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Dependencies:   mbed bloc_8_pompe2 Herkulex_library_2022 ident_crac1 bloc_pompe2

Files at this revision

API Documentation at this revision

Revision 3:77e937c315f1, committed 2022-04-26

Comitter:
ares1999
Date:
Tue Apr 26 14:08:43 2022 +0000
Parent:
2:c7f2e7d8b305
Commit message:
mesure position servo 4 5 6 sur serial 2

Changed in this revision

Action_bras/actions.cpp Show annotated file Show diff for this revision Revisions of this file
Action_bras/actions.h Show annotated file Show diff for this revision Revisions of this file
Gestion_Torque/torque.cpp Show annotated file Show diff for this revision Revisions of this file
Herkulex_library_2022.lib Show annotated file Show diff for this revision Revisions of this file
bloc_8_pompe.lib Show annotated file Show diff for this revision Revisions of this file
bloc_pompe.lib Show annotated file Show diff for this revision Revisions of this file
ident_crac.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
main.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Action_bras/actions.cpp	Tue Mar 08 16:03:27 2022 +0000
+++ b/Action_bras/actions.cpp	Tue Apr 26 14:08:43 2022 +0000
@@ -3,25 +3,12 @@
 uint8_t servos_bras_testeur[2] = {RLED_ON, 1}; 
 uint16_t pos_testeur[1] = {400};
 
-void fct_opti(void)
-{
-    //positionControl_Mul_ensemble_complex(1, 60, servos_bras_testeur, pos_testeur, SERIAL_BAS_DROITE);
-//(uint8_t nb_servo, uint8_t playtime, uint8_t* data, uint16_t* pos, uint8_t numero_serial) // uint16_t position, uint8_t setLED, uint8_t id
-    //wait_ms(3000);
-    positionControl(AR_HAUT, 750, PLAYTIME, GLED_ON, SERIAL_BAS_DROITE);
-    positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, GLED_ON, AR_MILIEU, 160, GLED_ON, SERIAL_BAS_DROITE);
-    wait_ms(TEMPO_LONGUE);
-    positionControl(AR_HAUT, 650, PLAYTIME, GLED_ON, SERIAL_BAS_DROITE);
-    positionControl_Mul_ensemble(AR_BASE, 500, PLAYTIME, GLED_ON, AR_MILIEU, 600, GLED_ON, SERIAL_BAS_DROITE);
-    wait_ms(TEMPO_LONGUE);
-}
-
-void fct_prise_avant(char serial_select)
+/*void fct_prise_avant(char serial_select) //moteurs 1,2,3
 {
     //Rangement
     positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, serial_select);
     positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
-    wait_ms(2000);
+    wait_ms(TEMPO);
     //Pré Prise
     positionControl(AV_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
     positionControl_Mul_ensemble(AV_BASE, 500, PLAYTIME, GLED_ON, AV_MILIEU, 600, GLED_ON, serial_select);
@@ -33,28 +20,50 @@
     //Rangement echantillon
     positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, BLED_ON, AV_MILIEU, 160, BLED_ON, serial_select);
     positionControl(AV_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
+    wait_ms(TEMPO);
+}*/
+
+void fct_prise_arriere(char serial_select) //moteurs 4,5,6
+{
+    //Rangement
+    positionControl_Mul_ensemble(BAR_BASE, 1000, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
+    positionControl(BAR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
+    wait_ms(2000);
+    //Pré Prise
+    positionControl(BAR_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(BAR_BASE, 500, PLAYTIME, GLED_ON, BAR_MILIEU, 600, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    //Prise
+    positionControl(BAR_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(BAR_BASE, 445, PLAYTIME, GLED_ON, BAR_MILIEU, 590, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    //Rangement echantillon
+    positionControl_Mul_ensemble(BAR_BASE, 1000, PLAYTIME, BLED_ON, BAR_MILIEU, 160, BLED_ON, serial_select);
+    positionControl(BAR_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
     wait_ms(3000);
 }
 
-void fct_prise_arriere(char serial_select)
+
+void fct_prise(char moteur1, char moteur2, char moteur3,char serial_select)
 {
     //Rangement
-    positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, RLED_ON, AR_MILIEU, 160, RLED_ON, serial_select);
-    positionControl(AR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
+    positionControl_Mul_ensemble(moteur1, 570, PLAYTIME, RLED_ON, moteur2, 160, RLED_ON, serial_select);
+    positionControl(moteur3, 750, PLAYTIME, RLED_ON, serial_select);
     wait_ms(2000);
     //Pré Prise
-    positionControl(AR_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
-    positionControl_Mul_ensemble(AR_BASE, 500, PLAYTIME, GLED_ON, AR_MILIEU, 600, GLED_ON, serial_select);
-    wait_ms(TEMPO_LONGUE);
+    positionControl(moteur3, 650, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(moteur1, 500, PLAYTIME, GLED_ON, moteur2, 600, GLED_ON, serial_select);
+    wait_ms(2000);
     //Prise
-    positionControl(AR_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
-    positionControl_Mul_ensemble(AR_BASE, 445, PLAYTIME, GLED_ON, AR_MILIEU, 590, GLED_ON, serial_select);
-    wait_ms(TEMPO_LONGUE);
+    positionControl(moteur3, 685, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(moteur1, 445, PLAYTIME, GLED_ON, moteur2, 590, GLED_ON, serial_select);
+    wait_ms(2000);
     //Rangement echantillon
-    positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, BLED_ON, AR_MILIEU, 160, BLED_ON, serial_select);
-    positionControl(AR_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
-    wait_ms(3000);
+    positionControl_Mul_ensemble(moteur1, 1000, PLAYTIME, BLED_ON, moteur2, 160, BLED_ON, serial_select);
+    positionControl(moteur3, 510, PLAYTIME, BLED_ON, serial_select);
+    wait_ms(2000);
 }
+/*
 
 void fct_bras(void)
 {
@@ -94,4 +103,56 @@
     positionControl_Mul_ensemble(AV_HAUT, 750, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
     positionControl(AV_BASE, 1000, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
     wait_ms(TEMPO);
+}*/
+
+void fct_bras_arriere(char serial_select)
+{
+//Rangement bras bas
+    positionControl_Mul_ensemble(BAR_BASE, 1000, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
+    positionControl(BAR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
+    wait_ms(TEMPO);
+//Rangement bras haut
+    positionControl_Mul_ensemble(HAR_BASE, 955, PLAYTIME, RLED_ON, HAR_MILIEU, 35, RLED_ON, serial_select);
+    positionControl(HAR_HAUT, 230, PLAYTIME, RLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    
+//Prise bras bas
+    positionControl(BAR_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(BAR_BASE, 445, PLAYTIME, GLED_ON, BAR_MILIEU, 600, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+//Passe bras bas
+    positionControl_Mul_ensemble(BAR_BASE, 470, 40, BLED_ON, BAR_MILIEU, 800, BLED_ON, serial_select);
+    wait_ms(TEMPO+250);
+    positionControl(BAR_HAUT, 250, 40, BLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    
+//Prise bras haut
+    positionControl(HAR_HAUT, 630, PLAYTIME, GLED_ON, serial_select);
+    wait_ms(500);
+    positionControl_Mul_ensemble(HAR_BASE, 800, PLAYTIME, GLED_ON, HAR_MILIEU, 110, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+//Pré rangement bras haut
+    positionControl_Mul_ensemble(HAR_BASE, 920, PLAYTIME, RLED_ON, HAR_MILIEU, 70, RLED_ON, serial_select);
+    positionControl(HAR_HAUT, 650, PLAYTIME, RLED_ON, serial_select);
+    
+//Pré rangement bras bas
+    positionControl_Mul_ensemble(BAR_BASE, 520, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
+    positionControl(BAR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+//Rangement bras bas
+    positionControl_Mul_ensemble(BAR_HAUT, 750, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
+    positionControl(BAR_BASE, 1000, PLAYTIME, RLED_ON, serial_select);
+    wait_ms(TEMPO);
+}
+
+void activer_CN(void)
+{
+    positionControl_Mul_ensemble(CN_GAUCHE, 790, PLAYTIME, RLED_ON, CN_DROITE, 240, RLED_ON, SERIAL_SPECIAL);
+    wait_ms(TEMPO);
+}
+
+void desactiver_CN(void)
+{
+    positionControl_Mul_ensemble(CN_GAUCHE, 240, PLAYTIME, RLED_ON, CN_DROITE, 790, RLED_ON, SERIAL_SPECIAL);
+    wait_ms(TEMPO);
 }
\ No newline at end of file

--- a/Action_bras/actions.h	Tue Mar 08 16:03:27 2022 +0000
+++ b/Action_bras/actions.h	Tue Apr 26 14:08:43 2022 +0000
@@ -6,10 +6,14 @@
 void test_bras_bas(void); //On teste le bon fonctionnement de tous les moteurs du bras du bas
 void test_bras_haut(void); //On teste le bon fonctionnement de tous les moteurs du bras du haut
 
-void fct_prise_avant(char serial); //Bras du bas avant prend un échantillon
-void fct_prise_arriere(char serial); //Bras du bas arriere prend un échantillon
+void fct_prise_avant(char serial_select);
+void fct_prise_arriere(char serial_select);
+
+void fct_prise(char moteur1, char moteur2, char moteur3,char serial_select); //Bras du bas prend un échantillon
 
-void fct_bras(void); //Fonction mouvement sans interruption --> modif de la librairie
-void fct_opti(void); //Fonction mouvement la plus rapide possible
+void fct_bras_arriere(char serial_select); //Fonction mouvement sans interruption --> modif de la librairie
+
+void activer_CN(void); //ouvre le chasse neige
+void desactiver_CN(void); //ferme le chasse neige
 
 #endif
\ No newline at end of file

--- a/Gestion_Torque/torque.cpp	Tue Mar 08 16:03:27 2022 +0000
+++ b/Gestion_Torque/torque.cpp	Tue Apr 26 14:08:43 2022 +0000
@@ -1,8 +1,8 @@
 #include "torque.h"
 
-void activer_torque(void)  //Active le couple sur tous les servomoteurs
+void activer_torque(void)  //Active le couple sur de tous les servomoteurs sur toutes les liaisons séries
 {
-    for(int i=1;i<=6;i++)
+    for(int i=1;i<=12;i++)
     {
     setTorque(i,TORQUE_ON,1);
     setTorque(i,TORQUE_ON,2);
@@ -12,9 +12,9 @@
     }
 }
 
-void desactiver_torque(void) //Désactive le couple sur tous les servomoteurs
+void desactiver_torque(void) //Désactive le couple de tous les servomoteurs sur toutes les liaisons séries
 {
-    for(int i=1;i<=6;i++)
+    for(int i=1;i<=12;i++)
     {
     setTorque(i,TORQUE_FREE,1);
     setTorque(i,TORQUE_FREE,2);

--- a/Herkulex_library_2022.lib	Tue Mar 08 16:03:27 2022 +0000
+++ b/Herkulex_library_2022.lib	Tue Apr 26 14:08:43 2022 +0000
@@ -1,1 +1,1 @@
-Herkulex_library_2022#8cc3e51b5d85
+https://os.mbed.com/teams/CRAC-Team/code/Herkulex_library_2022/#8cc3e51b5d85

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bloc_8_pompe.lib	Tue Apr 26 14:08:43 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/CRAC-Team/code/bloc_8_pompe2/#4b57f192bfeb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bloc_pompe.lib	Tue Apr 26 14:08:43 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/CRAC-Team/code/bloc_pompe2/#499d754adfe2

--- a/ident_crac.lib	Tue Mar 08 16:03:27 2022 +0000
+++ b/ident_crac.lib	Tue Apr 26 14:08:43 2022 +0000
@@ -1,1 +1,1 @@
-ident_crac#d9f0c325012f
+https://os.mbed.com/teams/CRAC-Team/code/ident_crac1/#df3c600db53b

--- a/main.cpp	Tue Mar 08 16:03:27 2022 +0000
+++ b/main.cpp	Tue Apr 26 14:08:43 2022 +0000
@@ -2,7 +2,7 @@
 
 //initialisations relatives au Bus CAN
 CAN bus_can(PB_8,PB_9,1000000);
-
+Serial pc(USBTX,USBRX,115200);
 CANMessage rx_message ;
 char data[1] = {0x28};
 CANMessage tx_message(0x220,data,1,CANData,CANStandard);
@@ -17,17 +17,39 @@
 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
 unsigned short ackFinAction = 0;
 
+bloc_8_pompe::bloc_8_pompe classe_pompe    (PC_9, PA_8, PB_0,       //bloc 1
+                                                PA_9, PA_10, PB_1,      //bloc 2
+                                                PA_11, PA_15, PC_1,     //bloc 3
+                                                PB_7, PB_6, PC_0,       //bloc 4
+                                                PC_7, PC_8, PC_5,       //bloc 5
+                                                PB_10, PB_2, PC_4,      //bloc 6
+                                                PA_6, PA_5, PA_7,       //bloc 7
+                                                PA_0, PA_1, PA_4);      //bloc 8
+
 int main (void)
 {   
     wait_ms(200); //tempo pour boot
     bus_can.attach(&interruption_reception); //création de l'interrupt attachée à la réception sur le CAN
     //servo_interrupt_en(); //permettre les interuptions
     //activer_torque();
-    wait_ms(200);
-    //pc.printf("\nLAUNCHED\n\r");
+    //wait_ms(200);
+    //desactiver_torque();
+    pc.printf("\nLAUNCHED\n\r");
     
     while(1)
     {   
+        //Envoi_msg_CAN(1);
+        wait_ms(100);
+        servo_interrupt_en();
+        Interrupt2_en();
+        pc.printf("Bar_base: %03d Bar_milieu: %03d Bar_haut: %03d \r",getPos(BAR_BASE,2),getPos(BAR_MILIEU,2),getPos(BAR_HAUT,2));
+        //Interrupt2_en();
+         /*Interrupt2_en();
+        printf("Har_base: %d \n",getPos(HAV_BASE,2));
+        Interrupt2_en();
+        printf("Har_milieu: %d \n",getPos(HAV_MILIEU,2));
+        Interrupt2_en();
+        printf("Har_haut: %d \n",getPos(HAV_HAUT,2));*/
         if(flag_reception_CAN)
         {
             gestion_Message_CAN();
@@ -45,6 +67,8 @@
 void gestion_Message_CAN(void) 
 {
     int identifiant = rx_message.id ;
+    char num_groupe = 1 ;
+    char etat_groupe = 0 ;
     
     switch (identifiant) 
     {
@@ -56,13 +80,48 @@
             desactiver_torque();
             break;
         
-        case BRAS_PRISE:
-            fct_prise_avant(SERIAL_BAS_DROITE);
+        case PRISE_ARRIERE:
+            //fct_prise(BAR_BASE, BAR_MILIEU, BAR_HAUT, SERIAL_GAUCHE);
+            fct_prise_arriere(SERIAL_DROITE);
+            break;
+            
+        case PRISE_COMPLETE:
+            fct_bras_arriere(SERIAL_GAUCHE);
+            break;
+            
+        case CN_OUVERTURE:
+            activer_CN();
+            break;
+            
+        case CN_FERMETURE:
+            desactiver_CN();
             break;
             
-        case TORQUE_1:
-            setTorque(AV_BASE,TORQUE_ON,5);
-            break;
+        case VENT_AT:
+                num_groupe = rx_message.data[0];
+                classe_pompe.aspirer(num_groupe) ;
+                break;
+                
+        case VENT_RE:
+        
+                num_groupe = rx_message.data[0];
+                classe_pompe.relacher(num_groupe) ;
+                break; 
+                
+        case VENT_ETAT:
+                num_groupe = rx_message.data[0];
+                etat_groupe = classe_pompe.etat_actuel(num_groupe) ;
+                
+                if(etat_groupe == 0x07)
+                {
+                    classe_pompe.aspirer(num_groupe) ;
+                    etat_groupe = classe_pompe.etat_actuel(num_groupe) ;
+                }
+                
+                
+                Envoi_msg_CAN(etat_groupe);
+                
+                break;
                 
         default:
                 break;        
@@ -81,4 +140,4 @@
     message.data[0]=donnee;
 
     bus_can.write(message);
-}
+}
\ No newline at end of file

--- a/main.h	Tue Mar 08 16:03:27 2022 +0000
+++ b/main.h	Tue Apr 26 14:08:43 2022 +0000
@@ -6,8 +6,9 @@
 #include "fonctions_herkulex.h"
 #include "torque.h"
 #include "actions.h"
+#include "bloc_8_pompe.h"
 
-//Serial pc(USBTX,USBRX,115200);
+//
 
 extern CAN can;
 extern Serial pc;