CRAC Team / CRAC-Strat_2019

v2019

Dependencies:   CRAC-Strat_2019 SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Dependents:   Codeprincipal_2019 CRAC-Strat_2019

Robots/Strategie_big.cpp@36:6dd30780bd8e, 2018-05-02 (annotated)

Committer:
Sitkah
Date:
Wed May 02 20:40:57 2018 +0000
Revision:
36:6dd30780bd8e
Parent:
30:a1e37af4bbde
Child:
38:76f886a1c8e6
Recalage en une fois

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 29:41e02746041d 2 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 3
Sitkah 29:41e02746041d 4
antbig 12:14729d584500 5 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 6
antbig 0:ad97421fb1fb 7 /****************************************************************************************/
antbig 0:ad97421fb1fb 8 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 9 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 10 /****************************************************************************************/
antbig 0:ad97421fb1fb 11 void doFunnyAction(void) {
ClementBreteau 18:cc5fec34ed9c 12 //envoie de la funny action
ClementBreteau 18:cc5fec34ed9c 13 // 0x007, 01, 01
ClementBreteau 18:cc5fec34ed9c 14 CANMessage msgTx=CANMessage();
ClementBreteau 18:cc5fec34ed9c 15 msgTx.id=GLOBAL_FUNNY_ACTION;
ClementBreteau 18:cc5fec34ed9c 16 msgTx.format=CANStandard;
ClementBreteau 18:cc5fec34ed9c 17 msgTx.type=CANData;
ClementBreteau 18:cc5fec34ed9c 18 msgTx.len=2;
ClementBreteau 18:cc5fec34ed9c 19 msgTx.data[0]=0x01;
ClementBreteau 18:cc5fec34ed9c 20 msgTx.data[1]=0x01;
ClementBreteau 18:cc5fec34ed9c 21 can1.write(msgTx);
antbig 0:ad97421fb1fb 22 }
antbig 0:ad97421fb1fb 23
antbig 0:ad97421fb1fb 24 /****************************************************************************************/
antbig 0:ad97421fb1fb 25 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 26 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 27 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 28 unsigned char doAction(unsigned char id, unsigned short var1, short var2) {
antbig 12:14729d584500 29 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 30 msgTx.format=CANStandard;
Sitkah 30:a1e37af4bbde 31 msgTx.type=CANData;
Sitkah 30:a1e37af4bbde 32 //affichage_debug(id);
Sitkah 30:a1e37af4bbde 33
antbig 0:ad97421fb1fb 34 switch(id) {
Sitkah 30:a1e37af4bbde 35 /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
Sitkah 36:6dd30780bd8e 36 case 100: //Monte l'immeuble selon le code couleur
Sitkah 36:6dd30780bd8e 37 msgTx.id=MONTER_IMMEUBLE_DOUBLE;
ClementBreteau 18:cc5fec34ed9c 38
Sitkah 30:a1e37af4bbde 39 msgTx.len=3;
Sitkah 30:a1e37af4bbde 40 msgTx.data[0]=couleur1;
Sitkah 30:a1e37af4bbde 41 msgTx.data[1]=couleur2;
Sitkah 30:a1e37af4bbde 42 msgTx.data[2]=couleur3;
Sitkah 36:6dd30780bd8e 43 can2.write(msgTx);
Sitkah 30:a1e37af4bbde 44 break;*/
ClementBreteau 15:c2fc239e85df 45
Sitkah 30:a1e37af4bbde 46 case 101: //baisser l'attrape bloc arrière
Sitkah 36:6dd30780bd8e 47 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 48 break;
Sitkah 30:a1e37af4bbde 49 case 102: //Relever l'attrape bloc arrière
Sitkah 30:a1e37af4bbde 50 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 51 break;
Sitkah 30:a1e37af4bbde 52 case 103: //
Sitkah 36:6dd30780bd8e 53 SendRawId(BAISSER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 54 break;
Sitkah 30:a1e37af4bbde 55 case 104:
Sitkah 36:6dd30780bd8e 56 SendRawId(RELEVER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 57 break;
Sitkah 30:a1e37af4bbde 58 case 105:
Sitkah 36:6dd30780bd8e 59 SendRawId(BAISSER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 60 break;
Sitkah 30:a1e37af4bbde 61 case 106:
Sitkah 36:6dd30780bd8e 62 SendRawId(RELEVER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 63 break;
Sitkah 30:a1e37af4bbde 64 case 107:
Sitkah 36:6dd30780bd8e 65 msgTx.id=MONTER_IMMEUBLE;
Sitkah 36:6dd30780bd8e 66 msgTx.len=4;
Sitkah 36:6dd30780bd8e 67 msgTx.data[0]=couleur1;
Sitkah 36:6dd30780bd8e 68 msgTx.data[1]=couleur2;
Sitkah 36:6dd30780bd8e 69 msgTx.data[2]=couleur3;
Sitkah 36:6dd30780bd8e 70 msgTx.data[3]=arg1;
Sitkah 36:6dd30780bd8e 71 can2.write(msgTx);
Sitkah 30:a1e37af4bbde 72 case 111:
Sitkah 30:a1e37af4bbde 73 SendRawId(BRAS_VENTOUSE_1);
Sitkah 30:a1e37af4bbde 74 break;
Sitkah 30:a1e37af4bbde 75 case 112:
Sitkah 30:a1e37af4bbde 76 SendRawId(BRAS_VENTOUSE_2);
Sitkah 30:a1e37af4bbde 77 break;
Sitkah 36:6dd30780bd8e 78
ClementBreteau 18:cc5fec34ed9c 79
antbig 12:14729d584500 80 case 10://Désactiver le stop
antbig 12:14729d584500 81 isStopEnable = 0;
antbig 12:14729d584500 82 break;
antbig 12:14729d584500 83 case 11://Activer le stop
antbig 12:14729d584500 84 isStopEnable = 1;
antbig 12:14729d584500 85 break;
antbig 12:14729d584500 86 case 20://Désactiver l'asservissement
antbig 12:14729d584500 87 setAsservissementEtat(0);
antbig 12:14729d584500 88 break;
antbig 12:14729d584500 89 case 21://Activer l'asservissement
antbig 12:14729d584500 90 setAsservissementEtat(1);
antbig 12:14729d584500 91 break;
antbig 12:14729d584500 92
antbig 12:14729d584500 93 case 22://Changer la vitesse du robot
Sitkah 30:a1e37af4bbde 94 SendSpeed(var1,(unsigned short)var2);
ClementBreteau 26:2f4fcc2354f3 95 waitingAckFrom = 0;
ClementBreteau 26:2f4fcc2354f3 96 waitingAckID = 0;
ClementBreteau 26:2f4fcc2354f3 97 wait(0.2);
antbig 12:14729d584500 98 break;
antbig 12:14729d584500 99
antbig 12:14729d584500 100 case 30://Action tempo
Sitkah 30:a1e37af4bbde 101 wait_ms(var1);
antbig 12:14729d584500 102 break;
antbig 12:14729d584500 103
ClementBreteau 18:cc5fec34ed9c 104 /*case 40: // demande au telemetre la position d'un objet
ClementBreteau 14:c8fc06c4887f 105 //SendRawId(TELEMETRE_RECHERCHE_OBJET);
ClementBreteau 15:c2fc239e85df 106
ClementBreteau 15:c2fc239e85df 107 modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 108
ClementBreteau 15:c2fc239e85df 109 //angle = angle /10;
ClementBreteau 15:c2fc239e85df 110
ClementBreteau 15:c2fc239e85df 111 msgTx.id=TELEMETRE_OBJET;
ClementBreteau 15:c2fc239e85df 112 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 113 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 114 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 115 // indice du module sur le terrain
ClementBreteau 15:c2fc239e85df 116 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 117
ClementBreteau 18:cc5fec34ed9c 118
ClementBreteau 15:c2fc239e85df 119 // x sur 2 octets
ClementBreteau 15:c2fc239e85df 120 msgTx.data[0]=(unsigned char)speed;
ClementBreteau 15:c2fc239e85df 121 msgTx.data[1]=(unsigned char)(speed>>8);
ClementBreteau 15:c2fc239e85df 122 // y sur 2 octets
ClementBreteau 15:c2fc239e85df 123 msgTx.data[2]=(unsigned char)angle;
ClementBreteau 15:c2fc239e85df 124 msgTx.data[3]=(unsigned char)(angle>>8);
ClementBreteau 15:c2fc239e85df 125 // theta signé sur 2 octets
ClementBreteau 15:c2fc239e85df 126 //msgTx.data[4]=(unsigned char)theta;
ClementBreteau 15:c2fc239e85df 127 //msgTx.data[5]=(unsigned char)(theta>>8);
ClementBreteau 15:c2fc239e85df 128 msgTx.data[4]=0;
ClementBreteau 18:cc5fec34ed9c 129 msgTx.data[5]=0;
ClementBreteau 15:c2fc239e85df 130
ClementBreteau 15:c2fc239e85df 131 can1.write(msgTx);
ClementBreteau 15:c2fc239e85df 132
ClementBreteau 18:cc5fec34ed9c 133 break;*/
ClementBreteau 14:c8fc06c4887f 134
ClementBreteau 18:cc5fec34ed9c 135 /* case 130://Lancer mouvement de sortie de la zone de départ
ClementBreteau 15:c2fc239e85df 136 msgTx.id=ACTION_BIG_DEMARRAGE;
ClementBreteau 15:c2fc239e85df 137 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 138 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 139 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 140 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 141 can1.write(msgTx);
ClementBreteau 18:cc5fec34ed9c 142 break;*/
antbig 12:14729d584500 143
antbig 0:ad97421fb1fb 144 default:
antbig 0:ad97421fb1fb 145 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 146
antbig 0:ad97421fb1fb 147 }
antbig 0:ad97421fb1fb 148 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 149
antbig 0:ad97421fb1fb 150 }
antbig 0:ad97421fb1fb 151
antbig 0:ad97421fb1fb 152 /****************************************************************************************/
antbig 0:ad97421fb1fb 153 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 154 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 155 /****************************************************************************************/
antbig 9:d0042422d95a 156 void initRobot(void)
antbig 9:d0042422d95a 157 {
antbig 9:d0042422d95a 158 //Enregistrement de tous les AX12 présent sur la carte
ClementBreteau 15:c2fc239e85df 159 /*AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 160 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 161 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 162 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 163 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 164 AX12_register(8, AX12_SERIAL1);
ClementBreteau 15:c2fc239e85df 165 AX12_register(7, AX12_SERIAL2);*/
antbig 9:d0042422d95a 166
antbig 12:14729d584500 167 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 168 //AX12_processChange();
antbig 11:ed13a480ddca 169 //runRobotTest();
ClementBreteau 16:7321fb3bb396 170
antbig 9:d0042422d95a 171 }
antbig 9:d0042422d95a 172
antbig 9:d0042422d95a 173 /****************************************************************************************/
antbig 12:14729d584500 174 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 175 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 176 /****************************************************************************************/
antbig 12:14729d584500 177 void initRobotActionneur(void)
antbig 12:14729d584500 178 {
ClementBreteau 23:ab87d308eaf9 179 /*doAction(100,1,0);
ClementBreteau 23:ab87d308eaf9 180 doAction(100,2,0);
ClementBreteau 23:ab87d308eaf9 181 doAction(110,0,0);
ClementBreteau 23:ab87d308eaf9 182 doAction(120,0,0);
ClementBreteau 23:ab87d308eaf9 183 doAction(131,0,0);*/
ClementBreteau 23:ab87d308eaf9 184
antbig 12:14729d584500 185 }
antbig 12:14729d584500 186
antbig 12:14729d584500 187 /****************************************************************************************/
antbig 9:d0042422d95a 188 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 189 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 190 /****************************************************************************************/
antbig 9:d0042422d95a 191 void runRobotTest(void)
antbig 9:d0042422d95a 192 {
ClementBreteau 18:cc5fec34ed9c 193 /*
antbig 12:14729d584500 194 int waitTime = 500;
antbig 12:14729d584500 195
antbig 9:d0042422d95a 196 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 197 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 198 wait_ms(waitTime);
antbig 9:d0042422d95a 199 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 200 wait_ms(waitTime);
antbig 9:d0042422d95a 201 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 202 wait_ms(waitTime);
antbig 9:d0042422d95a 203 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 204 wait_ms(waitTime);
antbig 9:d0042422d95a 205 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 206 wait_ms(waitTime);
antbig 9:d0042422d95a 207 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 208 wait_ms(waitTime);
antbig 12:14729d584500 209 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 210 wait_ms(waitTime);
antbig 12:14729d584500 211 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 212 wait_ms(waitTime);
antbig 12:14729d584500 213 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 214 wait_ms(waitTime);
ClementBreteau 18:cc5fec34ed9c 215 doAction(102,0,0);//Remonter le peigne*/
antbig 0:ad97421fb1fb 216 }
antbig 3:19f2285a4757 217
antbig 4:88431b537477 218 /****************************************************************************************/
antbig 4:88431b537477 219 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 220 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 221 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 222 /****************************************************************************************/
Sitkah 29:41e02746041d 223 /*int SelectStrategy(unsigned char id)
antbig 4:88431b537477 224 {
antbig 4:88431b537477 225 switch(id)
antbig 4:88431b537477 226 {
ClementBreteau 15:c2fc239e85df 227 // strat de match
antbig 4:88431b537477 228 case 1:
antbig 11:ed13a480ddca 229 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 230 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 231 case 2:
antbig 11:ed13a480ddca 232 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 233 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 234 case 3:
antbig 11:ed13a480ddca 235 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 236 return FileExists(cheminFileStart);
antbig 12:14729d584500 237 case 4:
antbig 12:14729d584500 238 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 239 return FileExists(cheminFileStart);
antbig 12:14729d584500 240 case 5:
antbig 12:14729d584500 241 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 242 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 243 case 6:
ClementBreteau 14:c8fc06c4887f 244 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 245 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 246 case 7:
ClementBreteau 14:c8fc06c4887f 247 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 248 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 249 case 8:
ClementBreteau 14:c8fc06c4887f 250 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 251 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 252 case 9:
ClementBreteau 14:c8fc06c4887f 253 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 254 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 255 case 10:
ClementBreteau 14:c8fc06c4887f 256 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 257 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 258
ClementBreteau 15:c2fc239e85df 259 // strat de demo
ClementBreteau 14:c8fc06c4887f 260 case 0x10:
ClementBreteau 14:c8fc06c4887f 261 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 262 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 263 case 0x11:
ClementBreteau 15:c2fc239e85df 264 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 265 strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau 15:c2fc239e85df 266 #else
ClementBreteau 15:c2fc239e85df 267 strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau 15:c2fc239e85df 268 #endif
ClementBreteau 14:c8fc06c4887f 269 return FileExists(cheminFileStart);
ClementBreteau 15:c2fc239e85df 270 case 0x12:
ClementBreteau 15:c2fc239e85df 271 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 272 strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau 15:c2fc239e85df 273 #else
ClementBreteau 15:c2fc239e85df 274 strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau 15:c2fc239e85df 275 #endif
ClementBreteau 15:c2fc239e85df 276 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 277 default:
antbig 12:14729d584500 278 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 279 return 0;
antbig 4:88431b537477 280 }
Sitkah 29:41e02746041d 281 }*/
antbig 4:88431b537477 282
antbig 12:14729d584500 283 /****************************************************************************************/
antbig 12:14729d584500 284 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 285 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 286 /****************************************************************************************/
antbig 12:14729d584500 287 unsigned char needToStop(void)
antbig 12:14729d584500 288 {
antbig 12:14729d584500 289 return isStopEnable;
antbig 12:14729d584500 290 }
antbig 12:14729d584500 291
antbig 12:14729d584500 292 /****************************************************************************************/
antbig 12:14729d584500 293 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 294 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 295 /****************************************************************************************/
antbig 12:14729d584500 296 void doBeforeEndAction(void)
antbig 12:14729d584500 297 {
antbig 12:14729d584500 298 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 299 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 300 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 301 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 302 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 303 }
antbig 12:14729d584500 304
antbig 3:19f2285a4757 305 #endif