Diff: main.cpp

Revision:

8:a25a9c22ba91

Parent:

7:43d9c70b6689

Child:

9:8193c05bd0a0

--- a/main.cpp	Tue May 21 14:17:12 2019 +0000
+++ b/main.cpp	Wed May 22 09:52:47 2019 +0000
@@ -1,22 +1,40 @@
 #include "mbed.h"
 #include "class_ventouse.h"
-#include "ident_CRAC.h"
+#include "ident_crac.h"
 #include "extern.h"
+#define SIZE_FIFO 50
 
-#define ROBOT_SMALL
+
 
-#define SIZE_FIFO 50
+
 
 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
+char end_game = 0;
 
-Ventouse* ventouse[8];
-char end_game = 0;
+Ventouse* ventouse[NB_VENTOUSES];
+
+#ifdef ROBOT_SMALL
+         
+#endif
+
+#ifdef ROBOT_BIG
+PwmOut ascenseur[8] = {PC_9, PA_8, PA_9, PA_10, PC_7, PC_8, PB_10 ,PB_2};
+PwmOut* ascenseur_D;
+PwmOut* ascenseur_G;
+
+#define VIT_G 0.7
+#define VIT_D 0.65
+
+void set_ascensseur(int allume);
+#endif
+
 
 
 void get_etat_ventouses();
 
+
 CAN can(PB_8,PB_9,1000000);
 Serial pc(USBTX,USBRX);
 
@@ -49,16 +67,26 @@
     
         switch(identifiant){
             
-            #ifdef ROBOT_SMALL
             case HACHEUR_GET_ATOM:
                 BRAS = msgRxBuffer[FIFO_lecture].data[0];
                 ventouse[BRAS]->action(1);
                 break;
-            
+                
             case HACHEUR_RELEASE_ATOM:
                 BRAS = msgRxBuffer[FIFO_lecture].data[0];
                 ventouse[BRAS]->action(0);
-                break;              
+                break;   
+            
+            case HACHEUR_STATUT_VENTOUSES:
+                get_etat_ventouses();
+                break;
+            
+            case GLOBAL_GAME_END:
+                end_game = 1;
+                break;
+            
+            #ifdef ROBOT_SMALL
+                       
             
             case HACHEUR_GET_PRESENTOIR_AR:           
                 ventouse[AR_GAUCHE]->action(1);
@@ -84,16 +112,28 @@
                 ventouse[AV_DROIT]->action(0);
                 break;
                 
-            case HACHEUR_STATUT_VENTOUSES:
-                get_etat_ventouses();
+
+            
+
+            #endif
+
+            #ifdef ROBOT_BIG            
+            
+            case HACHEUR_GET_PRESENTOIR_AV :
+                ventouse[PGR_GAUCHE]->action(1);
+                ventouse[PGR_CENTRE]->action(1);
+                ventouse[PGR_DROIT]->action(1);
                 break;
             
-            case GLOBAL_GAME_END:
-                end_game = 1;
+            case HACHEUR_RELEASE_AV :
+                ventouse[PGR_GAUCHE]->action(0);
+                ventouse[PGR_CENTRE]->action(0);
+                ventouse[PGR_DROIT]->action(0);
                 break;
-            #endif
-
-            #ifdef ROBOT_BIG
+            
+            case ETAT_COUROIES :
+                set_ascensseur(msgRxBuffer[FIFO_lecture].data[0]);
+                break;
             
             #endif
         }
@@ -117,21 +157,40 @@
     //ventouse[AV_BAS] = new Ventouse(PA_6, PA_5, PA_7, AV_BAS); 
     ventouse[AV_BAS] = new Ventouse(PA_6, PA_7, AV_BAS); 
     ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
-
+    
 
+    #endif    
+    
+    #ifdef ROBOT_BIG
+    ventouse[PGR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, PGR_GAUCHE);
+    ventouse[PGR_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, PGR_CENTRE);
+    ventouse[PGR_DROIT] = new Ventouse(PA_11, PA_15, PC_1, PGR_DROIT);
+    
+    for (int i=0; i<8; i++){
+        ascenseur[i].period_us(50);
+    }
+        
+    ascenseur_D = ascenseur;
+    ascenseur_G = ascenseur + 4;
+    
+    
+    set_ascensseur(0);
+    wait(1);
+    set_ascensseur(1);
+    wait(2);
+    set_ascensseur(0);
     #endif
+    
     pc.printf("LAUNCHED");
     while(1) {
         canProcessRx();
-        for(int i=0; i<8; i++){
+        for(int i=0; i<NB_VENTOUSES; i++){
             ventouse[i]->automate();
         }
-        //ventouse[1]->getPression();
-        //ventouse[4]->getPression();
         if(end_game){
-            for(int i=0; i<8;i++){
+            for(int i=0; i<NB_VENTOUSES;i++){
                 ventouse[i]->setPompe(0.0);
-                ventouse[i]->setElectrovanne(0.0);
+                ventouse[i]->setElectrovanne(0);
             }
             while(1){;}
         }
@@ -139,6 +198,20 @@
 }
 
 
+
+#ifdef ROBOT_BIG
+void set_ascensseur(int allume){
+    float vit = VIT_D*allume;
+    for (int i=0; i<4; i++){
+        ascenseur_D[i] = vit;
+    }
+    vit = VIT_G*allume;
+    for (int i=0; i<4; i++){
+        ascenseur_G[i] = vit;
+    }
+}
+#endif
+
 void get_etat_ventouses()
 {   
     CANMessage etat_ventouses = CANMessage();
@@ -148,7 +221,7 @@
     etat_ventouses.type=CANData;
     etat_ventouses.data[0]=0;
     etat_ventouses.data[0]=1;
-    for(int i=7; i>=0; i--){
+    for(int i=NB_VENTOUSES; 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();       
     }