Diff: main.cpp

Revision:

17:fcfdd7de9039

Parent:

16:5e00af31ae8a

Child:

18:972d29c668a5

--- a/main.cpp	Thu May 23 10:36:35 2019 +0000
+++ b/main.cpp	Sat May 25 00:56:34 2019 +0000
@@ -5,7 +5,6 @@
 
 
 
-
 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
@@ -13,17 +12,30 @@
 
 Ventouse* ventouse[NB_VENTOUSES];
 
+BusIn contacts(PC_11, PC_12, PB_4, PB_5, PC_13, PC_14, PC_2, PC_3); 
+DigitalIn Contact1(PC_11, PullNone);
+DigitalIn Contact2(PC_12, PullNone);
+DigitalIn Contact3(PB_4, PullNone);
+DigitalIn Contact4(PB_5, PullNone);
+DigitalIn Contact5(PC_13, PullNone);
+DigitalIn Contact6(PC_14, PullNone);
+DigitalIn Contact7(PC_2, PullNone);
+DigitalIn Contact8(PC_3, PullNone);
+
+void lecture_contacts(void);
+
 #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
+#define VIT_COURROIE_V 0.6
+#define VIT_COURROIE_L 0.5
 
 void set_ascensseur(int allume);
 #endif
@@ -82,6 +94,11 @@
             case GLOBAL_GAME_END:
                 end_game = 1;
                 break;
+                
+            case HACHEUR_ETAT_CONTACTS:
+                char contacts_tmp = contacts;
+                can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&contacts_tmp,1));
+                break;
             
             #ifdef ROBOT_SMALL
                        
@@ -110,7 +127,6 @@
                 ventouse[AV_DROIT]->action(0);
                 break;
                 
-
             
 
             #endif
@@ -183,31 +199,56 @@
         canProcessRx();
         for(int i=0; i<NB_VENTOUSES; i++){
             ventouse[i]->automate();
-        }
+        }            
+        lecture_contacts();
+            
+
         if(end_game){
             for(int i=0; i<NB_VENTOUSES;i++){
                 ventouse[i]->setPompe(0.0);
                 ventouse[i]->setElectrovanne(0);
             }
-            #ifdef ROBOT_BIG
+#ifdef ROBOT_BIG
             set_ascensseur(0);
-            #endif
+#endif
             while(1){;}
         }
     }
 }
 
-
-
+void lecture_contacts(void)
+{
+    static char prev_contacts = contacts;
+    
+    if(contacts != prev_contacts)
+    {
+        prev_contacts = contacts;
+        can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&prev_contacts,1));
+    }
+}
 #ifdef ROBOT_BIG
 void set_ascensseur(int allume){
-    float vit = VIT_D*allume;
-    for (int i=0; i<4; i++){
-        ascenseur_D[i] = vit;
+    float vitG, vitD;
+    
+    switch(allume){
+        case 1:
+            vitG = VIT_COURROIE_V;
+            vitD = VIT_COURROIE_L;
+            break;
+        case 2:
+            vitG = VIT_COURROIE_L;
+            vitD = VIT_COURROIE_V;
+            break;
+        default:
+            vitG = 0;
+            vitD = 0;
+            break;
     }
-    vit = VIT_G*allume;
-    for (int i=0; i<4; i++){
-        ascenseur_G[i] = vit;
+    
+    for (int i=0; i<4; i++)
+    {
+        ascenseur_D[i] = vitD;
+        ascenseur_G[i] = vitG;
     }
 }
 #endif