Diff: main.cpp

Revision:

2:4cc8fa2f64be

Parent:

1:8a55f1d5cb26

Child:

3:cf33f9d4d6ff

Child:

4:82c90657da4a

--- a/main.cpp	Tue May 07 08:33:42 2019 +0000
+++ b/main.cpp	Tue May 07 13:14:29 2019 +0000
@@ -6,10 +6,6 @@
 
 #define SIZE_FIFO 50
 
-CAN can(PB_8,PB_9,1000000);
-Serial pc(USBTX,USBRX);
-
-
 CANMessage msgRxBuffer[SIZE_FIFO];
 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
@@ -20,6 +16,8 @@
 
 void get_etat_ventouses();
 
+CAN can(PB_8,PB_9,1000000);
+Serial pc(USBTX,USBRX);
 
 /*********************************************************************************************************/
 /* FUNCTION NAME: canRx_ISR                                                                              */
@@ -54,27 +52,27 @@
             case HACHEUR_GET_ATOM:
                 BRAS = msgRxBuffer[FIFO_lecture].data[0];
                 pc.printf("HACHEUR_GET_ATOM bras %d\n", BRAS);
-                ventouse[BRAS]->attraper();
+                ventouse[BRAS]->action(1);
                 break;
             
             case HACHEUR_RELEASE_ATOM:
                 BRAS = msgRxBuffer[FIFO_lecture].data[0];
                 pc.printf("HACHEUR_RELEASE_ATOM bras %d\n", BRAS);
-                ventouse[BRAS]->relacher(); 
+                ventouse[BRAS]->action(0);
                 break;              
             
             case HACHEUR_GET_PRESENTOIR_AR:
                 pc.printf("HACHEUR_GET_DISTRIB_AR\n");            
-                ventouse[AR_GAUCHE]->attraper();
-                ventouse[AR_CENTRE]->attraper();
-                ventouse[AR_DROIT]->attraper();
+                ventouse[AR_GAUCHE]->action(1);;
+                ventouse[AR_CENTRE]->action(1);;
+                ventouse[AR_DROIT]->action(1);;
                 break;
             
             case HACHEUR_GET_PRESENTOIR_AV :
                 pc.printf("HACHEUR_GET_DISTRIB_AV\n"); 
-                ventouse[AV_GAUCHE]->relacher();
-                ventouse[AV_CENTRE]->relacher();
-                ventouse[AV_DROIT]->relacher();
+                ventouse[AV_GAUCHE]->action(1);;
+                ventouse[AV_CENTRE]->action(1);;
+                ventouse[AV_DROIT]->action(1);;
                 break;
             
             case HACHEUR_STATUT_VENTOUSES:
@@ -100,20 +98,23 @@
     can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
     wait(1);
     #ifdef ROBOT_SMALL
-    ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0);
-    ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10,  PB_1);
-    ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1);
-    ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0);
+    ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
+    ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10,  PB_1, AR_DROIT);
+    ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1, AR_BAS);
+    ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE);
     
-    ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5);
-    ventouse[AV_BAS] = new Ventouse(PB_10, PB_2, PC_4);
-    ventouse[AR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7);
-    ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4);
+    ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE);
+    ventouse[AV_BAS] = new Ventouse(PB_10, PB_2, PC_4, AV_BAS);
+    ventouse[AR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, AR_GAUCHE);
+    ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
 
     #endif
     pc.printf("LAUNCHED");
     while(1) {
         canProcessRx();
+        for(int i=0; i<8; i++){
+            ventouse[i]->automate();
+        }
         if(end_game){
             for(int i=0; i<8;i++){
                 ventouse[i]->setPompe(0.0);
@@ -132,6 +133,8 @@
     etat_ventouses.len=2;
     etat_ventouses.format=CANStandard;
     etat_ventouses.type=CANData;
+    etat_ventouses.data[0]=0;
+    etat_ventouses.data[0]=1;
     for(int i=7; i>=0; i--){
         etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
         etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();