ed9c | 17 | PwmOut IRL_2(p22); |
ClementBreteau | 18:cc5fec34ed9c | 18 | */ |
ClementBreteau | 16:7321fb3bb396 | 19 | PwmOut motGauche(p21); |
ClementBreteau | 16:7321fb3bb396 | 20 | PwmOut motDroit(p22); |
ClementBreteau | 16:7321fb3bb396 | 21 | Timer t; |
ClementBreteau | 16:7321fb3bb396 | 22 | |
ClementBreteau | 18:cc5fec34ed9c | 23 | unsigned char action_precedente = 0; |
ClementBreteau | 18:cc5fec34ed9c | 24 | |
ClementBreteau | 18:cc5fec34ed9c | 25 | /* DECLARATION VARIABLES */ |
ClementBreteau | 16:7321fb3bb396 | 26 | |
ClementBreteau | 18:cc5fec34ed9c | 27 | extern unsigned char FlagAx12; |
ClementBreteau | 16:7321fb3bb396 | 28 | |
ClementBreteau | 18:cc5fec34ed9c | 29 | extern DigitalOut led2; |
ClementBreteau | 18:cc5fec34ed9c | 30 | extern Serial pc; |
ClementBreteau | 18:cc5fec34ed9c | 31 | extern Timer t; |
ClementBreteau | 18:cc5fec34ed9c | 32 | extern void GetPositionAx12(void); |
ClementBreteau | 16:7321fb3bb396 | 33 | |
ClementBreteau | 18:cc5fec34ed9c | 34 | AX12 *BaseBrasCentralPR, *CoudeBrasCentralPR, *PinceDBrasCentralPR, *PinceGBrasCentralPR, *DoigtBrasCentralPR, *BrasCentralPRAx12, *TabBrasCentralPR, |
ClementBreteau | 18:cc5fec34ed9c | 35 | *CrocBrasGauchePR, *EpauleBrasGauchePR, *CoudeBrasGauchePR, *BrasGauchePRAx12, *TabBrasGauchePR, |
ClementBreteau | 18:cc5fec34ed9c | 36 | *CrocBrasDroitPR, *EpauleBrasDroitPR, *CoudeBrasDroitPR, *BrasDroitPRAx12, *TabBrasDroitPR; |
ClementBreteau | 18:cc5fec34ed9c | 37 | |
ClementBreteau | 18:cc5fec34ed9c | 38 | |
ClementBreteau | 16:7321fb3bb396 | 39 | |
ClementBreteau | 16:7321fb3bb396 | 40 | /****************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 41 | /* FUNCTION NAME: Tourner_module_gauche */ |
ClementBreteau | 16:7321fb3bb396 | 42 | /* DESCRIPTION : Fonction qui permet de tourner les modules a gauche */ |
ClementBreteau | 16:7321fb3bb396 | 43 | /****************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 44 | void Tourner_module_gauche(void){ |
ClementBreteau | 16:7321fb3bb396 | 45 | while(dataCouleurGauche() == false){ |
ClementBreteau | 16:7321fb3bb396 | 46 | printf("ici"); |
ClementBreteau | 16:7321fb3bb396 | 47 | moteurDroitPWM(0.2); |
ClementBreteau | 16:7321fb3bb396 | 48 | } |
ClementBreteau | 16:7321fb3bb396 | 49 | moteurDroitPWM(0); |
ClementBreteau | 16:7321fb3bb396 | 50 | } |
ClementBreteau | 18:cc5fec34ed9c | 51 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 52 | /* FUNCTION NAME: Tourner_module_droit */ |
ClementBreteau | 18:cc5fec34ed9c | 53 | /* DESCRIPTION : Fonction qui permet de tourner les modules a gauche */ |
ClementBreteau | 18:cc5fec34ed9c | 54 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 55 | void Tourner_module_droit(void){ |
ClementBreteau | 18:cc5fec34ed9c | 56 | while(dataCouleurDroit() == false){ |
ClementBreteau | 18:cc5fec34ed9c | 57 | printf("ici"); |
ClementBreteau | 18:cc5fec34ed9c | 58 | moteurGauchePWM(0.2); |
ClementBreteau | 18:cc5fec34ed9c | 59 | } |
ClementBreteau | 18:cc5fec34ed9c | 60 | moteurGauchePWM(0); |
ClementBreteau | 18:cc5fec34ed9c | 61 | } |
ClementBreteau | 16:7321fb3bb396 | 62 | |
ClementBreteau | 16:7321fb3bb396 | 63 | |
ClementBreteau | 16:7321fb3bb396 | 64 | /********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 65 | |
ClementBreteau | 16:7321fb3bb396 | 66 | |
ClementBreteau | 16:7321fb3bb396 | 67 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 68 | /* FUNCTION NAME: moteurGauchePWM */ |
ClementBreteau | 16:7321fb3bb396 | 69 | /* DESCRIPTION : bouge le moteur gauche */ |
ClementBreteau | 16:7321fb3bb396 | 70 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 71 | void moteurGauchePWM(float pwm){ |
ClementBreteau | 16:7321fb3bb396 | 72 | motGauche.write(pwm); |
ClementBreteau | 16:7321fb3bb396 | 73 | } |
ClementBreteau | 16:7321fb3bb396 | 74 | |
ClementBreteau | 16:7321fb3bb396 | 75 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 76 | /* FUNCTION NAME: moteurDroitPWM */ |
ClementBreteau | 16:7321fb3bb396 | 77 | /* DESCRIPTION : bouge le moteur gauche */ |
ClementBreteau | 16:7321fb3bb396 | 78 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 79 | void moteurDroitPWM(float pwm){ |
ClementBreteau | 16:7321fb3bb396 | 80 | motDroit.write(pwm); |
ClementBreteau | 16:7321fb3bb396 | 81 | } |
ClementBreteau | 16:7321fb3bb396 | 82 | |
ClementBreteau | 16:7321fb3bb396 | 83 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 84 | /* FUNCTION NAME: initMoteurs */ |
ClementBreteau | 16:7321fb3bb396 | 85 | /* DESCRIPTION : init les moteurs des mains du petit robot */ |
ClementBreteau | 16:7321fb3bb396 | 86 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 87 | void initMoteurs(void){ |
ClementBreteau | 16:7321fb3bb396 | 88 | motGauche.period(T_MOT); |
ClementBreteau | 16:7321fb3bb396 | 89 | motDroit.period(T_MOT); |
ClementBreteau | 16:7321fb3bb396 | 90 | motGauche.write(0.0); |
ClementBreteau | 16:7321fb3bb396 | 91 | motDroit.write(0.0); |
ClementBreteau | 18:cc5fec34ed9c | 92 | } |
ClementBreteau | 18:cc5fec34ed9c | 93 | |
ClementBreteau | 18:cc5fec34ed9c | 94 | void initialisation_AX12(void) |
ClementBreteau | 18:cc5fec34ed9c | 95 | { |
ClementBreteau | 18:cc5fec34ed9c | 96 | short vitesse=700; |
ClementBreteau | 18:cc5fec34ed9c | 97 | |
ClementBreteau | 18:cc5fec34ed9c | 98 | BaseBrasCentralPR = new AX12(p9, p10, 5, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 99 | CoudeBrasCentralPR = new AX12(p9, p10, 6, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 100 | PinceDBrasCentralPR = new AX12(p9, p10, 8, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 101 | PinceGBrasCentralPR = new AX12(p9, p10, 7, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 102 | DoigtBrasCentralPR = new AX12(p9, p10, 4, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 103 | |
ClementBreteau | 18:cc5fec34ed9c | 104 | CrocBrasGauchePR = new AX12(p13, p14, 3, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 105 | CoudeBrasGauchePR = new AX12(p13, p14, 2, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 106 | EpauleBrasGauchePR = new AX12(p13, p14, 1, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 107 | |
ClementBreteau | 18:cc5fec34ed9c | 108 | CrocBrasDroitPR = new AX12(p28, p27, 11, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 109 | CoudeBrasDroitPR = new AX12(p28, p27, 10, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 110 | EpauleBrasDroitPR = new AX12(p28, p27, 9, 1000000); |
ClementBreteau | 18:cc5fec34ed9c | 111 | |
ClementBreteau | 18:cc5fec34ed9c | 112 | BrasCentralPRAx12 = new AX12(p9,p10,0xFE,1000000); |
ClementBreteau | 18:cc5fec34ed9c | 113 | BrasGauchePRAx12 = new AX12(p13,p14,0xFE,1000000); |
ClementBreteau | 18:cc5fec34ed9c | 114 | BrasDroitPRAx12 = new AX12(p28,p27,0xFE,1000000); |
ClementBreteau | 18:cc5fec34ed9c | 115 | |
ClementBreteau | 18:cc5fec34ed9c | 116 | BaseBrasCentralPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 117 | CoudeBrasCentralPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 118 | PinceDBrasCentralPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 119 | PinceGBrasCentralPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 120 | DoigtBrasCentralPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 121 | |
ClementBreteau | 18:cc5fec34ed9c | 122 | CrocBrasGauchePR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 123 | CoudeBrasGauchePR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 124 | EpauleBrasGauchePR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 125 | |
ClementBreteau | 18:cc5fec34ed9c | 126 | CrocBrasDroitPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 127 | CoudeBrasDroitPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 128 | EpauleBrasDroitPR->Set_Goal_speed(vitesse); |
ClementBreteau | 18:cc5fec34ed9c | 129 | |
ClementBreteau | 18:cc5fec34ed9c | 130 | BaseBrasCentralPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 131 | CoudeBrasCentralPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 132 | PinceDBrasCentralPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 133 | PinceGBrasCentralPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 134 | DoigtBrasCentralPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 135 | |
ClementBreteau | 18:cc5fec34ed9c | 136 | CrocBrasGauchePR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 137 | CoudeBrasGauchePR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 138 | EpauleBrasGauchePR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 139 | |
ClementBreteau | 18:cc5fec34ed9c | 140 | CrocBrasDroitPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 141 | CoudeBrasDroitPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 142 | EpauleBrasDroitPR->Set_Mode(0); |
ClementBreteau | 18:cc5fec34ed9c | 143 | } |
ClementBreteau | 18:cc5fec34ed9c | 144 | |
ClementBreteau | 18:cc5fec34ed9c | 145 | void GetPositionAx12(void) { |
ClementBreteau | 18:cc5fec34ed9c | 146 | |
ClementBreteau | 18:cc5fec34ed9c | 147 | printf("\n\r "); |
ClementBreteau | 18:cc5fec34ed9c | 148 | |
ClementBreteau | 18:cc5fec34ed9c | 149 | printf("BaseC : %lf \n\r ", BaseBrasCentralPR->Get_Position() ); |
ClementBreteau | 18:cc5fec34ed9c | 150 | printf("CoudeC : %lf \n\r ", CoudeBrasCentralPR->Get_Position() ); |
ClementBreteau | 18:cc5fec34ed9c | 151 | printf("PinceCD : %lf \n\r ", PinceDBrasCentralPR->Get_Position()); |
ClementBreteau | 18:cc5fec34ed9c | 152 | printf("PinceCG : %lf \n\r ", PinceGBrasCentralPR->Get_Position()); |
ClementBreteau | 18:cc5fec34ed9c | 153 | printf("DoigtC : %lf \n\r ", DoigtBrasCentralPR->Get_Position() ); |
ClementBreteau | 18:cc5fec34ed9c | 154 | |
ClementBreteau | 18:cc5fec34ed9c | 155 | printf("EpauleG : %lf \n\r ", EpauleBrasGauchePR->Get_Position()); |
ClementBreteau | 18:cc5fec34ed9c | 156 | printf("CoudeG : %lf \n\r ", CoudeBrasGauchePR->Get_Position() ); |
ClementBreteau | 18:cc5fec34ed9c | 157 | printf("CrocG : %lf \n\r ", CrocBrasGauchePR->Get_Position() ); |
ClementBreteau | 18:cc5fec34ed9c | 158 | |
ClementBreteau | 18:cc5fec34ed9c | 159 | printf("EpauleD : %lf \n\r ", EpauleBrasDroitPR->Get_Position()); |
ClementBreteau | 18:cc5fec34ed9c | 160 | printf("CoudeD : %lf \n\r ", CoudeBrasDroitPR->Get_Position() ); |
ClementBreteau | 18:cc5fec34ed9c | 161 | printf("CrocD : %lf \n\r ", CrocBrasDroitPR->Get_Position() ); |
ClementBreteau | 18:cc5fec34ed9c | 162 | } |
ClementBreteau | 18:cc5fec34ed9c | 163 | |
ClementBreteau | 18:cc5fec34ed9c | 164 | |
ClementBreteau | 18:cc5fec34ed9c | 165 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 166 | /* FUNCTION NAME: Automate_ax12 */ |
ClementBreteau | 18:cc5fec34ed9c | 167 | /* DESCRIPTION : Fonction qui gère les différentes actions des AX12 */ |
ClementBreteau | 18:cc5fec34ed9c | 168 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 169 | void AX12_automate(unsigned char etat_ax12){ |
ClementBreteau | 18:cc5fec34ed9c | 170 | |
ClementBreteau | 18:cc5fec34ed9c | 171 | unsigned short speed; |
ClementBreteau | 18:cc5fec34ed9c | 172 | unsigned int GoalPosDoigt, GoalPosBase, GoalPosCoude, GoalPosPinceG, GoalPosPinceD, |
ClementBreteau | 18:cc5fec34ed9c | 173 | GoalPosEpauleTournanteG, GoalPosCoudeTournanteG, |
ClementBreteau | 18:cc5fec34ed9c | 174 | GoalPosEpauleTournanteD, GoalPosCoudeTournanteD; |
ClementBreteau | 18:cc5fec34ed9c | 175 | |
ClementBreteau | 18:cc5fec34ed9c | 176 | speed = 1000; |
ClementBreteau | 18:cc5fec34ed9c | 177 | |
ClementBreteau | 18:cc5fec34ed9c | 178 | switch(etat_ax12){ |
ClementBreteau | 18:cc5fec34ed9c | 179 | |
ClementBreteau | 18:cc5fec34ed9c | 180 | case AX12_PINCE_CENTRALE_POSITION_INITIALE : |
ClementBreteau | 18:cc5fec34ed9c | 181 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 182 | speed = 511; |
ClementBreteau | 18:cc5fec34ed9c | 183 | GoalPosDoigt=1150; |
ClementBreteau | 18:cc5fec34ed9c | 184 | GoalPosBase=1490; |
ClementBreteau | 18:cc5fec34ed9c | 185 | GoalPosCoude=1470; |
ClementBreteau | 18:cc5fec34ed9c | 186 | GoalPosPinceG=1090; |
ClementBreteau | 18:cc5fec34ed9c | 187 | GoalPosPinceD=1930; |
ClementBreteau | 18:cc5fec34ed9c | 188 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 189 | |
ClementBreteau | 18:cc5fec34ed9c | 190 | break; |
ClementBreteau | 18:cc5fec34ed9c | 191 | |
ClementBreteau | 18:cc5fec34ed9c | 192 | case AX12_PINCE_CENTRALE_PREPARATION_PRISE : |
ClementBreteau | 18:cc5fec34ed9c | 193 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 194 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 195 | GoalPosBase=170; |
ClementBreteau | 18:cc5fec34ed9c | 196 | GoalPosCoude=1000; |
ClementBreteau | 18:cc5fec34ed9c | 197 | GoalPosPinceG=1090; |
ClementBreteau | 18:cc5fec34ed9c | 198 | GoalPosPinceD=1930; |
ClementBreteau | 18:cc5fec34ed9c | 199 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 200 | |
ClementBreteau | 18:cc5fec34ed9c | 201 | break; |
ClementBreteau | 18:cc5fec34ed9c | 202 | |
ClementBreteau | 18:cc5fec34ed9c | 203 | case AX12_PINCE_CENTRALE_PRISE_MODULE : |
ClementBreteau | 18:cc5fec34ed9c | 204 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 205 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 206 | GoalPosBase=170; |
ClementBreteau | 18:cc5fec34ed9c | 207 | GoalPosCoude=1000; |
ClementBreteau | 18:cc5fec34ed9c | 208 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 209 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 210 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 211 | |
ClementBreteau | 18:cc5fec34ed9c | 212 | break; |
ClementBreteau | 18:cc5fec34ed9c | 213 | |
ClementBreteau | 18:cc5fec34ed9c | 214 | case AX12_PINCE_CENTRALE_STOCKAGE_HAUT : |
ClementBreteau | 18:cc5fec34ed9c | 215 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 216 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 217 | GoalPosBase=1300; |
ClementBreteau | 18:cc5fec34ed9c | 218 | GoalPosCoude=700; |
ClementBreteau | 18:cc5fec34ed9c | 219 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 220 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 221 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 222 | |
ClementBreteau | 18:cc5fec34ed9c | 223 | wait(TIME*5); |
ClementBreteau | 18:cc5fec34ed9c | 224 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 225 | GoalPosBase=1450;//1050; |
ClementBreteau | 18:cc5fec34ed9c | 226 | GoalPosCoude=700;//1528; |
ClementBreteau | 18:cc5fec34ed9c | 227 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 228 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 229 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 230 | |
ClementBreteau | 18:cc5fec34ed9c | 231 | wait(TIME*5); |
ClementBreteau | 18:cc5fec34ed9c | 232 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 233 | GoalPosBase=1450;//1050; |
ClementBreteau | 18:cc5fec34ed9c | 234 | GoalPosCoude=1250;//1528; |
ClementBreteau | 18:cc5fec34ed9c | 235 | GoalPosPinceG=1090; |
ClementBreteau | 18:cc5fec34ed9c | 236 | GoalPosPinceD=1930; |
ClementBreteau | 18:cc5fec34ed9c | 237 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 238 | |
ClementBreteau | 18:cc5fec34ed9c | 239 | break; |
ClementBreteau | 18:cc5fec34ed9c | 240 | |
ClementBreteau | 18:cc5fec34ed9c | 241 | case AX12_PINCE_CENTRALE_STOCKAGE_BAS : |
ClementBreteau | 18:cc5fec34ed9c | 242 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 243 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 244 | GoalPosBase=1000; |
ClementBreteau | 18:cc5fec34ed9c | 245 | GoalPosCoude=443; |
ClementBreteau | 18:cc5fec34ed9c | 246 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 247 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 248 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 249 | |
ClementBreteau | 18:cc5fec34ed9c | 250 | break; |
ClementBreteau | 18:cc5fec34ed9c | 251 | |
ClementBreteau | 18:cc5fec34ed9c | 252 | case AX12_PINCE_CENTRALE_PREPARATION_DEPOT : |
ClementBreteau | 18:cc5fec34ed9c | 253 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 254 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 255 | GoalPosBase=639; |
ClementBreteau | 18:cc5fec34ed9c | 256 | GoalPosCoude=557; |
ClementBreteau | 18:cc5fec34ed9c | 257 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 258 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 259 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 260 | |
ClementBreteau | 18:cc5fec34ed9c | 261 | wait(TIME*10); |
ClementBreteau | 18:cc5fec34ed9c | 262 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 263 | GoalPosBase=400; |
ClementBreteau | 18:cc5fec34ed9c | 264 | GoalPosCoude=400; |
ClementBreteau | 18:cc5fec34ed9c | 265 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 266 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 267 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 268 | |
ClementBreteau | 18:cc5fec34ed9c | 269 | |
ClementBreteau | 18:cc5fec34ed9c | 270 | break; |
ClementBreteau | 18:cc5fec34ed9c | 271 | |
ClementBreteau | 18:cc5fec34ed9c | 272 | case AX12_PINCE_CENTRALE_DEPOSER : |
ClementBreteau | 18:cc5fec34ed9c | 273 | //DEPOSER |
ClementBreteau | 18:cc5fec34ed9c | 274 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 275 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 276 | GoalPosBase=440; |
ClementBreteau | 18:cc5fec34ed9c | 277 | GoalPosCoude=440; |
ClementBreteau | 18:cc5fec34ed9c | 278 | GoalPosPinceG=1090; |
ClementBreteau | 18:cc5fec34ed9c | 279 | GoalPosPinceD=1930; |
ClementBreteau | 18:cc5fec34ed9c | 280 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 281 | |
ClementBreteau | 18:cc5fec34ed9c | 282 | |
ClementBreteau | 18:cc5fec34ed9c | 283 | break; |
ClementBreteau | 18:cc5fec34ed9c | 284 | |
ClementBreteau | 18:cc5fec34ed9c | 285 | case AX12_PINCE_CENTRALE_DEPOT_HAUT : |
ClementBreteau | 18:cc5fec34ed9c | 286 | wait(TIME*5); |
ClementBreteau | 18:cc5fec34ed9c | 287 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 288 | GoalPosBase=1050; |
ClementBreteau | 18:cc5fec34ed9c | 289 | GoalPosCoude=1528; |
ClementBreteau | 18:cc5fec34ed9c | 290 | GoalPosPinceG=1090; |
ClementBreteau | 18:cc5fec34ed9c | 291 | GoalPosPinceD=1930; |
ClementBreteau | 18:cc5fec34ed9c | 292 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 293 | |
ClementBreteau | 18:cc5fec34ed9c | 294 | wait(TIME*10); |
ClementBreteau | 18:cc5fec34ed9c | 295 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 296 | GoalPosBase=1050; |
ClementBreteau | 18:cc5fec34ed9c | 297 | GoalPosCoude=1528; |
ClementBreteau | 18:cc5fec34ed9c | 298 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 299 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 300 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 301 | |
ClementBreteau | 18:cc5fec34ed9c | 302 | wait(TIME*10); |
ClementBreteau | 18:cc5fec34ed9c | 303 | GoalPosDoigt=90; |
ClementBreteau | 18:cc5fec34ed9c | 304 | GoalPosBase=1100; |
ClementBreteau | 18:cc5fec34ed9c | 305 | GoalPosCoude=700; |
ClementBreteau | 18:cc5fec34ed9c | 306 | GoalPosPinceG=500; |
ClementBreteau | 18:cc5fec34ed9c | 307 | GoalPosPinceD=2500; |
ClementBreteau | 18:cc5fec34ed9c | 308 | mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD); |
ClementBreteau | 18:cc5fec34ed9c | 309 | |
ClementBreteau | 18:cc5fec34ed9c | 310 | |
ClementBreteau | 18:cc5fec34ed9c | 311 | break; |
ClementBreteau | 18:cc5fec34ed9c | 312 | |
ClementBreteau | 18:cc5fec34ed9c | 313 | case AX12_GAUCHE_CROC_OUVERT : |
ClementBreteau | 18:cc5fec34ed9c | 314 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 315 | CrocBrasGauchePR->Set_Secure_Goal(200); |
ClementBreteau | 18:cc5fec34ed9c | 316 | |
ClementBreteau | 18:cc5fec34ed9c | 317 | break; |
ClementBreteau | 18:cc5fec34ed9c | 318 | |
ClementBreteau | 18:cc5fec34ed9c | 319 | case AX12_GAUCHE_CROC_FERME : |
ClementBreteau | 18:cc5fec34ed9c | 320 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 321 | CrocBrasGauchePR->Set_Secure_Goal(240); |
ClementBreteau | 18:cc5fec34ed9c | 322 | |
ClementBreteau | 18:cc5fec34ed9c | 323 | break; |
ClementBreteau | 18:cc5fec34ed9c | 324 | |
ClementBreteau | 18:cc5fec34ed9c | 325 | case AX12_GAUCHE_CROC_INITIALE : |
ClementBreteau | 18:cc5fec34ed9c | 326 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 327 | CrocBrasGauchePR->Set_Secure_Goal(300); |
ClementBreteau | 18:cc5fec34ed9c | 328 | |
ClementBreteau | 18:cc5fec34ed9c | 329 | break; |
ClementBreteau | 18:cc5fec34ed9c | 330 | |
ClementBreteau | 18:cc5fec34ed9c | 331 | case AX12_TOURNANTE_GAUCHE_POSITION_INITIALE : |
ClementBreteau | 18:cc5fec34ed9c | 332 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 333 | speed = 511; |
ClementBreteau | 18:cc5fec34ed9c | 334 | GoalPosCoudeTournanteG=1450; |
ClementBreteau | 18:cc5fec34ed9c | 335 | GoalPosEpauleTournanteG=600; |
ClementBreteau | 18:cc5fec34ed9c | 336 | mvtBrasGauchePR(AX12_GAUCHE_EPAULE, speed, GoalPosEpauleTournanteG, AX12_GAUCHE_COUDE, speed, GoalPosCoudeTournanteG); |
ClementBreteau | 18:cc5fec34ed9c | 337 | |
ClementBreteau | 18:cc5fec34ed9c | 338 | |
ClementBreteau | 18:cc5fec34ed9c | 339 | break; |
ClementBreteau | 18:cc5fec34ed9c | 340 | |
ClementBreteau | 18:cc5fec34ed9c | 341 | case AX12_TOURNANTE_GAUCHE_PREPARATION : |
ClementBreteau | 18:cc5fec34ed9c | 342 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 343 | speed = 511; |
ClementBreteau | 18:cc5fec34ed9c | 344 | GoalPosCoudeTournanteG=930; |
ClementBreteau | 18:cc5fec34ed9c | 345 | GoalPosEpauleTournanteG=1962; |
ClementBreteau | 18:cc5fec34ed9c | 346 | mvtBrasGauchePR(AX12_GAUCHE_EPAULE, speed, GoalPosEpauleTournanteG, AX12_GAUCHE_COUDE, speed, GoalPosCoudeTournanteG); |
ClementBreteau | 18:cc5fec34ed9c | 347 | |
ClementBreteau | 18:cc5fec34ed9c | 348 | |
ClementBreteau | 18:cc5fec34ed9c | 349 | break; |
ClementBreteau | 18:cc5fec34ed9c | 350 | |
ClementBreteau | 18:cc5fec34ed9c | 351 | case AX12_TOURNANTE_GAUCHE_MODULE : |
ClementBreteau | 18:cc5fec34ed9c | 352 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 353 | speed = 511; |
ClementBreteau | 18:cc5fec34ed9c | 354 | GoalPosCoudeTournanteG=894; |
ClementBreteau | 18:cc5fec34ed9c | 355 | GoalPosEpauleTournanteG=2200; |
ClementBreteau | 18:cc5fec34ed9c | 356 | mvtBrasGauchePR(AX12_GAUCHE_EPAULE, speed, GoalPosEpauleTournanteG, AX12_GAUCHE_COUDE, speed, GoalPosCoudeTournanteG); |
ClementBreteau | 18:cc5fec34ed9c | 357 | |
ClementBreteau | 18:cc5fec34ed9c | 358 | |
ClementBreteau | 18:cc5fec34ed9c | 359 | break; |
ClementBreteau | 18:cc5fec34ed9c | 360 | |
ClementBreteau | 18:cc5fec34ed9c | 361 | case AX12_DROIT_CROC_OUVERT : |
ClementBreteau | 18:cc5fec34ed9c | 362 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 363 | CrocBrasDroitPR->Set_Secure_Goal(106); |
ClementBreteau | 18:cc5fec34ed9c | 364 | |
ClementBreteau | 18:cc5fec34ed9c | 365 | break; |
ClementBreteau | 18:cc5fec34ed9c | 366 | |
ClementBreteau | 18:cc5fec34ed9c | 367 | case AX12_DROIT_CROC_FERME : |
ClementBreteau | 18:cc5fec34ed9c | 368 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 369 | CrocBrasDroitPR->Set_Secure_Goal(55); |
ClementBreteau | 18:cc5fec34ed9c | 370 | |
ClementBreteau | 18:cc5fec34ed9c | 371 | break; |
ClementBreteau | 18:cc5fec34ed9c | 372 | |
ClementBreteau | 18:cc5fec34ed9c | 373 | case AX12_DROIT_CROC_INITIALE : |
ClementBreteau | 18:cc5fec34ed9c | 374 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 375 | CrocBrasDroitPR->Set_Secure_Goal(0); |
ClementBreteau | 18:cc5fec34ed9c | 376 | |
ClementBreteau | 18:cc5fec34ed9c | 377 | break; |
ClementBreteau | 18:cc5fec34ed9c | 378 | |
ClementBreteau | 18:cc5fec34ed9c | 379 | case AX12_TOURNANTE_DROIT_POSITION_INITIALE : |
ClementBreteau | 18:cc5fec34ed9c | 380 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 381 | speed = 511; |
ClementBreteau | 18:cc5fec34ed9c | 382 | GoalPosCoudeTournanteD=1610; |
ClementBreteau | 18:cc5fec34ed9c | 383 | GoalPosEpauleTournanteD=2337; |
ClementBreteau | 18:cc5fec34ed9c | 384 | mvtBrasDroitPR(AX12_DROIT_EPAULE, speed, GoalPosEpauleTournanteD, AX12_DROIT_COUDE, speed, GoalPosCoudeTournanteD); |
ClementBreteau | 18:cc5fec34ed9c | 385 | |
ClementBreteau | 18:cc5fec34ed9c | 386 | |
ClementBreteau | 18:cc5fec34ed9c | 387 | break; |
ClementBreteau | 18:cc5fec34ed9c | 388 | |
ClementBreteau | 18:cc5fec34ed9c | 389 | case AX12_TOURNANTE_DROIT_PREPARATION : |
ClementBreteau | 18:cc5fec34ed9c | 390 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 391 | speed = 511; |
ClementBreteau | 18:cc5fec34ed9c | 392 | GoalPosCoudeTournanteD=930; |
ClementBreteau | 18:cc5fec34ed9c | 393 | GoalPosEpauleTournanteD=1962; |
ClementBreteau | 18:cc5fec34ed9c | 394 | mvtBrasDroitPR(AX12_DROIT_EPAULE, speed, GoalPosEpauleTournanteD, AX12_DROIT_COUDE, speed, GoalPosCoudeTournanteD); |
ClementBreteau | 18:cc5fec34ed9c | 395 | |
ClementBreteau | 18:cc5fec34ed9c | 396 | |
ClementBreteau | 18:cc5fec34ed9c | 397 | break; |
ClementBreteau | 18:cc5fec34ed9c | 398 | |
ClementBreteau | 18:cc5fec34ed9c | 399 | case AX12_TOURNANTE_DROIT_MODULE : |
ClementBreteau | 18:cc5fec34ed9c | 400 | wait_ms(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 401 | speed = 511; |
ClementBreteau | 18:cc5fec34ed9c | 402 | GoalPosCoudeTournanteD=894; |
ClementBreteau | 18:cc5fec34ed9c | 403 | GoalPosEpauleTournanteD=2200; |
ClementBreteau | 18:cc5fec34ed9c | 404 | mvtBrasDroitPR(AX12_DROIT_EPAULE, speed, GoalPosEpauleTournanteD, AX12_DROIT_COUDE, speed, GoalPosCoudeTournanteD); |
ClementBreteau | 18:cc5fec34ed9c | 405 | |
ClementBreteau | 18:cc5fec34ed9c | 406 | |
ClementBreteau | 18:cc5fec34ed9c | 407 | break; |
ClementBreteau | 18:cc5fec34ed9c | 408 | |
ClementBreteau | 18:cc5fec34ed9c | 409 | case AX12_DEFAUT : |
ClementBreteau | 18:cc5fec34ed9c | 410 | break; |
ClementBreteau | 18:cc5fec34ed9c | 411 | |
ClementBreteau | 18:cc5fec34ed9c | 412 | case AX12_POSITION : |
ClementBreteau | 18:cc5fec34ed9c | 413 | GetPositionAx12(); |
ClementBreteau | 18:cc5fec34ed9c | 414 | break; |
ClementBreteau | 18:cc5fec34ed9c | 415 | } |
ClementBreteau | 18:cc5fec34ed9c | 416 | } |
ClementBreteau | 18:cc5fec34ed9c | 417 | |
ClementBreteau | 18:cc5fec34ed9c | 418 | void mvtBrasCentralPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
ClementBreteau | 18:cc5fec34ed9c | 419 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
ClementBreteau | 18:cc5fec34ed9c | 420 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3, |
ClementBreteau | 18:cc5fec34ed9c | 421 | unsigned char ID4, unsigned short GSpeed4, unsigned short GPosition4, |
ClementBreteau | 18:cc5fec34ed9c | 422 | unsigned char ID5, unsigned short GSpeed5, unsigned short GPosition5) |
ClementBreteau | 18:cc5fec34ed9c | 423 | { |
ClementBreteau | 18:cc5fec34ed9c | 424 | char TabBrasCentralPR[25]; |
ClementBreteau | 18:cc5fec34ed9c | 425 | unsigned short GPosition1_1, GPosition2_1, GPosition3_1, GPosition4_1, GPosition5_1; |
ClementBreteau | 18:cc5fec34ed9c | 426 | Timer timeOut; |
ClementBreteau | 18:cc5fec34ed9c | 427 | |
ClementBreteau | 18:cc5fec34ed9c | 428 | |
ClementBreteau | 18:cc5fec34ed9c | 429 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 430 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 431 | GPosition3_1=((unsigned long)GPosition3*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 432 | GPosition4_1=((unsigned long)GPosition4*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 433 | GPosition5_1=((unsigned long)GPosition5*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 434 | |
ClementBreteau | 18:cc5fec34ed9c | 435 | TabBrasCentralPR[0] = ID1; |
ClementBreteau | 18:cc5fec34ed9c | 436 | TabBrasCentralPR[1] = GPosition1_1; |
ClementBreteau | 18:cc5fec34ed9c | 437 | TabBrasCentralPR[2] = GPosition1_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 438 | TabBrasCentralPR[3] = GSpeed1; |
ClementBreteau | 18:cc5fec34ed9c | 439 | TabBrasCentralPR[4] = GSpeed1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 440 | |
ClementBreteau | 18:cc5fec34ed9c | 441 | TabBrasCentralPR[5] = ID2; |
ClementBreteau | 18:cc5fec34ed9c | 442 | TabBrasCentralPR[6] = GPosition2_1; |
ClementBreteau | 18:cc5fec34ed9c | 443 | TabBrasCentralPR[7] = GPosition2_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 444 | TabBrasCentralPR[8] = GSpeed2; |
ClementBreteau | 18:cc5fec34ed9c | 445 | TabBrasCentralPR[9] = GSpeed2>>8; |
ClementBreteau | 18:cc5fec34ed9c | 446 | |
ClementBreteau | 18:cc5fec34ed9c | 447 | TabBrasCentralPR[10] = ID3; |
ClementBreteau | 18:cc5fec34ed9c | 448 | TabBrasCentralPR[11] = GPosition3_1; |
ClementBreteau | 18:cc5fec34ed9c | 449 | TabBrasCentralPR[12] = GPosition3_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 450 | TabBrasCentralPR[13] = GSpeed3; |
ClementBreteau | 18:cc5fec34ed9c | 451 | TabBrasCentralPR[14] = GSpeed3>>8 ; |
ClementBreteau | 18:cc5fec34ed9c | 452 | |
ClementBreteau | 18:cc5fec34ed9c | 453 | TabBrasCentralPR[15] = ID4; |
ClementBreteau | 18:cc5fec34ed9c | 454 | TabBrasCentralPR[16] = GPosition4_1; |
ClementBreteau | 18:cc5fec34ed9c | 455 | TabBrasCentralPR[17] = GPosition4_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 456 | TabBrasCentralPR[18] = GSpeed4; |
ClementBreteau | 18:cc5fec34ed9c | 457 | TabBrasCentralPR[19] = GSpeed4>>8 ; |
ClementBreteau | 18:cc5fec34ed9c | 458 | |
ClementBreteau | 18:cc5fec34ed9c | 459 | TabBrasCentralPR[20] = ID5; |
ClementBreteau | 18:cc5fec34ed9c | 460 | TabBrasCentralPR[21] = GPosition5_1; |
ClementBreteau | 18:cc5fec34ed9c | 461 | TabBrasCentralPR[22] = GPosition5_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 462 | TabBrasCentralPR[23] = GSpeed5; |
ClementBreteau | 18:cc5fec34ed9c | 463 | TabBrasCentralPR[24] = GSpeed5>>8 ; |
ClementBreteau | 18:cc5fec34ed9c | 464 | |
ClementBreteau | 18:cc5fec34ed9c | 465 | |
ClementBreteau | 18:cc5fec34ed9c | 466 | BrasCentralPRAx12->multiple_goal_and_speed(5,TabBrasCentralPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 467 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 468 | |
ClementBreteau | 18:cc5fec34ed9c | 469 | timeOut.start; |
ClementBreteau | 18:cc5fec34ed9c | 470 | while (((unsigned short)(DoigtBrasCentralPR->Get_Position()*10)>GPosition1*110/100) || ((unsigned short)(DoigtBrasCentralPR->Get_Position()*10)<GPosition1*90/100) || (timeOut.read_ms() > 100)) { |
ClementBreteau | 18:cc5fec34ed9c | 471 | BrasCentralPRAx12->multiple_goal_and_speed(5,TabBrasCentralPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 472 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 473 | |
ClementBreteau | 18:cc5fec34ed9c | 474 | } |
ClementBreteau | 18:cc5fec34ed9c | 475 | |
ClementBreteau | 18:cc5fec34ed9c | 476 | timeOut.reset; |
ClementBreteau | 18:cc5fec34ed9c | 477 | while (((unsigned short)(BaseBrasCentralPR->Get_Position()*10)>GPosition2*110/100) || ((unsigned short)(BaseBrasCentralPR->Get_Position()*10)<GPosition2*90/100)|| (timeOut.read_ms() > 100)) { |
ClementBreteau | 18:cc5fec34ed9c | 478 | BrasCentralPRAx12->multiple_goal_and_speed(5,TabBrasCentralPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 479 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 480 | } |
ClementBreteau | 18:cc5fec34ed9c | 481 | |
ClementBreteau | 18:cc5fec34ed9c | 482 | timeOut.reset; |
ClementBreteau | 18:cc5fec34ed9c | 483 | while (((unsigned short)(CoudeBrasCentralPR->Get_Position()*10)>GPosition3*110/100) || ((unsigned short)(CoudeBrasCentralPR->Get_Position()*10)<GPosition3*90/100)|| (timeOut.read_ms() > 100)) { |
ClementBreteau | 18:cc5fec34ed9c | 484 | BrasCentralPRAx12->multiple_goal_and_speed(5,TabBrasCentralPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 485 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 486 | } |
ClementBreteau | 18:cc5fec34ed9c | 487 | |
ClementBreteau | 18:cc5fec34ed9c | 488 | timeOut.reset; |
ClementBreteau | 18:cc5fec34ed9c | 489 | while (((unsigned short)(PinceGBrasCentralPR->Get_Position()*10)>GPosition4*110/100) || ((unsigned short)(PinceGBrasCentralPR->Get_Position()*10)<GPosition4*90/100)|| (timeOut.read_ms() > 100)) { |
ClementBreteau | 18:cc5fec34ed9c | 490 | BrasCentralPRAx12->multiple_goal_and_speed(5,TabBrasCentralPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 491 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 492 | } |
ClementBreteau | 18:cc5fec34ed9c | 493 | |
ClementBreteau | 18:cc5fec34ed9c | 494 | timeOut.reset; |
ClementBreteau | 18:cc5fec34ed9c | 495 | while (((unsigned short)(PinceDBrasCentralPR->Get_Position()*10)>GPosition5*110/100) || ((unsigned short)(PinceDBrasCentralPR->Get_Position()*10)<GPosition5*90/100)|| (timeOut.read_ms() > 100)) { |
ClementBreteau | 18:cc5fec34ed9c | 496 | BrasCentralPRAx12->multiple_goal_and_speed(5,TabBrasCentralPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 497 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 498 | } |
ClementBreteau | 18:cc5fec34ed9c | 499 | |
ClementBreteau | 18:cc5fec34ed9c | 500 | |
ClementBreteau | 18:cc5fec34ed9c | 501 | } |
ClementBreteau | 18:cc5fec34ed9c | 502 | |
ClementBreteau | 18:cc5fec34ed9c | 503 | |
ClementBreteau | 18:cc5fec34ed9c | 504 | void mvtBrasGauchePR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
ClementBreteau | 18:cc5fec34ed9c | 505 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2) |
ClementBreteau | 18:cc5fec34ed9c | 506 | { |
ClementBreteau | 18:cc5fec34ed9c | 507 | char TabBrasGauchePR[10]; |
ClementBreteau | 18:cc5fec34ed9c | 508 | unsigned short GPosition1_1, GPosition2_1; |
ClementBreteau | 18:cc5fec34ed9c | 509 | |
ClementBreteau | 18:cc5fec34ed9c | 510 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 511 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 512 | |
ClementBreteau | 18:cc5fec34ed9c | 513 | TabBrasGauchePR[0] = ID1; |
ClementBreteau | 18:cc5fec34ed9c | 514 | TabBrasGauchePR[1] = GPosition1_1; |
ClementBreteau | 18:cc5fec34ed9c | 515 | TabBrasGauchePR[2] = GPosition1_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 516 | TabBrasGauchePR[3] = GSpeed1; |
ClementBreteau | 18:cc5fec34ed9c | 517 | TabBrasGauchePR[4] = GSpeed1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 518 | |
ClementBreteau | 18:cc5fec34ed9c | 519 | TabBrasGauchePR[5] = ID2; |
ClementBreteau | 18:cc5fec34ed9c | 520 | TabBrasGauchePR[6] = GPosition2_1; |
ClementBreteau | 18:cc5fec34ed9c | 521 | TabBrasGauchePR[7] = GPosition2_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 522 | TabBrasGauchePR[8] = GSpeed2; |
ClementBreteau | 18:cc5fec34ed9c | 523 | TabBrasGauchePR[9] = GSpeed2>>8; |
ClementBreteau | 18:cc5fec34ed9c | 524 | |
ClementBreteau | 18:cc5fec34ed9c | 525 | |
ClementBreteau | 18:cc5fec34ed9c | 526 | BrasGauchePRAx12->multiple_goal_and_speed(2,TabBrasGauchePR) ; |
ClementBreteau | 18:cc5fec34ed9c | 527 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 528 | |
ClementBreteau | 18:cc5fec34ed9c | 529 | while (((unsigned short)(EpauleBrasGauchePR->Get_Position()*10)>GPosition1*105/100) || ((unsigned short)(EpauleBrasGauchePR->Get_Position()*10)<GPosition1*95/100)) { |
ClementBreteau | 18:cc5fec34ed9c | 530 | BrasGauchePRAx12->multiple_goal_and_speed(2,TabBrasGauchePR) ; |
ClementBreteau | 18:cc5fec34ed9c | 531 | wait(TIME*5); |
ClementBreteau | 18:cc5fec34ed9c | 532 | } |
ClementBreteau | 18:cc5fec34ed9c | 533 | |
ClementBreteau | 18:cc5fec34ed9c | 534 | while (((unsigned short)(CoudeBrasGauchePR->Get_Position()*10)>GPosition2*105/100) || ((unsigned short)(CoudeBrasGauchePR->Get_Position()*10)<GPosition2*95/100)) { |
ClementBreteau | 18:cc5fec34ed9c | 535 | BrasGauchePRAx12->multiple_goal_and_speed(2,TabBrasGauchePR) ; |
ClementBreteau | 18:cc5fec34ed9c | 536 | wait(TIME*5); |
ClementBreteau | 18:cc5fec34ed9c | 537 | } |
ClementBreteau | 18:cc5fec34ed9c | 538 | } |
ClementBreteau | 18:cc5fec34ed9c | 539 | |
ClementBreteau | 18:cc5fec34ed9c | 540 | void mvtBrasDroitPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
ClementBreteau | 18:cc5fec34ed9c | 541 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2) |
ClementBreteau | 18:cc5fec34ed9c | 542 | { |
ClementBreteau | 18:cc5fec34ed9c | 543 | char TabBrasDroitPR[10]; |
ClementBreteau | 18:cc5fec34ed9c | 544 | unsigned short GPosition1_1, GPosition2_1; |
ClementBreteau | 18:cc5fec34ed9c | 545 | |
ClementBreteau | 18:cc5fec34ed9c | 546 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 547 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
ClementBreteau | 18:cc5fec34ed9c | 548 | |
ClementBreteau | 18:cc5fec34ed9c | 549 | TabBrasDroitPR[0] = ID1; |
ClementBreteau | 18:cc5fec34ed9c | 550 | TabBrasDroitPR[1] = GPosition1_1; |
ClementBreteau | 18:cc5fec34ed9c | 551 | TabBrasDroitPR[2] = GPosition1_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 552 | TabBrasDroitPR[3] = GSpeed1; |
ClementBreteau | 18:cc5fec34ed9c | 553 | TabBrasDroitPR[4] = GSpeed1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 554 | |
ClementBreteau | 18:cc5fec34ed9c | 555 | TabBrasDroitPR[5] = ID2; |
ClementBreteau | 18:cc5fec34ed9c | 556 | TabBrasDroitPR[6] = GPosition2_1; |
ClementBreteau | 18:cc5fec34ed9c | 557 | TabBrasDroitPR[7] = GPosition2_1>>8; |
ClementBreteau | 18:cc5fec34ed9c | 558 | TabBrasDroitPR[8] = GSpeed2; |
ClementBreteau | 18:cc5fec34ed9c | 559 | TabBrasDroitPR[9] = GSpeed2>>8; |
ClementBreteau | 18:cc5fec34ed9c | 560 | |
ClementBreteau | 18:cc5fec34ed9c | 561 | |
ClementBreteau | 18:cc5fec34ed9c | 562 | BrasDroitPRAx12->multiple_goal_and_speed(2,TabBrasDroitPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 563 | wait(TIME); |
ClementBreteau | 18:cc5fec34ed9c | 564 | |
ClementBreteau | 18:cc5fec34ed9c | 565 | while (((unsigned short)(EpauleBrasDroitPR->Get_Position()*10)>GPosition1*105/100) || ((unsigned short)(EpauleBrasDroitPR->Get_Position()*10)<GPosition1*95/100)) { |
ClementBreteau | 18:cc5fec34ed9c | 566 | BrasDroitPRAx12->multiple_goal_and_speed(2,TabBrasDroitPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 567 | wait(TIME*5); |
ClementBreteau | 18:cc5fec34ed9c | 568 | } |
ClementBreteau | 18:cc5fec34ed9c | 569 | |
ClementBreteau | 18:cc5fec34ed9c | 570 | while (((unsigned short)(CoudeBrasDroitPR->Get_Position()*10)>GPosition2*105/100) || ((unsigned short)(CoudeBrasDroitPR->Get_Position()*10)<GPosition2*95/100)) { |
ClementBreteau | 18:cc5fec34ed9c | 571 | BrasDroitPRAx12->multiple_goal_and_speed(2,TabBrasDroitPR) ; |
ClementBreteau | 18:cc5fec34ed9c | 572 | wait(TIME*5); |
ClementBreteau | 18:cc5fec34ed9c | 573 | } |
ClementBreteau | 18:cc5fec34ed9c | 574 | } |
ClementBreteau | 18:cc5fec34ed9c | 575 |