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carte esclave pompe 2020 V1
Dependencies: mbed ident_crac
main.cpp@10:765b4ff6d721, 2019-05-22 (annotated)
- Committer:
- kyxstark
- Date:
- Wed May 22 15:42:29 2019 +0000
- Revision:
- 10:765b4ff6d721
- Parent:
- 9:8193c05bd0a0
- Child:
- 11:98dfe1a61df5
- Child:
- 12:2491a5b0f90b
correction get ventouses;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
marwanesaich | 0:84a8c24e29ae | 1 | #include "mbed.h" |
marwanesaich | 0:84a8c24e29ae | 2 | #include "class_ventouse.h" |
kyxstark | 8:a25a9c22ba91 | 3 | #include "ident_crac.h" |
marwanesaich | 4:82c90657da4a | 4 | #include "extern.h" |
kyxstark | 8:a25a9c22ba91 | 5 | #define SIZE_FIFO 50 |
marwanesaich | 1:8a55f1d5cb26 | 6 | |
kyxstark | 8:a25a9c22ba91 | 7 | |
marwanesaich | 0:84a8c24e29ae | 8 | |
kyxstark | 8:a25a9c22ba91 | 9 | |
marwanesaich | 0:84a8c24e29ae | 10 | |
marwanesaich | 0:84a8c24e29ae | 11 | CANMessage msgRxBuffer[SIZE_FIFO]; |
marwanesaich | 0:84a8c24e29ae | 12 | unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
marwanesaich | 0:84a8c24e29ae | 13 | signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
kyxstark | 8:a25a9c22ba91 | 14 | char end_game = 0; |
marwanesaich | 0:84a8c24e29ae | 15 | |
kyxstark | 8:a25a9c22ba91 | 16 | Ventouse* ventouse[NB_VENTOUSES]; |
kyxstark | 8:a25a9c22ba91 | 17 | |
kyxstark | 8:a25a9c22ba91 | 18 | #ifdef ROBOT_SMALL |
kyxstark | 8:a25a9c22ba91 | 19 | |
kyxstark | 8:a25a9c22ba91 | 20 | #endif |
kyxstark | 8:a25a9c22ba91 | 21 | |
kyxstark | 8:a25a9c22ba91 | 22 | #ifdef ROBOT_BIG |
kyxstark | 8:a25a9c22ba91 | 23 | PwmOut ascenseur[8] = {PC_9, PA_8, PA_9, PA_10, PC_7, PC_8, PB_10 ,PB_2}; |
kyxstark | 8:a25a9c22ba91 | 24 | PwmOut* ascenseur_D; |
kyxstark | 8:a25a9c22ba91 | 25 | PwmOut* ascenseur_G; |
kyxstark | 8:a25a9c22ba91 | 26 | |
kyxstark | 8:a25a9c22ba91 | 27 | #define VIT_G 0.7 |
kyxstark | 8:a25a9c22ba91 | 28 | #define VIT_D 0.65 |
kyxstark | 8:a25a9c22ba91 | 29 | |
kyxstark | 8:a25a9c22ba91 | 30 | void set_ascensseur(int allume); |
kyxstark | 8:a25a9c22ba91 | 31 | #endif |
kyxstark | 8:a25a9c22ba91 | 32 | |
marwanesaich | 0:84a8c24e29ae | 33 | |
marwanesaich | 0:84a8c24e29ae | 34 | |
marwanesaich | 0:84a8c24e29ae | 35 | void get_etat_ventouses(); |
marwanesaich | 0:84a8c24e29ae | 36 | |
kyxstark | 8:a25a9c22ba91 | 37 | |
marwanesaich | 2:4cc8fa2f64be | 38 | CAN can(PB_8,PB_9,1000000); |
marwanesaich | 2:4cc8fa2f64be | 39 | Serial pc(USBTX,USBRX); |
marwanesaich | 0:84a8c24e29ae | 40 | |
marwanesaich | 0:84a8c24e29ae | 41 | /*********************************************************************************************************/ |
marwanesaich | 0:84a8c24e29ae | 42 | /* FUNCTION NAME: canRx_ISR */ |
marwanesaich | 0:84a8c24e29ae | 43 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
marwanesaich | 0:84a8c24e29ae | 44 | /*********************************************************************************************************/ |
marwanesaich | 0:84a8c24e29ae | 45 | void canRx_ISR (void) |
marwanesaich | 0:84a8c24e29ae | 46 | { |
marwanesaich | 0:84a8c24e29ae | 47 | if (can.read(msgRxBuffer[FIFO_ecriture])) |
marwanesaich | 0:84a8c24e29ae | 48 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
marwanesaich | 0:84a8c24e29ae | 49 | } |
marwanesaich | 0:84a8c24e29ae | 50 | |
marwanesaich | 0:84a8c24e29ae | 51 | |
marwanesaich | 0:84a8c24e29ae | 52 | /*********************************************************************************************************/ |
marwanesaich | 0:84a8c24e29ae | 53 | /* FUNCTION NAME: canProcessRx */ |
marwanesaich | 0:84a8c24e29ae | 54 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
marwanesaich | 0:84a8c24e29ae | 55 | /*********************************************************************************************************/ |
marwanesaich | 0:84a8c24e29ae | 56 | void canProcessRx(void){ |
marwanesaich | 0:84a8c24e29ae | 57 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
marwanesaich | 0:84a8c24e29ae | 58 | CANMessage msgTx=CANMessage(); |
marwanesaich | 0:84a8c24e29ae | 59 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
marwanesaich | 0:84a8c24e29ae | 60 | if(FIFO_occupation<0) |
marwanesaich | 0:84a8c24e29ae | 61 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
marwanesaich | 0:84a8c24e29ae | 62 | if(FIFO_max_occupation<FIFO_occupation) |
marwanesaich | 0:84a8c24e29ae | 63 | FIFO_max_occupation=FIFO_occupation; |
marwanesaich | 0:84a8c24e29ae | 64 | if(FIFO_occupation!=0) { |
marwanesaich | 0:84a8c24e29ae | 65 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
marwanesaich | 1:8a55f1d5cb26 | 66 | char BRAS = 0; |
marwanesaich | 1:8a55f1d5cb26 | 67 | |
marwanesaich | 0:84a8c24e29ae | 68 | switch(identifiant){ |
marwanesaich | 0:84a8c24e29ae | 69 | |
marwanesaich | 0:84a8c24e29ae | 70 | case HACHEUR_GET_ATOM: |
marwanesaich | 1:8a55f1d5cb26 | 71 | BRAS = msgRxBuffer[FIFO_lecture].data[0]; |
marwanesaich | 2:4cc8fa2f64be | 72 | ventouse[BRAS]->action(1); |
marwanesaich | 0:84a8c24e29ae | 73 | break; |
kyxstark | 8:a25a9c22ba91 | 74 | |
marwanesaich | 0:84a8c24e29ae | 75 | case HACHEUR_RELEASE_ATOM: |
marwanesaich | 1:8a55f1d5cb26 | 76 | BRAS = msgRxBuffer[FIFO_lecture].data[0]; |
marwanesaich | 2:4cc8fa2f64be | 77 | ventouse[BRAS]->action(0); |
kyxstark | 8:a25a9c22ba91 | 78 | break; |
kyxstark | 8:a25a9c22ba91 | 79 | |
kyxstark | 8:a25a9c22ba91 | 80 | case HACHEUR_STATUT_VENTOUSES: |
kyxstark | 8:a25a9c22ba91 | 81 | get_etat_ventouses(); |
kyxstark | 8:a25a9c22ba91 | 82 | break; |
kyxstark | 8:a25a9c22ba91 | 83 | |
kyxstark | 8:a25a9c22ba91 | 84 | case GLOBAL_GAME_END: |
kyxstark | 8:a25a9c22ba91 | 85 | end_game = 1; |
kyxstark | 8:a25a9c22ba91 | 86 | break; |
kyxstark | 8:a25a9c22ba91 | 87 | |
kyxstark | 8:a25a9c22ba91 | 88 | #ifdef ROBOT_SMALL |
kyxstark | 8:a25a9c22ba91 | 89 | |
marwanesaich | 0:84a8c24e29ae | 90 | |
marwanesaich | 4:82c90657da4a | 91 | case HACHEUR_GET_PRESENTOIR_AR: |
marwanesaich | 5:176e7353ba1c | 92 | ventouse[AR_GAUCHE]->action(1); |
marwanesaich | 5:176e7353ba1c | 93 | ventouse[AR_CENTRE]->action(1); |
marwanesaich | 5:176e7353ba1c | 94 | ventouse[AR_DROIT]->action(1); |
marwanesaich | 0:84a8c24e29ae | 95 | break; |
marwanesaich | 0:84a8c24e29ae | 96 | |
marwanesaich | 5:176e7353ba1c | 97 | case HACHEUR_RELEASE_AR: |
marwanesaich | 5:176e7353ba1c | 98 | ventouse[AR_GAUCHE]->action(0); |
marwanesaich | 5:176e7353ba1c | 99 | ventouse[AR_CENTRE]->action(0); |
marwanesaich | 5:176e7353ba1c | 100 | ventouse[AR_DROIT]->action(0); |
marwanesaich | 5:176e7353ba1c | 101 | break; |
marwanesaich | 5:176e7353ba1c | 102 | |
marwanesaich | 1:8a55f1d5cb26 | 103 | case HACHEUR_GET_PRESENTOIR_AV : |
marwanesaich | 5:176e7353ba1c | 104 | ventouse[AV_GAUCHE]->action(1); |
marwanesaich | 5:176e7353ba1c | 105 | ventouse[AV_CENTRE]->action(1); |
marwanesaich | 5:176e7353ba1c | 106 | ventouse[AV_DROIT]->action(1); |
marwanesaich | 0:84a8c24e29ae | 107 | break; |
marwanesaich | 0:84a8c24e29ae | 108 | |
marwanesaich | 5:176e7353ba1c | 109 | case HACHEUR_RELEASE_AV : |
marwanesaich | 5:176e7353ba1c | 110 | ventouse[AV_GAUCHE]->action(0); |
marwanesaich | 5:176e7353ba1c | 111 | ventouse[AV_CENTRE]->action(0); |
marwanesaich | 5:176e7353ba1c | 112 | ventouse[AV_DROIT]->action(0); |
marwanesaich | 5:176e7353ba1c | 113 | break; |
marwanesaich | 5:176e7353ba1c | 114 | |
kyxstark | 8:a25a9c22ba91 | 115 | |
kyxstark | 8:a25a9c22ba91 | 116 | |
kyxstark | 8:a25a9c22ba91 | 117 | |
kyxstark | 8:a25a9c22ba91 | 118 | #endif |
kyxstark | 8:a25a9c22ba91 | 119 | |
kyxstark | 8:a25a9c22ba91 | 120 | #ifdef ROBOT_BIG |
kyxstark | 8:a25a9c22ba91 | 121 | |
kyxstark | 8:a25a9c22ba91 | 122 | case HACHEUR_GET_PRESENTOIR_AV : |
kyxstark | 8:a25a9c22ba91 | 123 | ventouse[PGR_GAUCHE]->action(1); |
kyxstark | 8:a25a9c22ba91 | 124 | ventouse[PGR_CENTRE]->action(1); |
kyxstark | 8:a25a9c22ba91 | 125 | ventouse[PGR_DROIT]->action(1); |
marwanesaich | 0:84a8c24e29ae | 126 | break; |
marwanesaich | 0:84a8c24e29ae | 127 | |
kyxstark | 8:a25a9c22ba91 | 128 | case HACHEUR_RELEASE_AV : |
kyxstark | 8:a25a9c22ba91 | 129 | ventouse[PGR_GAUCHE]->action(0); |
kyxstark | 8:a25a9c22ba91 | 130 | ventouse[PGR_CENTRE]->action(0); |
kyxstark | 8:a25a9c22ba91 | 131 | ventouse[PGR_DROIT]->action(0); |
marwanesaich | 0:84a8c24e29ae | 132 | break; |
kyxstark | 8:a25a9c22ba91 | 133 | |
kyxstark | 9:8193c05bd0a0 | 134 | case HACHEUR_ID_COUROIES : |
kyxstark | 8:a25a9c22ba91 | 135 | set_ascensseur(msgRxBuffer[FIFO_lecture].data[0]); |
kyxstark | 8:a25a9c22ba91 | 136 | break; |
marwanesaich | 0:84a8c24e29ae | 137 | |
marwanesaich | 0:84a8c24e29ae | 138 | #endif |
marwanesaich | 0:84a8c24e29ae | 139 | } |
marwanesaich | 0:84a8c24e29ae | 140 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
marwanesaich | 0:84a8c24e29ae | 141 | } |
marwanesaich | 0:84a8c24e29ae | 142 | } |
marwanesaich | 0:84a8c24e29ae | 143 | |
marwanesaich | 0:84a8c24e29ae | 144 | int main() { |
marwanesaich | 0:84a8c24e29ae | 145 | |
marwanesaich | 0:84a8c24e29ae | 146 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
marwanesaich | 0:84a8c24e29ae | 147 | wait(1); |
marwanesaich | 1:8a55f1d5cb26 | 148 | #ifdef ROBOT_SMALL |
kyxstark | 10:765b4ff6d721 | 149 | pc.printf("\nPetit robot\n\n"); |
marwanesaich | 2:4cc8fa2f64be | 150 | ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE); |
marwanesaich | 2:4cc8fa2f64be | 151 | ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1, AR_DROIT); |
marwanesaich | 5:176e7353ba1c | 152 | //ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1, AR_BAS); |
marwanesaich | 5:176e7353ba1c | 153 | ventouse[AR_BAS] = new Ventouse(PA_11, PC_1, AR_BAS); |
marwanesaich | 2:4cc8fa2f64be | 154 | ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE); |
marwanesaich | 0:84a8c24e29ae | 155 | |
marwanesaich | 2:4cc8fa2f64be | 156 | ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE); |
marwanesaich | 4:82c90657da4a | 157 | ventouse[AR_GAUCHE] = new Ventouse(PB_10, PB_2, PC_4, AR_GAUCHE); |
marwanesaich | 5:176e7353ba1c | 158 | //ventouse[AV_BAS] = new Ventouse(PA_6, PA_5, PA_7, AV_BAS); |
marwanesaich | 5:176e7353ba1c | 159 | ventouse[AV_BAS] = new Ventouse(PA_6, PA_7, AV_BAS); |
marwanesaich | 2:4cc8fa2f64be | 160 | ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT); |
kyxstark | 8:a25a9c22ba91 | 161 | |
marwanesaich | 4:82c90657da4a | 162 | |
kyxstark | 8:a25a9c22ba91 | 163 | #endif |
kyxstark | 8:a25a9c22ba91 | 164 | |
kyxstark | 8:a25a9c22ba91 | 165 | #ifdef ROBOT_BIG |
kyxstark | 10:765b4ff6d721 | 166 | pc.printf("\nGros robot\n\n"); |
kyxstark | 8:a25a9c22ba91 | 167 | ventouse[PGR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, PGR_GAUCHE); |
kyxstark | 8:a25a9c22ba91 | 168 | ventouse[PGR_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, PGR_CENTRE); |
kyxstark | 8:a25a9c22ba91 | 169 | ventouse[PGR_DROIT] = new Ventouse(PA_11, PA_15, PC_1, PGR_DROIT); |
kyxstark | 8:a25a9c22ba91 | 170 | |
kyxstark | 8:a25a9c22ba91 | 171 | for (int i=0; i<8; i++){ |
kyxstark | 8:a25a9c22ba91 | 172 | ascenseur[i].period_us(50); |
kyxstark | 8:a25a9c22ba91 | 173 | } |
kyxstark | 8:a25a9c22ba91 | 174 | |
kyxstark | 8:a25a9c22ba91 | 175 | ascenseur_D = ascenseur; |
kyxstark | 8:a25a9c22ba91 | 176 | ascenseur_G = ascenseur + 4; |
kyxstark | 8:a25a9c22ba91 | 177 | |
kyxstark | 8:a25a9c22ba91 | 178 | |
kyxstark | 8:a25a9c22ba91 | 179 | set_ascensseur(0); |
kyxstark | 8:a25a9c22ba91 | 180 | wait(1); |
marwanesaich | 1:8a55f1d5cb26 | 181 | #endif |
kyxstark | 8:a25a9c22ba91 | 182 | |
marwanesaich | 1:8a55f1d5cb26 | 183 | pc.printf("LAUNCHED"); |
marwanesaich | 0:84a8c24e29ae | 184 | while(1) { |
marwanesaich | 0:84a8c24e29ae | 185 | canProcessRx(); |
kyxstark | 8:a25a9c22ba91 | 186 | for(int i=0; i<NB_VENTOUSES; i++){ |
marwanesaich | 2:4cc8fa2f64be | 187 | ventouse[i]->automate(); |
marwanesaich | 2:4cc8fa2f64be | 188 | } |
marwanesaich | 0:84a8c24e29ae | 189 | if(end_game){ |
kyxstark | 8:a25a9c22ba91 | 190 | for(int i=0; i<NB_VENTOUSES;i++){ |
marwanesaich | 0:84a8c24e29ae | 191 | ventouse[i]->setPompe(0.0); |
kyxstark | 8:a25a9c22ba91 | 192 | ventouse[i]->setElectrovanne(0); |
marwanesaich | 0:84a8c24e29ae | 193 | } |
marwanesaich | 0:84a8c24e29ae | 194 | while(1){;} |
marwanesaich | 0:84a8c24e29ae | 195 | } |
marwanesaich | 0:84a8c24e29ae | 196 | } |
marwanesaich | 0:84a8c24e29ae | 197 | } |
marwanesaich | 0:84a8c24e29ae | 198 | |
marwanesaich | 0:84a8c24e29ae | 199 | |
kyxstark | 8:a25a9c22ba91 | 200 | |
kyxstark | 8:a25a9c22ba91 | 201 | #ifdef ROBOT_BIG |
kyxstark | 8:a25a9c22ba91 | 202 | void set_ascensseur(int allume){ |
kyxstark | 8:a25a9c22ba91 | 203 | float vit = VIT_D*allume; |
kyxstark | 8:a25a9c22ba91 | 204 | for (int i=0; i<4; i++){ |
kyxstark | 8:a25a9c22ba91 | 205 | ascenseur_D[i] = vit; |
kyxstark | 8:a25a9c22ba91 | 206 | } |
kyxstark | 8:a25a9c22ba91 | 207 | vit = VIT_G*allume; |
kyxstark | 8:a25a9c22ba91 | 208 | for (int i=0; i<4; i++){ |
kyxstark | 8:a25a9c22ba91 | 209 | ascenseur_G[i] = vit; |
kyxstark | 8:a25a9c22ba91 | 210 | } |
kyxstark | 8:a25a9c22ba91 | 211 | } |
kyxstark | 8:a25a9c22ba91 | 212 | #endif |
kyxstark | 8:a25a9c22ba91 | 213 | |
marwanesaich | 0:84a8c24e29ae | 214 | void get_etat_ventouses() |
marwanesaich | 0:84a8c24e29ae | 215 | { |
marwanesaich | 0:84a8c24e29ae | 216 | CANMessage etat_ventouses = CANMessage(); |
marwanesaich | 0:84a8c24e29ae | 217 | etat_ventouses.id=HACHEUR_STATUT_VENTOUSES; |
marwanesaich | 0:84a8c24e29ae | 218 | etat_ventouses.len=2; |
marwanesaich | 0:84a8c24e29ae | 219 | etat_ventouses.format=CANStandard; |
marwanesaich | 0:84a8c24e29ae | 220 | etat_ventouses.type=CANData; |
marwanesaich | 2:4cc8fa2f64be | 221 | etat_ventouses.data[0]=0; |
marwanesaich | 2:4cc8fa2f64be | 222 | etat_ventouses.data[0]=1; |
kyxstark | 10:765b4ff6d721 | 223 | for(int i = (NB_VENTOUSES - 1); i >= 0; i--){ |
marwanesaich | 0:84a8c24e29ae | 224 | etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe(); |
marwanesaich | 0:84a8c24e29ae | 225 | etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression(); |
marwanesaich | 0:84a8c24e29ae | 226 | } |
marwanesaich | 0:84a8c24e29ae | 227 | can.write(etat_ventouses); |
marwanesaich | 0:84a8c24e29ae | 228 | |
marwanesaich | 0:84a8c24e29ae | 229 | } |