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Utilisatio_MX12_V2
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test_carteAToutFaire_PR
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CRAC Team
Revision 3:1bb26049bdd1, committed 2017-05-20
- Comitter:
- R66Y
- Date:
- Sat May 20 15:23:58 2017 +0000
- Parent:
- 2:9d280856a536
- Commit message:
- Programme de contr?le des AX12 avec rajout de l'MX12;
Changed in this revision
| Actionneur.cpp | Show annotated file Show diff for this revision Revisions of this file |
| Actionneur.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 9d280856a536 -r 1bb26049bdd1 Actionneur.cpp
--- a/Actionneur.cpp Fri May 19 08:06:49 2017 +0000
+++ b/Actionneur.cpp Sat May 20 15:23:58 2017 +0000
@@ -18,8 +18,8 @@
static float TAB_ANGLE1[4], TAB_ANGLE2[4];
static char TAB_POSITION[4];
-AX12 *deux_myAX12, *trois_myAX12, *quatre_myAX12, *sept_myAX12, *huit_myAX12, *quinze_myAX12, *treize_myAX12, *quatorze_myAX12, *dixhuit_myAX12, *multiple_myAX12, *multiple2_myAX12;
-AX12 *MilieuBrasPompe, *HautBrasPompe, *BasBrasPompe, *BrasPompeAx12, *TabPompeBras;
+AX12 *un_myMX12, *deux_myAX12, *trois_myAX12, *quatre_myAX12, *sept_myAX12, *huit_myAX12, *quinze_myAX12, *treize_myAX12, *quatorze_myAX12, *dixhuit_myAX12, *multiple_myAX12, *multiple2_myAX12;
+AX12 *TrappeLanceur, *MilieuBrasPompe, *HautBrasPompe, *BasBrasPompe, *BrasPompeAx12, *TabPompeBras;
@@ -56,16 +56,22 @@
{
short vitesse=700;
+ TrappeLanceur = new AX12(p9, p10, 1, 1000000); // MX12
+
HautBrasPompe = new AX12(p9, p10, 3, 1000000);
MilieuBrasPompe = new AX12(p9, p10, 2, 1000000);
BasBrasPompe = new AX12(p9, p10, 1, 1000000);
BrasPompeAx12 = new AX12(p9,p10,0xFE,1000000);
+ TrappeLanceur->Set_Goal_speed(vitesse); // MX12
+
HautBrasPompe->Set_Goal_speed(vitesse);
MilieuBrasPompe->Set_Goal_speed(vitesse);
BasBrasPompe->Set_Goal_speed(vitesse);
+ TrappeLanceur->Set_Mode(0); // MX12
+
HautBrasPompe->Set_Mode(0);
MilieuBrasPompe->Set_Mode(0);
BasBrasPompe->Set_Mode(0);
@@ -78,7 +84,8 @@
pc.printf("Haut : %lf \n\r ", HautBrasPompe->Get_Position() );
pc.printf("Milieu : %lf \n\r ", MilieuBrasPompe->Get_Position() );
- pc.printf("Bas: %lf \n\r ", BasBrasPompe->Get_Position() );
+ pc.printf("Bas: %lf \n\r ", BasBrasPompe->Get_Position() );
+ pc.printf("Bas: %lf \n\r ", TrappeLanceur->Get_Position() ); // MX12
}
@@ -95,12 +102,12 @@
unsigned int GoalPos1, GoalPos2, GoalPos3;
switch(etat_ax12){
- case AX12_GET_POSITION:
+ case AX12_GET_POSITION: // 10 (10)
GetPositionAx12();
break;
- case AX12_VIDER_FUSEE_POMPE:
+ case AX12_VIDER_FUSEE_POMPE: // 8 (10)
speed=511;
@@ -134,7 +141,7 @@
Fin_action();
break;
- case AX12_VIDER_FUSEE_POMPEBLEU:
+ case AX12_VIDER_FUSEE_POMPEBLEU: // 11 (10)
speed=511;
@@ -164,7 +171,7 @@
Fin_action();
break;
- case AX12_REMPLIR_BASE_POMPE:
+ case AX12_REMPLIR_BASE_POMPE: // 9 (10)
speed=511;
@@ -193,7 +200,7 @@
Fin_action();
break;
- case AX12_INITIALISATION :
+ case AX12_INITIALISATION : // 0
if (FlagAx12 == 1){
Initialisation_position(1);
//Check_positionAX12(&TAB1[25], 1);
@@ -206,7 +213,7 @@
}
break;
- case AX12_PREPARATION_PRISE :
+ case AX12_PREPARATION_PRISE : // 1 (10)
Preparation_prise(choix_bras);
if (action == 0){
Fin_action();
@@ -214,43 +221,49 @@
}
break;
- case AX12_STOCKAGE_HAUT :
+ case AX12_STOCKAGE_HAUT : // 2 (10)
Stockage_haut(choix_bras);
etat_ax12 = AX12_DEFAUT;
Fin_action();
break;
- case AX12_STOCKAGE_BAS :
+ case AX12_STOCKAGE_BAS : // 3 (10)
Stockage_bas(choix_bras);
etat_ax12 = AX12_DEFAUT;
Fin_action();
break;
- case AX12_DEPOSER :
+ case AX12_DEPOSER : // 4 (10)
Deposer(choix_bras);
etat_ax12 = AX12_DEFAUT;
Fin_action();
break;
- case AX12_PREPARATION_DEPOT_BAS :
+ case AX12_PREPARATION_DEPOT_BAS : // 5 (10)
Preparation_depot_bas(choix_bras);
etat_ax12 = AX12_DEFAUT;
Fin_action();
break;
- case AX12_PREPARATION_DEPOT_HAUT :
+ case AX12_PREPARATION_DEPOT_HAUT : // 6 (10)
Preparation_depot_haut(choix_bras);
etat_ax12 = AX12_DEFAUT;
Fin_action();
break;
- case AX12_POUSSER_MODULE :
+ case AX12_POUSSER_MODULE : // 7 (10)
Pousser_module(choix_bras);
etat_ax12 = AX12_DEFAUT;
Fin_action();
break;
- case AX12_DEFAUT :
+ case BOUGER_MX12 : // 12 (10)
+ bouger_MX12(choix_bras); // Le choix du bras détermine le sens de rotation de l'MX12 : 0 position initiale | 1 tourne à droite | 2 tourne à gauche.
+ etat_ax12 = AX12_DEFAUT;
+ Fin_action();
+ break;
+
+ case AX12_DEFAUT : // 20 (10)
action = 0;
break;
}
@@ -317,6 +330,7 @@
/* DESCRIPTION : Fonction qui place les bras en position verticale */
/****************************************************************************************/
void Initialisation_position(unsigned char choix){
+ un_myMX12->Set_Secure_Goal(600); // Initialise la position de l'MX12 à 180°
if (choix == 1){
multiple_myAX12->multiple_goal_and_speed(4,TAB1);
wait(TIME);
@@ -329,9 +343,7 @@
else if (choix == 3){
BrasPompeAx12->multiple_goal_and_speed(3,TabBrasPompePosInit);
wait(TIME);
- }
-
-
+ }
}
/****************************************************************************************/
@@ -459,6 +471,26 @@
}
/****************************************************************************************/
+/* FUNCTION NAME: bouger_MX12 */
+/* DESCRIPTION : Fonction qui sélectionne le sens de rotation de l'MX12 et le bouge */
+/****************************************************************************************/
+void bouger_MX12(unsigned char choix){
+ if( choix == 1) // Tourne à droite
+ {
+ un_myMX12->Set_Secure_Goal(0); // tourner droite
+ }
+ else if(choix == 2) // Tourne à gauche
+ {
+ un_myMX12->Set_Secure_Goal(1200); // tourner gauche
+ }
+ else if (choix == 0)
+ {
+ un_myMX12->Set_Secure_Goal(600); // position initiale
+ }
+}
+
+
+/****************************************************************************************/
/* FUNCTION NAME: Pousser_module */
/* DESCRIPTION : Fonction qui permet pousser le module situé à l'entrée de la bas */
/****************************************************************************************/
diff -r 9d280856a536 -r 1bb26049bdd1 Actionneur.h --- a/Actionneur.h Fri May 19 08:06:49 2017 +0000 +++ b/Actionneur.h Sat May 20 15:23:58 2017 +0000 @@ -14,6 +14,7 @@ #define AX12_REMPLIR_BASE_POMPE 9 #define AX12_GET_POSITION 10 #define AX12_VIDER_FUSEE_POMPEBLEU 11 +#define BOUGER_MX12 12 #define AX12_DEFAUT 20 #define TOLERANCE_AX12 50 @@ -78,6 +79,12 @@ void Pousser_module(unsigned char choix); /****************************************************************************************/ +/* FUNCTION NAME: bouger_MX12 */ +/* DESCRIPTION : Fonction qui sélectionne le sens de rotation de l'MX12 et le bouge */ +/****************************************************************************************/ +void bouger_MX12(unsigned char choix); + +/****************************************************************************************/ /* FUNCTION NAME: Check_positionAX12 */ /* DESCRIPTION : Fonction qui permet de verifier la position des AX12 */ /****************************************************************************************/