![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
carte esclave pompe 2020 V1
Dependencies: mbed ident_crac
main.cpp
- Committer:
- kyxstark
- Date:
- 2019-05-22
- Revision:
- 9:8193c05bd0a0
- Parent:
- 8:a25a9c22ba91
- Child:
- 10:765b4ff6d721
File content as of revision 9:8193c05bd0a0:
#include "mbed.h" #include "class_ventouse.h" #include "ident_crac.h" #include "extern.h" #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[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); /*********************************************************************************************************/ /* FUNCTION NAME: canRx_ISR */ /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ /*********************************************************************************************************/ void canRx_ISR (void) { if (can.read(msgRxBuffer[FIFO_ecriture])) FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; } /*********************************************************************************************************/ /* FUNCTION NAME: canProcessRx */ /* DESCRIPTION : Fonction de traitement des messages CAN */ /*********************************************************************************************************/ void canProcessRx(void){ static signed char FIFO_occupation=0,FIFO_max_occupation=0; CANMessage msgTx=CANMessage(); FIFO_occupation=FIFO_ecriture-FIFO_lecture; if(FIFO_occupation<0) FIFO_occupation=FIFO_occupation+SIZE_FIFO; if(FIFO_max_occupation<FIFO_occupation) FIFO_max_occupation=FIFO_occupation; if(FIFO_occupation!=0) { int identifiant=msgRxBuffer[FIFO_lecture].id; char BRAS = 0; switch(identifiant){ 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; 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); ventouse[AR_CENTRE]->action(1); ventouse[AR_DROIT]->action(1); break; case HACHEUR_RELEASE_AR: ventouse[AR_GAUCHE]->action(0); ventouse[AR_CENTRE]->action(0); ventouse[AR_DROIT]->action(0); break; case HACHEUR_GET_PRESENTOIR_AV : ventouse[AV_GAUCHE]->action(1); ventouse[AV_CENTRE]->action(1); ventouse[AV_DROIT]->action(1); break; case HACHEUR_RELEASE_AV : ventouse[AV_GAUCHE]->action(0); ventouse[AV_CENTRE]->action(0); ventouse[AV_DROIT]->action(0); break; #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 HACHEUR_RELEASE_AV : ventouse[PGR_GAUCHE]->action(0); ventouse[PGR_CENTRE]->action(0); ventouse[PGR_DROIT]->action(0); break; case HACHEUR_ID_COUROIES : set_ascensseur(msgRxBuffer[FIFO_lecture].data[0]); break; #endif } FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; } } int main() { 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, 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[AR_BAS] = new Ventouse(PA_11, 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, AV_CENTRE); ventouse[AR_GAUCHE] = new Ventouse(PB_10, PB_2, PC_4, AR_GAUCHE); //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<NB_VENTOUSES; i++){ ventouse[i]->automate(); } if(end_game){ for(int i=0; i<NB_VENTOUSES;i++){ ventouse[i]->setPompe(0.0); ventouse[i]->setElectrovanne(0); } while(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; } vit = VIT_G*allume; for (int i=0; i<4; i++){ ascenseur_G[i] = vit; } } #endif void get_etat_ventouses() { CANMessage etat_ventouses = CANMessage(); etat_ventouses.id=HACHEUR_STATUT_VENTOUSES; 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=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(); } can.write(etat_ventouses); }