CRAC Team
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Strategie_13h30
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CRAC-Strat_2017_homologation_gros_rob
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CRAC Team
Revision 22:8dec8824a6f7, committed 2017-05-25
- Comitter:
- matthieuvignon
- Date:
- Thu May 25 11:30:31 2017 +0000
- Parent:
- 21:65ba6e4d53fa
- Commit message:
- 13h30_Strategie
Changed in this revision
--- a/Globals/global.h Thu May 25 06:35:42 2017 +0000 +++ b/Globals/global.h Thu May 25 11:30:31 2017 +0000 @@ -11,6 +11,7 @@ #include "Telemetre.h" #include "SerialHalfDuplex.h" #include "peripheriques.h" +#include "math.h" extern CAN can1; extern CANMessage msgRxBuffer[SIZE_FIFO];
--- a/Robots/Strategie_big.cpp Thu May 25 06:35:42 2017 +0000
+++ b/Robots/Strategie_big.cpp Thu May 25 11:30:31 2017 +0000
@@ -262,6 +262,8 @@
can1.write(msgTx);
wait_ms(1);
can1.write(msgTx);
+ waitingAckID= 0;
+ waitingAckFrom = 0;
break;
case 116: // pompe avant OFF
@@ -281,6 +283,8 @@
can1.write(msgTx);
wait_ms(1);
can1.write(msgTx);
+ waitingAckID= 0;
+ waitingAckFrom = 0;
break;
case 120: // repos bras arrière
@@ -364,7 +368,7 @@
}
msgTx.data[0]=localData;
- msgTx.data[1]=speed;
+ msgTx.data[1]=localData2;
can1.write(msgTx);
break;
@@ -403,6 +407,9 @@
can1.write(msgTx);
wait_ms(1);
can1.write(msgTx);
+
+ waitingAckID= 0;
+ waitingAckFrom = 0;
break;
case 126: // pompe arriere pwm OFF
@@ -422,6 +429,8 @@
can1.write(msgTx);
wait_ms(1);
can1.write(msgTx);
+ waitingAckID= 0;
+ waitingAckFrom = 0;
break;
case 130: // baiser bras turbine
--- a/Strategie/Strategie.cpp Thu May 25 06:35:42 2017 +0000
+++ b/Strategie/Strategie.cpp Thu May 25 11:30:31 2017 +0000
@@ -18,6 +18,7 @@
signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
signed short x_robot,y_robot,theta_robot;//La position du robot
+signed short target_x_robot, target_y_robot, target_theta_robot;//La position cible du robot utilisé pour continuer une ligne droite
signed short start_move_x,start_move_y,start_move_theta;//La position du robot lors du début d'un mouvement, utilisé pour reprendre le mouvement apres stop balise
@@ -331,6 +332,9 @@
#endif
localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
GoStraight(localData2, 0, 0, localData5);
+ //target_x_robot = x_robot + cos((double)theta_robot)*localData1
+ //target_y_robot =
+ //target_theta_robot = theta_robot;
break;
case MV_TURN: //Rotation sur place
@@ -417,7 +421,7 @@
waitingAckID = ASSERVISSEMENT_RECALAGE;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
- localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
+ //localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
GoStraight(telemetreDistance, 0, 0, 0);
// on reset la distance du telemetre à 0
telemetreDistance = 5000;
@@ -501,6 +505,8 @@
if (telemetreDistance == 0){
waitingAckID = SERVO_AX12_ACTION;// instruction.arg1;
waitingAckFrom = INSTRUCTION_END_AX12; //SERVO_AX12_DONE;
+
+ /////////////////////////////////////////////////////////jhjfhfgjfgh
}else if(telemetreDistance == 5000){
// on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
waitingAckID = ASSERVISSEMENT_RECALAGE;
@@ -594,6 +600,7 @@
gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
}
break;
+
case ETAT_WARING_END_BALISE_WAIT://Attente d'une seconde apres la fin d'un End Balise pour etre sur que c'est bon
if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
//actual_instruction = instruction.nextLineError;
@@ -601,14 +608,49 @@
}
break;
case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
-#ifdef ROBOT_BIG
+/*#ifdef ROBOT_BIG
actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
#else
actual_instruction = instruction.nextLineError;
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
-#endif
- gameEtat = ETAT_END;
+#endif */
+ //gameEtat = ETAT_END;
+ switch(instruction.order)
+ {
+ case MV_COURBURE:
+ //TODO
+ gameEtat = ETAT_END;
+ break;
+ case MV_LINE:
+ //Il faut modifier l'instruction pour la transformer en xyT
+ localData1 = instruction.arg1;//On sauvegarde la distance à parcourir
+ instruction.arg1 = target_x_robot;
+ //x_robot + cos((double)theta_robot)*localData1;//On crée la nouvelle position en X
+ instruction.arg2 = target_y_robot;
+ //y_robot + sin((double)theta_robot)*localData1;//On crée la nouvelle position en y
+ instruction.arg3 = theta_robot;
+ instruction.order = MV_XYT;
+ //instruction.arg1 = 300;//On crée la nouvelle position en X
+ //instruction.arg2 = ;//On crée la nouvelle position en y
+ //instruction.arg3 = theta_robot;
+ //instruction.order = MV_XYT;
+ gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
+ break;
+ case MV_TURN:
+ //TODO
+ gameEtat = ETAT_END;
+ break;
+ case MV_XYT:
+ //TODO envoyer l'instruction de nouveau
+ gameEtat = ETAT_END;
+ break;
+
+ default:
+ gameEtat = ETAT_END;
+ break;
+ }
+
break;
case ETAT_WARNING_SWITCH_STRATEGIE://Si à la fin du timeout il y a toujours un robot, passer à l'instruction d'erreur
actual_instruction = instruction.nextLineError;