Strategie_13h30
Fork of CRAC-Strat_2017_homologation_gros_rob by
peripheriques/peripheriques.h@22:8dec8824a6f7, 2017-05-25 (annotated)
- Committer:
- matthieuvignon
- Date:
- Thu May 25 11:30:31 2017 +0000
- Revision:
- 22:8dec8824a6f7
- Parent:
- 18:cc5fec34ed9c
13h30_Strategie
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ClementBreteau | 16:7321fb3bb396 | 1 | #ifndef CRAC_PERIPHERIQUES |
ClementBreteau | 16:7321fb3bb396 | 2 | #define CRAC_PERIPHERIQUES |
ClementBreteau | 16:7321fb3bb396 | 3 | |
ClementBreteau | 16:7321fb3bb396 | 4 | #include "global.h" |
ClementBreteau | 16:7321fb3bb396 | 5 | |
ClementBreteau | 16:7321fb3bb396 | 6 | #define VITESSE 700 |
ClementBreteau | 18:cc5fec34ed9c | 7 | #define TIME 0.01 |
ClementBreteau | 18:cc5fec34ed9c | 8 | #define T_MOT 0.00005 |
ClementBreteau | 16:7321fb3bb396 | 9 | |
ClementBreteau | 18:cc5fec34ed9c | 10 | |
ClementBreteau | 18:cc5fec34ed9c | 11 | #define AX12_PINCE_CENTRALE_POSITION_INITIALE 1 |
ClementBreteau | 18:cc5fec34ed9c | 12 | #define AX12_PINCE_CENTRALE_PREPARATION_PRISE 2 |
ClementBreteau | 18:cc5fec34ed9c | 13 | #define AX12_PINCE_CENTRALE_PRISE_MODULE 3 |
ClementBreteau | 18:cc5fec34ed9c | 14 | #define AX12_PINCE_CENTRALE_STOCKAGE_HAUT 4 |
ClementBreteau | 18:cc5fec34ed9c | 15 | #define AX12_PINCE_CENTRALE_STOCKAGE_BAS 5 |
ClementBreteau | 18:cc5fec34ed9c | 16 | #define AX12_PINCE_CENTRALE_PREPARATION_DEPOT 6 |
ClementBreteau | 18:cc5fec34ed9c | 17 | #define AX12_PINCE_CENTRALE_DEPOSER 7 |
ClementBreteau | 18:cc5fec34ed9c | 18 | #define AX12_PINCE_CENTRALE_DEPOT_HAUT 8 |
ClementBreteau | 18:cc5fec34ed9c | 19 | |
ClementBreteau | 18:cc5fec34ed9c | 20 | #define AX12_GAUCHE_CROC_OUVERT 11 |
ClementBreteau | 18:cc5fec34ed9c | 21 | #define AX12_GAUCHE_CROC_FERME 12 |
ClementBreteau | 18:cc5fec34ed9c | 22 | #define AX12_DROIT_CROC_INITIALE 13 |
ClementBreteau | 18:cc5fec34ed9c | 23 | |
ClementBreteau | 18:cc5fec34ed9c | 24 | |
ClementBreteau | 18:cc5fec34ed9c | 25 | #define AX12_DROIT_CROC_OUVERT 14 |
ClementBreteau | 18:cc5fec34ed9c | 26 | #define AX12_DROIT_CROC_FERME 15 |
ClementBreteau | 18:cc5fec34ed9c | 27 | #define AX12_GAUCHE_CROC_INITIALE 16 |
ClementBreteau | 18:cc5fec34ed9c | 28 | |
ClementBreteau | 18:cc5fec34ed9c | 29 | #define AX12_TOURNANTE_GAUCHE_POSITION_INITIALE 21 |
ClementBreteau | 18:cc5fec34ed9c | 30 | #define AX12_TOURNANTE_GAUCHE_PREPARATION 22 |
ClementBreteau | 18:cc5fec34ed9c | 31 | #define AX12_TOURNANTE_GAUCHE_MODULE 23 |
ClementBreteau | 18:cc5fec34ed9c | 32 | |
ClementBreteau | 18:cc5fec34ed9c | 33 | #define AX12_TOURNANTE_DROIT_POSITION_INITIALE 24 |
ClementBreteau | 18:cc5fec34ed9c | 34 | #define AX12_TOURNANTE_DROIT_PREPARATION 25 |
ClementBreteau | 18:cc5fec34ed9c | 35 | #define AX12_TOURNANTE_DROIT_MODULE 26 |
ClementBreteau | 18:cc5fec34ed9c | 36 | |
ClementBreteau | 18:cc5fec34ed9c | 37 | #define AX12_POSITION 100 |
ClementBreteau | 18:cc5fec34ed9c | 38 | #define AX12_DEFAUT 0 |
ClementBreteau | 16:7321fb3bb396 | 39 | |
ClementBreteau | 18:cc5fec34ed9c | 40 | #define AX12_DOIGT 4 |
ClementBreteau | 18:cc5fec34ed9c | 41 | #define AX12_BASE 5 |
ClementBreteau | 18:cc5fec34ed9c | 42 | #define AX12_COUDE 6 |
ClementBreteau | 18:cc5fec34ed9c | 43 | #define AX12_PINCEG 7 |
ClementBreteau | 18:cc5fec34ed9c | 44 | #define AX12_PINCED 8 |
ClementBreteau | 18:cc5fec34ed9c | 45 | #define AX12_GAUCHE_EPAULE 1 |
ClementBreteau | 18:cc5fec34ed9c | 46 | #define AX12_GAUCHE_COUDE 2 |
ClementBreteau | 18:cc5fec34ed9c | 47 | #define AX12_DROIT_EPAULE 9 |
ClementBreteau | 18:cc5fec34ed9c | 48 | #define AX12_DROIT_COUDE 10 |
ClementBreteau | 18:cc5fec34ed9c | 49 | |
ClementBreteau | 18:cc5fec34ed9c | 50 | #define TOLERANCE_AX12 50 |
ClementBreteau | 18:cc5fec34ed9c | 51 | |
ClementBreteau | 18:cc5fec34ed9c | 52 | /* PROTOTYPES DE FONCTIONS ET POINTEURS */ |
ClementBreteau | 18:cc5fec34ed9c | 53 | |
ClementBreteau | 18:cc5fec34ed9c | 54 | |
ClementBreteau | 18:cc5fec34ed9c | 55 | |
ClementBreteau | 18:cc5fec34ed9c | 56 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 57 | /* FUNCTION NAME: Fin_action */ |
ClementBreteau | 18:cc5fec34ed9c | 58 | /* DESCRIPTION : Fonction qui confirme la fin de mouvement des AX12 */ |
ClementBreteau | 18:cc5fec34ed9c | 59 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 60 | void Fin_action(void); |
ClementBreteau | 16:7321fb3bb396 | 61 | |
ClementBreteau | 18:cc5fec34ed9c | 62 | |
ClementBreteau | 18:cc5fec34ed9c | 63 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 64 | /* FUNCTION NAME: Initialisation_position */ |
ClementBreteau | 18:cc5fec34ed9c | 65 | /* DESCRIPTION : Fonction qui place les bras en position verticale */ |
ClementBreteau | 18:cc5fec34ed9c | 66 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 67 | void Initialisation_position(unsigned char choix); |
ClementBreteau | 16:7321fb3bb396 | 68 | |
ClementBreteau | 18:cc5fec34ed9c | 69 | void mvtBrasCentralPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
ClementBreteau | 18:cc5fec34ed9c | 70 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
ClementBreteau | 18:cc5fec34ed9c | 71 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3, |
ClementBreteau | 18:cc5fec34ed9c | 72 | unsigned char ID4, unsigned short GSpeed4, unsigned short GPosition4, |
ClementBreteau | 18:cc5fec34ed9c | 73 | unsigned char ID5, unsigned short GSpeed5, unsigned short GPosition5); |
ClementBreteau | 18:cc5fec34ed9c | 74 | |
ClementBreteau | 18:cc5fec34ed9c | 75 | void mvtBrasGauchePR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
ClementBreteau | 18:cc5fec34ed9c | 76 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2); |
ClementBreteau | 18:cc5fec34ed9c | 77 | |
ClementBreteau | 18:cc5fec34ed9c | 78 | void mvtBrasDroitPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
ClementBreteau | 18:cc5fec34ed9c | 79 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2); |
ClementBreteau | 18:cc5fec34ed9c | 80 | |
ClementBreteau | 18:cc5fec34ed9c | 81 | void initialisation_AX12(void); |
ClementBreteau | 18:cc5fec34ed9c | 82 | |
ClementBreteau | 18:cc5fec34ed9c | 83 | void AX12_automate(unsigned char etat_ax12); |
ClementBreteau | 16:7321fb3bb396 | 84 | |
ClementBreteau | 16:7321fb3bb396 | 85 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 86 | /* FUNCTION NAME: moteurGauchePWM */ |
ClementBreteau | 16:7321fb3bb396 | 87 | /* DESCRIPTION : bouge le moteur gauche */ |
ClementBreteau | 16:7321fb3bb396 | 88 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 89 | void moteurGauchePWM(float pwm); |
ClementBreteau | 16:7321fb3bb396 | 90 | |
ClementBreteau | 16:7321fb3bb396 | 91 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 92 | /* FUNCTION NAME: moteurDroitPWM */ |
ClementBreteau | 16:7321fb3bb396 | 93 | /* DESCRIPTION : bouge le moteur gauche */ |
ClementBreteau | 16:7321fb3bb396 | 94 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 95 | void moteurDroitPWM(float pwm); |
ClementBreteau | 16:7321fb3bb396 | 96 | |
ClementBreteau | 16:7321fb3bb396 | 97 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 98 | /* FUNCTION NAME: initMoteurs */ |
ClementBreteau | 16:7321fb3bb396 | 99 | /* DESCRIPTION : init les moteurs des mains du petit robot */ |
ClementBreteau | 16:7321fb3bb396 | 100 | /*********************************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 101 | void initMoteurs(void); |
ClementBreteau | 16:7321fb3bb396 | 102 | |
ClementBreteau | 16:7321fb3bb396 | 103 | /* PROTOTYPES DE FONCTIONS ET POINTEURS */ |
ClementBreteau | 16:7321fb3bb396 | 104 | |
ClementBreteau | 16:7321fb3bb396 | 105 | /****************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 106 | /* FUNCTION NAME: Tourner_module_gauche */ |
ClementBreteau | 16:7321fb3bb396 | 107 | /* DESCRIPTION : Fonction qui permet de tourner les modules a gauche */ |
ClementBreteau | 16:7321fb3bb396 | 108 | /****************************************************************************************/ |
ClementBreteau | 16:7321fb3bb396 | 109 | void Tourner_module_gauche(void); |
ClementBreteau | 16:7321fb3bb396 | 110 | |
ClementBreteau | 16:7321fb3bb396 | 111 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 112 | /* FUNCTION NAME: Tourner_module_droit */ |
ClementBreteau | 18:cc5fec34ed9c | 113 | /* DESCRIPTION : Fonction qui permet de tourner les modules a gauche */ |
ClementBreteau | 16:7321fb3bb396 | 114 | /****************************************************************************************/ |
ClementBreteau | 18:cc5fec34ed9c | 115 | void Tourner_module_droit(void); |
ClementBreteau | 16:7321fb3bb396 | 116 | |
ClementBreteau | 16:7321fb3bb396 | 117 | |
ClementBreteau | 16:7321fb3bb396 | 118 | bool dataCouleurGauche(void); |
ClementBreteau | 16:7321fb3bb396 | 119 | bool dataCouleurDroit(void); |
ClementBreteau | 18:cc5fec34ed9c | 120 | unsigned short dataTelemetre(void); |
ClementBreteau | 16:7321fb3bb396 | 121 | bool dataPressionGauche(void); |
ClementBreteau | 16:7321fb3bb396 | 122 | bool dataPressionDroit(void); |
ClementBreteau | 16:7321fb3bb396 | 123 | |
ClementBreteau | 18:cc5fec34ed9c | 124 | #endif |