Diff: main.cpp

Revision:

22:f104afbecb98

Parent:

21:42d6cead9cc2

Child:

23:7f62f27c028f

--- a/main.cpp	Sat Mar 07 17:40:59 2020 +0000
+++ b/main.cpp	Sun Mar 08 23:05:13 2020 +0000
@@ -1,5 +1,4 @@
 #include "extern.h"
-#include "Asservissement.h"
 #define SIZE_FIFO 50
 
 
@@ -21,9 +20,6 @@
 DigitalIn Contact8(PC_3, PullNone);
 
 void lecture_contacts(void);
-
-
-
 void get_etat_ventouses();
 
 
@@ -58,77 +54,39 @@
     char BRAS = 0;
     
         switch(identifiant)
-        {
-            
-            case HACHEUR_GET_ATOM:
+        {   
+            //BRAS=data: donc savoir si data peut être envoyé
+            case VENTOUSE_ATTRAPER:
                 BRAS = msgRxBuffer[FIFO_lecture].data[0];
                 ventouse[BRAS]->action(1);
                 break;
                 
-            case HACHEUR_RELEASE_ATOM:
+            case VENTOUSE_RELACHER:
                 BRAS = msgRxBuffer[FIFO_lecture].data[0];
                 ventouse[BRAS]->action(0);
                 break;   
             
-            case HACHEUR_STATUT_VENTOUSES:
+            /*case HACHEUR_STATUT_VENTOUSES:
                 get_etat_ventouses();
-                break;
+                break;*/
             
             case GLOBAL_GAME_END:
                 end_game = 1;
                 break;
                 
-            case HACHEUR_ETAT_CONTACTS:
+            /*case HACHEUR_ETAT_CONTACTS:
                 char contacts_tmp = contacts;
                 can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&contacts_tmp,1));
-                break;*/
+                break;
                 
             case TEST_VENT_1_ON:
                 ventouse[AV_DROIT]->action(1);
                 break;
-                
-            case TEST_VENT_2_ON:
-                ventouse[AV_CENTRE]->action(1);
-                break;
-                
-            case TEST_VENT_3_ON:
-                ventouse[AV_GAUCHE]->action(1);
-                break;
-                
-            case TEST_VENT_4_ON:
-                ventouse[AR_DROIT]->action(1);
-                break;
-                
-            case TEST_VENT_5_ON:
-                ventouse[AR_CENTRE]->action(1);
-                break;
-                
-            case TEST_VENT_6_ON:
-                ventouse[AR_GAUCHE]->action(1);
-                break;
             
             case TEST_VENT_1_OFF:
                 ventouse[AV_GAUCHE]->action(0);
-                break;
-                
-            case TEST_VENT_2_OFF:
-                ventouse[AV_CENTRE]->action(0);
-                break;
-                
-            case TEST_VENT_3_OFF:
-                ventouse[AV_DROIT]->action(0);
-                break;
-                
-            case TEST_VENT_4_OFF:
-                ventouse[AR_GAUCHE]->action(0);
-                break;
-                
-            case TEST_VENT_5_OFF:
-                ventouse[AR_CENTRE]->action(0);
-                break;
-                
-            case TEST_VENT_6_OFF:
-                ventouse[AR_DROIT]->action(0);
+                break;*/
+            default:
                 break;
                       
             }
@@ -139,9 +97,8 @@
 int main() {
     
     can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
-    wait(1);
+    wait_ms(100);
     
-    pc.printf("\nPetit robot\n\n");
     ventouse[AR_DROIT] = new Ventouse(PB_7, PB_6, PC_0, AV_DROIT);
     ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
     ventouse[AR_GAUCHE] = new Ventouse(PA_9, PA_10,  PB_1, AR_GAUCHE);
@@ -150,7 +107,7 @@
     ventouse[AV_GAUCHE] = new Ventouse(PC_7,PC_8 , PC_5, AV_GAUCHE);
     ventouse[AV_CENTRE] = new Ventouse(PB_10, PB_2, PC_4, AR_CENTRE);
     
-    pc.printf("LAUNCHED");
+    pc.printf("Launched carte ventouse");
     ventouse[AV_DROIT]->action(0);
     ventouse[AV_CENTRE]->action(0);
     ventouse[AV_GAUCHE]->action(0);
@@ -160,26 +117,27 @@
     while(1) 
     {
         canProcessRx();
-        for(int i=0; i<NB_VENTOUSES; i++){
+        for(int i=0; i<NB_VENTOUSES; i++)
+        {
             ventouse[i]->automate();
         }            
         lecture_contacts();
             
-
-        if(end_game){
-            for(int i=0; i<NB_VENTOUSES;i++){
+        if(end_game)
+        {
+            for(int i=0; i<NB_VENTOUSES;i++)
+            {
                 ventouse[i]->setPompe(0.0);
                 ventouse[i]->setElectrovanne(0);
             }
-            while(1){;}
+            while(1);
         }
     }
 }
 
 void lecture_contacts(void)
 {
-    static char prev_contacts = contacts;
-    
+    static char prev_contacts = contacts;  
     if(contacts != prev_contacts)
     {
         prev_contacts = contacts;
@@ -189,8 +147,7 @@
 
 void get_etat_ventouses()
 {   
-    CANMessage etat_ventouses = CANMessage();
-    //tat_ventouses.id=HACHEUR_STATUT_VENTOUSES;      
+    CANMessage etat_ventouses = CANMessage();      
     etat_ventouses.len=2;
     etat_ventouses.format=CANStandard;
     etat_ventouses.type=CANData;
@@ -201,5 +158,4 @@
         etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();       
     }
     can.write(etat_ventouses);
-
-}
+}
\ No newline at end of file