Programme d'utilisation des AX12 et de l'MX12 V3
Fork of Utilisatio_MX12_V2 by
main.cpp@4:0972025782f3, 2017-05-20 (annotated)
- Committer:
- R66Y
- Date:
- Sat May 20 16:16:00 2017 +0000
- Revision:
- 4:0972025782f3
- Parent:
- 2:9d280856a536
Programme d'utilisation des AX et de l'MX12 V3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
matthieuvignon | 2:9d280856a536 | 1 | #include "all_includes.h" |
matthieuvignon | 2:9d280856a536 | 2 | |
matthieuvignon | 2:9d280856a536 | 3 | Timer t; |
matthieuvignon | 2:9d280856a536 | 4 | Ticker flipper; |
matthieuvignon | 2:9d280856a536 | 5 | |
matthieuvignon | 2:9d280856a536 | 6 | CAN can(p30,p29); // Rx&Tx pour le CAN |
matthieuvignon | 2:9d280856a536 | 7 | CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN |
matthieuvignon | 2:9d280856a536 | 8 | |
matthieuvignon | 2:9d280856a536 | 9 | Serial pc(USBTX, USBRX); |
matthieuvignon | 2:9d280856a536 | 10 | |
matthieuvignon | 2:9d280856a536 | 11 | extern void gerer_turbine(unsigned char pwm_turbine); |
matthieuvignon | 2:9d280856a536 | 12 | |
ClementBreteau | 0:7737d7573e3b | 13 | |
matthieuvignon | 2:9d280856a536 | 14 | PwmOut PompeDroite(p21); |
matthieuvignon | 2:9d280856a536 | 15 | //PwmOut PompeGauche(p22); |
matthieuvignon | 2:9d280856a536 | 16 | PwmOut MotLanceur(p22); |
matthieuvignon | 2:9d280856a536 | 17 | PwmOut turbine(p23); |
matthieuvignon | 2:9d280856a536 | 18 | //PwmOut ServoVanne(p21); |
matthieuvignon | 2:9d280856a536 | 19 | |
matthieuvignon | 2:9d280856a536 | 20 | AnalogIn telemetre(p15); |
matthieuvignon | 2:9d280856a536 | 21 | |
matthieuvignon | 2:9d280856a536 | 22 | DigitalIn Jack(p25); |
matthieuvignon | 2:9d280856a536 | 23 | |
matthieuvignon | 2:9d280856a536 | 24 | |
matthieuvignon | 2:9d280856a536 | 25 | DigitalOut led(LED1); |
matthieuvignon | 2:9d280856a536 | 26 | DigitalOut led2(LED2); |
matthieuvignon | 2:9d280856a536 | 27 | |
matthieuvignon | 2:9d280856a536 | 28 | unsigned char EtatPompeDroite=0, EtatPompeGauche=0, EtatLanceur=0, EtatAx12=0, ChoixBras=0, ActionAx12=0, EtatTurbine=0, EtatServoVanne=0; |
matthieuvignon | 2:9d280856a536 | 29 | unsigned char action_a_effectuer=0, ActionPompe=0; |
matthieuvignon | 2:9d280856a536 | 30 | |
ClementBreteau | 0:7737d7573e3b | 31 | |
ClementBreteau | 0:7737d7573e3b | 32 | /* |
ClementBreteau | 0:7737d7573e3b | 33 | DigitalIn IO1(p23); |
ClementBreteau | 0:7737d7573e3b | 34 | DigitalIn IO2(p24); |
ClementBreteau | 0:7737d7573e3b | 35 | DigitalIn IO3(p25); |
ClementBreteau | 0:7737d7573e3b | 36 | DigitalIn IO4(p26); |
ClementBreteau | 0:7737d7573e3b | 37 | |
ClementBreteau | 0:7737d7573e3b | 38 | AnalogIn A_in1(p15); |
ClementBreteau | 0:7737d7573e3b | 39 | AnalogIn A_in2(p16); |
ClementBreteau | 0:7737d7573e3b | 40 | AnalogIn A_in3(p17); |
ClementBreteau | 0:7737d7573e3b | 41 | AnalogIn A_in4(p18); |
ClementBreteau | 0:7737d7573e3b | 42 | AnalogIn A_in5(p19); |
ClementBreteau | 0:7737d7573e3b | 43 | AnalogIn A_in6(p20); |
ClementBreteau | 0:7737d7573e3b | 44 | |
ClementBreteau | 0:7737d7573e3b | 45 | PwmOut IRL_1(p21); |
ClementBreteau | 0:7737d7573e3b | 46 | PwmOut IRL_2(p22); |
ClementBreteau | 0:7737d7573e3b | 47 | */ |
ClementBreteau | 0:7737d7573e3b | 48 | |
ClementBreteau | 1:f3f702086a30 | 49 | |
ClementBreteau | 0:7737d7573e3b | 50 | |
matthieuvignon | 2:9d280856a536 | 51 | |
matthieuvignon | 2:9d280856a536 | 52 | int main() { |
matthieuvignon | 2:9d280856a536 | 53 | |
matthieuvignon | 2:9d280856a536 | 54 | can.frequency(1000000); // fréquence de travail 1Mbit/s |
matthieuvignon | 2:9d280856a536 | 55 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
matthieuvignon | 2:9d280856a536 | 56 | |
matthieuvignon | 2:9d280856a536 | 57 | |
matthieuvignon | 2:9d280856a536 | 58 | // message CAN autorise a declencher l'interruption |
matthieuvignon | 2:9d280856a536 | 59 | |
matthieuvignon | 2:9d280856a536 | 60 | CAN2_wrFilter(POMPE_DROITE); |
matthieuvignon | 2:9d280856a536 | 61 | CAN2_wrFilter(POMPE_GAUCHE); |
matthieuvignon | 2:9d280856a536 | 62 | |
matthieuvignon | 2:9d280856a536 | 63 | CAN2_wrFilter(LANCEUR); |
matthieuvignon | 2:9d280856a536 | 64 | CAN2_wrFilter(TURBINE); |
matthieuvignon | 2:9d280856a536 | 65 | CAN2_wrFilter(SERVOVANNE); |
matthieuvignon | 2:9d280856a536 | 66 | CAN2_wrFilter(0x123); |
matthieuvignon | 2:9d280856a536 | 67 | |
matthieuvignon | 2:9d280856a536 | 68 | CAN2_wrFilter(SERVO_AX12_ACTION); |
matthieuvignon | 2:9d280856a536 | 69 | CAN2_wrFilter(SERVO_AX12_ACK); |
matthieuvignon | 2:9d280856a536 | 70 | CAN2_wrFilter(SERVO_AX12_END); |
matthieuvignon | 2:9d280856a536 | 71 | CAN2_wrFilter(CHECK_AX12); |
matthieuvignon | 2:9d280856a536 | 72 | |
matthieuvignon | 2:9d280856a536 | 73 | initialisation_AX12(); |
matthieuvignon | 2:9d280856a536 | 74 | |
matthieuvignon | 2:9d280856a536 | 75 | PompeDroite.period(0.001); |
matthieuvignon | 2:9d280856a536 | 76 | //PompeGauche.period(0.001); |
matthieuvignon | 2:9d280856a536 | 77 | MotLanceur.period(0.001); |
matthieuvignon | 2:9d280856a536 | 78 | // ServoVanne.period(0.001); |
matthieuvignon | 2:9d280856a536 | 79 | |
matthieuvignon | 2:9d280856a536 | 80 | |
matthieuvignon | 2:9d280856a536 | 81 | while(1) { |
matthieuvignon | 2:9d280856a536 | 82 | led = !led; |
matthieuvignon | 2:9d280856a536 | 83 | canProcessRx();//Traitement des trames CAN en attente |
matthieuvignon | 2:9d280856a536 | 84 | |
matthieuvignon | 2:9d280856a536 | 85 | |
matthieuvignon | 2:9d280856a536 | 86 | if (action_a_effectuer==1) { |
matthieuvignon | 2:9d280856a536 | 87 | |
matthieuvignon | 2:9d280856a536 | 88 | action_a_effectuer=0; |
matthieuvignon | 2:9d280856a536 | 89 | |
matthieuvignon | 2:9d280856a536 | 90 | if (ActionAx12==1){ |
matthieuvignon | 2:9d280856a536 | 91 | AX12_automate(EtatAx12, ChoixBras); |
matthieuvignon | 2:9d280856a536 | 92 | ActionAx12=0; |
matthieuvignon | 2:9d280856a536 | 93 | } |
matthieuvignon | 2:9d280856a536 | 94 | |
matthieuvignon | 2:9d280856a536 | 95 | if ((EtatPompeDroite==1)&&(ActionPompe==1)) |
matthieuvignon | 2:9d280856a536 | 96 | ActionPompe=0, PompeDroite.write(1); |
matthieuvignon | 2:9d280856a536 | 97 | else if ((EtatPompeDroite==0)&&(ActionPompe==1)) |
matthieuvignon | 2:9d280856a536 | 98 | PompeDroite.write(0), ActionPompe=0; |
matthieuvignon | 2:9d280856a536 | 99 | |
matthieuvignon | 2:9d280856a536 | 100 | /* |
matthieuvignon | 2:9d280856a536 | 101 | if (EtatPompeGauche==1) |
matthieuvignon | 2:9d280856a536 | 102 | PompeGauche.write(1); |
matthieuvignon | 2:9d280856a536 | 103 | else if (EtatPompeGauche==0) |
matthieuvignon | 2:9d280856a536 | 104 | PompeGauche.write(0); |
matthieuvignon | 2:9d280856a536 | 105 | */ |
matthieuvignon | 2:9d280856a536 | 106 | |
matthieuvignon | 2:9d280856a536 | 107 | if (EtatTurbine==1) |
matthieuvignon | 2:9d280856a536 | 108 | gerer_turbine(20); |
matthieuvignon | 2:9d280856a536 | 109 | else if (EtatTurbine==0) |
matthieuvignon | 2:9d280856a536 | 110 | gerer_turbine(0); |
matthieuvignon | 2:9d280856a536 | 111 | |
matthieuvignon | 2:9d280856a536 | 112 | if (EtatLanceur==1) |
matthieuvignon | 2:9d280856a536 | 113 | MotLanceur.write(1); |
matthieuvignon | 2:9d280856a536 | 114 | else if (EtatLanceur==0) |
matthieuvignon | 2:9d280856a536 | 115 | MotLanceur.write(0); |
matthieuvignon | 2:9d280856a536 | 116 | /* |
matthieuvignon | 2:9d280856a536 | 117 | if (EtatServoVanne==1) |
matthieuvignon | 2:9d280856a536 | 118 | ServoVanne.write(0.4); |
matthieuvignon | 2:9d280856a536 | 119 | if (EtatServoVanne==0) |
matthieuvignon | 2:9d280856a536 | 120 | ServoVanne.write(0); |
matthieuvignon | 2:9d280856a536 | 121 | */ |
matthieuvignon | 2:9d280856a536 | 122 | } |
matthieuvignon | 2:9d280856a536 | 123 | |
ClementBreteau | 0:7737d7573e3b | 124 | } |
ClementBreteau | 0:7737d7573e3b | 125 | } |
ClementBreteau | 0:7737d7573e3b | 126 |