CRAC Team
/
Utilisatio_MX12_V2
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
test_carteAToutFaire_PR
by 
CRAC Team
Embed:
(wiki syntax)
Show/hide line numbers
Actionneur.h
00001 #include "all_includes.h" 00002 00003 00004 00005 #define AX12_INITIALISATION 0 00006 #define AX12_PREPARATION_PRISE 1 00007 #define AX12_STOCKAGE_HAUT 2 00008 #define AX12_STOCKAGE_BAS 3 00009 #define AX12_DEPOSER 4 00010 #define AX12_PREPARATION_DEPOT_BAS 5 00011 #define AX12_PREPARATION_DEPOT_HAUT 6 00012 #define AX12_POUSSER_MODULE 7 00013 #define AX12_VIDER_FUSEE_POMPE 8 00014 #define AX12_REMPLIR_BASE_POMPE 9 00015 #define AX12_GET_POSITION 10 00016 #define AX12_VIDER_FUSEE_POMPEBLEU 11 00017 #define BOUGER_MX12 12 00018 #define AX12_DEFAUT 20 00019 00020 #define TOLERANCE_AX12 50 00021 00022 /* PROTOTYPES DE FONCTIONS ET POINTEURS */ 00023 00024 00025 00026 /****************************************************************************************/ 00027 /* FUNCTION NAME: Fin_action */ 00028 /* DESCRIPTION : Fonction qui confirme la fin de mouvement des AX12 */ 00029 /****************************************************************************************/ 00030 void Fin_action(void); 00031 00032 00033 /****************************************************************************************/ 00034 /* FUNCTION NAME: Initialisation_position */ 00035 /* DESCRIPTION : Fonction qui place les bras en position verticale */ 00036 /****************************************************************************************/ 00037 void Initialisation_position(unsigned char choix); 00038 00039 /****************************************************************************************/ 00040 /* FUNCTION NAME: Preparation_prise */ 00041 /* DESCRIPTION : Fonction qui prepare le robot pour prendre les modules */ 00042 /****************************************************************************************/ 00043 void Preparation_prise(unsigned char choix); 00044 00045 /****************************************************************************************/ 00046 /* FUNCTION NAME: Stockage_haut */ 00047 /* DESCRIPTION : Fonction qui prend et stocke les modules dans la position haute */ 00048 /****************************************************************************************/ 00049 void Stockage_haut(unsigned char choix); 00050 00051 /****************************************************************************************/ 00052 /* FUNCTION NAME: Stockage_bas */ 00053 /* DESCRIPTION : Fonction qui prend et stocke un module dans la pince */ 00054 /****************************************************************************************/ 00055 void Stockage_bas(unsigned char choix); 00056 00057 /****************************************************************************************/ 00058 /* FUNCTION NAME: Deposer */ 00059 /* DESCRIPTION : Fonction qui permet de déposer un module */ 00060 /****************************************************************************************/ 00061 void Deposer(unsigned char choix); 00062 00063 /****************************************************************************************/ 00064 /* FUNCTION NAME: Preparation_depos_bas */ 00065 /* DESCRIPTION : Fonction qui prépare le depos d'un module en bas */ 00066 /****************************************************************************************/ 00067 void Preparation_depot_bas(unsigned char choix); 00068 00069 /****************************************************************************************/ 00070 /* FUNCTION NAME: Preparation_depos_haut */ 00071 /* DESCRIPTION : Fonction qui prépare le depos d'un module en haut */ 00072 /****************************************************************************************/ 00073 void Preparation_depot_haut(unsigned char choix); 00074 00075 /****************************************************************************************/ 00076 /* FUNCTION NAME: Pousser_module */ 00077 /* DESCRIPTION : Fonction qui permet pousser le module situé à l'entrée de la bas */ 00078 /****************************************************************************************/ 00079 void Pousser_module(unsigned char choix); 00080 00081 /****************************************************************************************/ 00082 /* FUNCTION NAME: bouger_MX12 */ 00083 /* DESCRIPTION : Fonction qui sélectionne le sens de rotation de l'MX12 et le bouge */ 00084 /****************************************************************************************/ 00085 void bouger_MX12(unsigned char choix); 00086 00087 /****************************************************************************************/ 00088 /* FUNCTION NAME: Check_positionAX12 */ 00089 /* DESCRIPTION : Fonction qui permet de verifier la position des AX12 */ 00090 /****************************************************************************************/ 00091 void Check_positionAX12(char* TAB, unsigned char choix); 00092 00093 00094 ///////////TABLEAU PINCE DROITE /////////////////////////// --> choix_bras == 1 00095 static char TAB1[25]= {0x12,0xDA, 0x00, 0xFF, 0x00, ///Position initiale 00096 0x04,0xF4, 0x01, 0xFF, 0x00, 00097 0x07,0x00, 0x01, 0xFF, 0x00, 00098 0x0F,0x00, 0x03, 0xFF, 0x00}; 00099 00100 static char TAB2[25]= {0x12,0xFF, 0x02, 0xFF, 0x03, ///Preparation prise 00101 0x04,0xE9, 0x00, 0xFF, 0x03, 00102 0x07,0xF4, 0x01, 0xFF, 0x03, 00103 0x0F,0xF4, 0x01, 0xFF, 0x03}; 00104 00105 static char TAB3[25]= {0x12,0xFF, 0x02, 0xFF, 0x03, ///Stockage haut/bas (attraper module) 00106 0x04,0xE9, 0x00, 0xFF, 0x03, 00107 0x07,0xD5, 0x00, 0xFF, 0x00, 00108 0x0F,0x4D, 0x03, 0xFF, 0x00}; 00109 00110 static char TAB4[25]= {0x12,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (bras en l'air) 00111 0x04,0x00, 0x02, 0xFF, 0x03, 00112 0x07,0xD5, 0x00, 0xFF, 0x00, 00113 0x0F,0x4D, 0x03, 0xFF, 0x00}; 00114 00115 static char TAB5[25]= {0x12,0x35, 0x01, 0xFF, 0x00, ///Stockage haut (module sur tige) 00116 0x04,0x60, 0x01, 0xFF, 0x00, 00117 0x07,0xD5, 0x00, 0xFF, 0x00, 00118 0x0F,0x4D, 0x03, 0xFF, 0x00}; 00119 00120 static char TAB6[25]= {0x12,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (pince ouverte) 00121 0x04,0x50, 0x01, 0xFF, 0x03, 00122 0x07,0x0A, 0x01, 0xFF, 0x03, 00123 0x0F,0xDD, 0x02, 0xFF, 0x03}; 00124 00125 static char TAB7[25]= {0x12,0xA6, 0x00, 0xFF, 0x03, ///Stockage bas (bras en l'air) 00126 0x04,0x50, 0x03, 0xFF, 0x03, 00127 0x07,0xD5, 0x00, 0xFF, 0x03, 00128 0x0F,0x4D, 0x03, 0xFF, 0x03}; 00129 00130 static char TAB8[25]= {0x12,0xF4, 0x01, 0xFF, 0x00, ///Deposer (descendre bras) 00131 0x04,0x00, 0x03, 0xFF, 0x00, 00132 0x07,0xD5, 0x00, 0xFF, 0x00, 00133 0x0F,0x4D, 0x03, 0xFF, 0x00}; 00134 00135 static char TAB9[25]= {0x12,0xF4, 0x01, 0xFF, 0x03, ///Deposer (pince ouverte) 00136 0x04,0x00, 0x03, 0xFF, 0x03, 00137 0x07,0x0A, 0x01, 0xFF, 0x03, 00138 0x0F,0xDD, 0x02, 0xFF, 0x03}; 00139 00140 static char TAB10[25]= {0x12,0x35, 0x01, 0xFF, 0x00, ///deposer (preparation module haut) 00141 0x04,0x00, 0x02, 0xFF, 0x00, 00142 0x07,0xD5, 0x00, 0xFF, 0x00, 00143 0x0F,0x4D, 0x03, 0xFF, 0x00}; 00144 00145 static char TAB11[25]= {0x12,0xB0, 0x01, 0xFF, 0x00, ///Pousser module (bras en bas) 00146 0x04,0x00, 0x03, 0xFF, 0x00, 00147 0x07,0x0A, 0x01, 0xFF, 0x03, 00148 0x0F,0xDD, 0x02, 0xFF, 0x03}; 00149 00150 00151 //////////////////TABLEAU PINCE GAUCHE ///////////////////////////// --> choix_bras == 2 00152 static char TAB21[25]= {0x08,0xDA, 0x00, 0xFF, 0x00, ///Position initiale 00153 0x03,0xF4, 0x01, 0xFF, 0x00, 00154 0x0D,0x00, 0x01, 0xFF, 0x00, 00155 0x0E,0x00, 0x03, 0xFF, 0x00}; 00156 00157 static char TAB22[25]= {0x08,0xFF, 0x02, 0xFF, 0x03, ///Preparation prise 00158 0x03,0xE9, 0x00, 0xFF, 0x03, 00159 0x0D,0xF4, 0x01, 0xFF, 0x03, 00160 0x0E,0xF4, 0x01, 0xFF, 0x03}; 00161 00162 static char TAB23[25]= {0x08,0xFF, 0x02, 0xFF, 0x03, ///Stockage haut/bas (attraper module) 00163 0x03,0xE9, 0x00, 0xFF, 0x03, 00164 0x0D,0xD5, 0x00, 0xFF, 0x00, 00165 0x0E,0x4D, 0x03, 0xFF, 0x00}; 00166 00167 static char TAB24[25]= {0x08,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (bras en l'air) 00168 0x03,0x00, 0x02, 0xFF, 0x03, 00169 0x0D,0xD5, 0x00, 0xFF, 0x00, 00170 0x0E,0x4D, 0x03, 0xFF, 0x00}; 00171 00172 static char TAB25[25]= {0x08,0x35, 0x01, 0xFF, 0x00, ///Stockage haut (module sur tige) 00173 0x03,0x60, 0x01, 0xFF, 0x00, 00174 0x0D,0xD5, 0x00, 0xFF, 0x00, 00175 0x0E,0x4D, 0x03, 0xFF, 0x00}; 00176 00177 static char TAB26[25]= {0x08,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (pince ouverte) 00178 0x03,0x50, 0x01, 0xFF, 0x03, 00179 0x0D,0x0A, 0x01, 0xFF, 0x03, 00180 0x0E,0xDD, 0x02, 0xFF, 0x03}; 00181 00182 static char TAB27[25]= {0x08,0xA6, 0x00, 0xFF, 0x03, ///Stockage bas (bras en l'air) 00183 0x03,0x50, 0x03, 0xFF, 0x03, 00184 0x0D,0xD5, 0x00, 0xFF, 0x03, 00185 0x0E,0x4D, 0x03, 0xFF, 0x03}; 00186 00187 static char TAB28[25]= {0x08,0xF4, 0x01, 0xFF, 0x00, ///Deposer(descendre bras) 00188 0x03,0x00, 0x03, 0xFF, 0x00, 00189 0x0D,0xD5, 0x00, 0xFF, 0x00, 00190 0x0E,0x4D, 0x03, 0xFF, 0x00}; 00191 00192 static char TAB29[25]= {0x08,0xF4, 0x01, 0xFF, 0x03, ///Deposer(pince ouverte) 00193 0x03,0x00, 0x03, 0xFF, 0x03, 00194 0x0D,0xF4, 0x01, 0xFF, 0x03, 00195 0x0E,0xF4, 0x01, 0xFF, 0x03}; 00196 00197 static char TAB30[25]= {0x08,0x35, 0x01, 0xFF, 0x00, ///deposer(preparation module haut) 00198 0x03,0x00, 0x02, 0xFF, 0x00, 00199 0x0D,0xD5, 0x00, 0xFF, 0x00, 00200 0x0E,0x4D, 0x03, 0xFF, 0x00}; 00201 00202 static char TAB31[25]= {0x08,0xB0, 0x01, 0xFF, 0x00, ///Pousser module (bras en bas) 00203 0x03,0x00, 0x03, 0xFF, 0x00, 00204 0x0D,0xD5, 0x00, 0xFF, 0x00, 00205 0x0E,0x4D, 0x03, 0xFF, 0x00}; 00206 00207 00208 char TabBrasPompePosInit[15]= {0x03,0xB0, 0x01, 0xFF, 0x00, /// (bras en bas) 00209 0x02,0x00, 0x03, 0xFF, 0x00, 00210 0x01,0xD5, 0x00, 0xFF, 0x00}; 00211 /* 00212 char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xFD, 0x01, 0xFF, 0x00, /// (haut, milieu, bas) 00213 0x02,0xF3, 0x00, 0xFF, 0x00, 00214 0x01,0x0B, 0x03, 0xFF, 0x00}; 00215 00216 00217 00218 char TabBrasPompeViderFuseeMvt2[15]= {0x03,0x18, 0x02, 0xFF, 0x00, /// (haut, milieu, bas) 00219 0x02,0xA9, 0x00, 0xFF, 0x00, 00220 0x01,0xC8, 0x01, 0xFF, 0x00}; 00221 00222 char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x3D, 0x03, 0xFF, 0x00, /// (haut, milieu, bas) 00223 0x02,0x45, 0x00, 0xFF, 0x00, 00224 0x01,0x74, 0x01, 0xFF, 0x00}; 00225 00226 char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x7C, 0x03, 0xFF, 0x00, /// (haut, milieu, bas) 00227 0x02,0x71, 0x00, 0xFF, 0x00, 00228 0x01,0xE5, 0x00, 0xFF, 0x00}; 00229 00230 char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x7C, 0x03, 0xFF, 0x00, /// (haut, milieu, bas) 00231 0x02,0x0D, 0x01, 0xFF, 0x00, 00232 0x01,0x74, 0x00, 0xFF, 0x00}; 00233 */ 00234 /* 00235 char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xCE, 0x01, 0xFF, 0x00, /// (haut, milieu, bas) 00236 0x02,0xDB, 0x00, 0xFF, 0x00, 00237 0x01,0x2F, 0x03, 0xFF, 0x00}; 00238 00239 00240 00241 char TabBrasPompeViderFuseeMvt2[15]= {0x03,0x4D, 0x02, 0xFF, 0x00, /// (haut, milieu, bas) 00242 0x02,0x6D, 0x00, 0xFF, 0x00, 00243 0x01,0x00, 0x02, 0xFF, 0x00}; 00244 00245 char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x4D, 0x03, 0xFF, 0x00, /// (haut, milieu, bas) 00246 0x02,0x4F, 0x00, 0xFF, 0x00, 00247 0x01,0x32, 0x01, 0xFF, 0x00}; 00248 00249 char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x5B, 0x03, 0xFF, 0x00, /// (haut, milieu, bas) 00250 0x02,0xF3, 0x00, 0xFF, 0x00, 00251 0x01,0x5D, 0x00, 0xFF, 0x00}; 00252 00253 char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x39, 0x03, 0xFF, 0x00, /// (haut, milieu, bas) 00254 0x02,0x4C, 0x00, 0xFF, 0x00, 00255 0x01,0x80, 0x00, 0xFF, 0x00}; 00256 00257 char TabBrasPompeViderFuseeMvt6[15]= {0x03,0xBE, 0x02, 0xFF, 0x00, /// (haut, milieu, bas) 00258 0x02,0x3F, 0x00, 0xFF, 0x00, 00259 0x01,0x80, 0x00, 0xFF, 0x00}; 00260 00261 char TabBrasPompeViderFuseeMvt7[15]= {0x03,0x18, 0x02, 0xFF, 0x00, /// (haut, milieu, bas) 00262 0x02,0x9C, 0x00, 0xFF, 0x00, 00263 0x01,0xF3, 0x01, 0xFF, 0x00}; 00264 00265 */ 00266 00267 char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xE2, 0x01, 0xFF, 0x03, /// (haut, milieu, bas) 00268 0x02,0xD5, 0x00, 0xFF, 0x03, 00269 0x01,0xFF, 0x01, 0xFF, 0x03}; 00270 00271 00272 00273 char TabBrasPompeViderFuseeMvt2[15]= {0x03,0xF0, 0x02, 0xFF, 0x03, /// (haut, milieu, bas) 00274 0x02,0x45,0x00, 0xFF, 0x03, 00275 0x01,0x32,0x03, 0xFF, 0x03}; 00276 00277 char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00278 0x02,0x3B, 0x00, 0xFF, 0x03, 00279 0x01,0x98, 0x02, 0xFF, 0x03}; 00280 00281 char TabBrasPompeViderFuseeMvt33[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00282 0x02,0x7E, 0x00, 0xFF, 0x03, 00283 0x01,0x65, 0x02, 0xFF, 0x03}; 00284 00285 char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x65, 0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00286 0x02,0xE9, 0x00, 0xFF, 0x03, 00287 0x01,0xFF, 0x01, 0xFF, 0x03}; 00288 00289 char TabBrasPompeViderFuseeMvt44[15]= {0x03,0x34, 0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00290 0x02,0x88, 0x01, 0xFF, 0x03, 00291 0x01,0x8B, 0x01, 0xFF, 0x03}; 00292 00293 00294 00295 char TabBrasPompeViderFuseeMvt2_2[15]= {0x03,0xF0, 0x02, 0xFF, 0x03, /// (haut, milieu, bas) 00296 0x02,0x45,0x00, 0xFF, 0x03, 00297 0x01,0xCC,0x00, 0xFF, 0x03}; 00298 00299 char TabBrasPompeViderFuseeMvt3_2[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00300 0x02,0x3B, 0x00, 0xFF, 0x03, 00301 0x01,0x66, 0x01, 0xFF, 0x03}; 00302 00303 char TabBrasPompeViderFuseeMvt33_2[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00304 0x02,0x7E, 0x00, 0xFF, 0x03, 00305 0x01,0x99, 0x01, 0xFF, 0x03}; 00306 00307 char TabBrasPompeViderFuseeMvt4_2[15]= {0x03,0x65, 0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00308 0x02,0xE9, 0x00, 0xFF, 0x03, 00309 0x01,0xFF, 0x01, 0xFF, 0x03}; 00310 00311 char TabBrasPompeViderFuseeMvt44_2[15]= {0x03,0x34, 0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00312 0x02,0x88, 0x01, 0xFF, 0x03, 00313 0x01,0x98, 0x02, 0xFF, 0x03}; 00314 00315 00316 00317 char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x40, 0x03, 0xFF, 0x03, /// (haut, milieu, bas) 00318 0x02,0x67, 0x00, 0xFF, 0x03, 00319 0x01,0x32, 0x00, 0xFF, 0x03}; 00320 00321 char TabBrasPompeViderFuseeMvt6[15]= {0x03,0x7C, 0x02, 0xFF, 0x03, /// (haut, milieu, bas) 00322 0x02,0x56, 0x00, 0xFF, 0x03, 00323 0x01,0x32, 0x03, 0xFF, 0x03}; 00324 00325 char TabBrasPompeViderFuseeMvt7[15]= {0x03,0x14, 0x02, 0xFF, 0x03, /// (haut, milieu, bas) 00326 0x02,0x92, 0x00, 0xFF, 0x03, 00327 0x01,0x32, 0x003, 0xFF, 0x03}; 00328 00329 char TabBrasPompeViderFuseeMvt8[15]= {0x03,0xDC, 0x01, 0xFF, 0x03, /// (haut, milieu, bas) 00330 0x02,0xD5, 0x00, 0xFF, 0x03, 00331 0x01,0xFF, 0x01, 0xFF, 0x03}; 00332
Generated on Fri Jul 15 2022 17:28:28 by
1.7.2