CRAC Team
Programme d'utilisation des AX12 et de l'MX12 V3
Fork of
Utilisatio_MX12_V2
by 
CRAC Team
Diff: Actionneur.h
- Revision:
- 2:9d280856a536
- Child:
- 3:1bb26049bdd1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actionneur.h Fri May 19 08:06:49 2017 +0000
@@ -0,0 +1,325 @@
+#include "all_includes.h"
+
+
+
+#define AX12_INITIALISATION 0
+#define AX12_PREPARATION_PRISE 1
+#define AX12_STOCKAGE_HAUT 2
+#define AX12_STOCKAGE_BAS 3
+#define AX12_DEPOSER 4
+#define AX12_PREPARATION_DEPOT_BAS 5
+#define AX12_PREPARATION_DEPOT_HAUT 6
+#define AX12_POUSSER_MODULE 7
+#define AX12_VIDER_FUSEE_POMPE 8
+#define AX12_REMPLIR_BASE_POMPE 9
+#define AX12_GET_POSITION 10
+#define AX12_VIDER_FUSEE_POMPEBLEU 11
+#define AX12_DEFAUT 20
+
+#define TOLERANCE_AX12 50
+
+ /* PROTOTYPES DE FONCTIONS ET POINTEURS */
+
+
+
+/****************************************************************************************/
+/* FUNCTION NAME: Fin_action */
+/* DESCRIPTION : Fonction qui confirme la fin de mouvement des AX12 */
+/****************************************************************************************/
+void Fin_action(void);
+
+
+/****************************************************************************************/
+/* FUNCTION NAME: Initialisation_position */
+/* DESCRIPTION : Fonction qui place les bras en position verticale */
+/****************************************************************************************/
+void Initialisation_position(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Preparation_prise */
+/* DESCRIPTION : Fonction qui prepare le robot pour prendre les modules */
+/****************************************************************************************/
+void Preparation_prise(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Stockage_haut */
+/* DESCRIPTION : Fonction qui prend et stocke les modules dans la position haute */
+/****************************************************************************************/
+void Stockage_haut(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Stockage_bas */
+/* DESCRIPTION : Fonction qui prend et stocke un module dans la pince */
+/****************************************************************************************/
+void Stockage_bas(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Deposer */
+/* DESCRIPTION : Fonction qui permet de déposer un module */
+/****************************************************************************************/
+void Deposer(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Preparation_depos_bas */
+/* DESCRIPTION : Fonction qui prépare le depos d'un module en bas */
+/****************************************************************************************/
+void Preparation_depot_bas(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Preparation_depos_haut */
+/* DESCRIPTION : Fonction qui prépare le depos d'un module en haut */
+/****************************************************************************************/
+void Preparation_depot_haut(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Pousser_module */
+/* DESCRIPTION : Fonction qui permet pousser le module situé à l'entrée de la bas */
+/****************************************************************************************/
+void Pousser_module(unsigned char choix);
+
+/****************************************************************************************/
+/* FUNCTION NAME: Check_positionAX12 */
+/* DESCRIPTION : Fonction qui permet de verifier la position des AX12 */
+/****************************************************************************************/
+void Check_positionAX12(char* TAB, unsigned char choix);
+
+
+///////////TABLEAU PINCE DROITE /////////////////////////// --> choix_bras == 1
+static char TAB1[25]= {0x12,0xDA, 0x00, 0xFF, 0x00, ///Position initiale
+ 0x04,0xF4, 0x01, 0xFF, 0x00,
+ 0x07,0x00, 0x01, 0xFF, 0x00,
+ 0x0F,0x00, 0x03, 0xFF, 0x00};
+
+static char TAB2[25]= {0x12,0xFF, 0x02, 0xFF, 0x03, ///Preparation prise
+ 0x04,0xE9, 0x00, 0xFF, 0x03,
+ 0x07,0xF4, 0x01, 0xFF, 0x03,
+ 0x0F,0xF4, 0x01, 0xFF, 0x03};
+
+static char TAB3[25]= {0x12,0xFF, 0x02, 0xFF, 0x03, ///Stockage haut/bas (attraper module)
+ 0x04,0xE9, 0x00, 0xFF, 0x03,
+ 0x07,0xD5, 0x00, 0xFF, 0x00,
+ 0x0F,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB4[25]= {0x12,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (bras en l'air)
+ 0x04,0x00, 0x02, 0xFF, 0x03,
+ 0x07,0xD5, 0x00, 0xFF, 0x00,
+ 0x0F,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB5[25]= {0x12,0x35, 0x01, 0xFF, 0x00, ///Stockage haut (module sur tige)
+ 0x04,0x60, 0x01, 0xFF, 0x00,
+ 0x07,0xD5, 0x00, 0xFF, 0x00,
+ 0x0F,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB6[25]= {0x12,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (pince ouverte)
+ 0x04,0x50, 0x01, 0xFF, 0x03,
+ 0x07,0x0A, 0x01, 0xFF, 0x03,
+ 0x0F,0xDD, 0x02, 0xFF, 0x03};
+
+static char TAB7[25]= {0x12,0xA6, 0x00, 0xFF, 0x03, ///Stockage bas (bras en l'air)
+ 0x04,0x50, 0x03, 0xFF, 0x03,
+ 0x07,0xD5, 0x00, 0xFF, 0x03,
+ 0x0F,0x4D, 0x03, 0xFF, 0x03};
+
+static char TAB8[25]= {0x12,0xF4, 0x01, 0xFF, 0x00, ///Deposer (descendre bras)
+ 0x04,0x00, 0x03, 0xFF, 0x00,
+ 0x07,0xD5, 0x00, 0xFF, 0x00,
+ 0x0F,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB9[25]= {0x12,0xF4, 0x01, 0xFF, 0x03, ///Deposer (pince ouverte)
+ 0x04,0x00, 0x03, 0xFF, 0x03,
+ 0x07,0x0A, 0x01, 0xFF, 0x03,
+ 0x0F,0xDD, 0x02, 0xFF, 0x03};
+
+static char TAB10[25]= {0x12,0x35, 0x01, 0xFF, 0x00, ///deposer (preparation module haut)
+ 0x04,0x00, 0x02, 0xFF, 0x00,
+ 0x07,0xD5, 0x00, 0xFF, 0x00,
+ 0x0F,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB11[25]= {0x12,0xB0, 0x01, 0xFF, 0x00, ///Pousser module (bras en bas)
+ 0x04,0x00, 0x03, 0xFF, 0x00,
+ 0x07,0x0A, 0x01, 0xFF, 0x03,
+ 0x0F,0xDD, 0x02, 0xFF, 0x03};
+
+
+//////////////////TABLEAU PINCE GAUCHE ///////////////////////////// --> choix_bras == 2
+static char TAB21[25]= {0x08,0xDA, 0x00, 0xFF, 0x00, ///Position initiale
+ 0x03,0xF4, 0x01, 0xFF, 0x00,
+ 0x0D,0x00, 0x01, 0xFF, 0x00,
+ 0x0E,0x00, 0x03, 0xFF, 0x00};
+
+static char TAB22[25]= {0x08,0xFF, 0x02, 0xFF, 0x03, ///Preparation prise
+ 0x03,0xE9, 0x00, 0xFF, 0x03,
+ 0x0D,0xF4, 0x01, 0xFF, 0x03,
+ 0x0E,0xF4, 0x01, 0xFF, 0x03};
+
+static char TAB23[25]= {0x08,0xFF, 0x02, 0xFF, 0x03, ///Stockage haut/bas (attraper module)
+ 0x03,0xE9, 0x00, 0xFF, 0x03,
+ 0x0D,0xD5, 0x00, 0xFF, 0x00,
+ 0x0E,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB24[25]= {0x08,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (bras en l'air)
+ 0x03,0x00, 0x02, 0xFF, 0x03,
+ 0x0D,0xD5, 0x00, 0xFF, 0x00,
+ 0x0E,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB25[25]= {0x08,0x35, 0x01, 0xFF, 0x00, ///Stockage haut (module sur tige)
+ 0x03,0x60, 0x01, 0xFF, 0x00,
+ 0x0D,0xD5, 0x00, 0xFF, 0x00,
+ 0x0E,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB26[25]= {0x08,0x35, 0x01, 0xFF, 0x03, ///Stockage haut (pince ouverte)
+ 0x03,0x50, 0x01, 0xFF, 0x03,
+ 0x0D,0x0A, 0x01, 0xFF, 0x03,
+ 0x0E,0xDD, 0x02, 0xFF, 0x03};
+
+static char TAB27[25]= {0x08,0xA6, 0x00, 0xFF, 0x03, ///Stockage bas (bras en l'air)
+ 0x03,0x50, 0x03, 0xFF, 0x03,
+ 0x0D,0xD5, 0x00, 0xFF, 0x03,
+ 0x0E,0x4D, 0x03, 0xFF, 0x03};
+
+static char TAB28[25]= {0x08,0xF4, 0x01, 0xFF, 0x00, ///Deposer(descendre bras)
+ 0x03,0x00, 0x03, 0xFF, 0x00,
+ 0x0D,0xD5, 0x00, 0xFF, 0x00,
+ 0x0E,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB29[25]= {0x08,0xF4, 0x01, 0xFF, 0x03, ///Deposer(pince ouverte)
+ 0x03,0x00, 0x03, 0xFF, 0x03,
+ 0x0D,0xF4, 0x01, 0xFF, 0x03,
+ 0x0E,0xF4, 0x01, 0xFF, 0x03};
+
+static char TAB30[25]= {0x08,0x35, 0x01, 0xFF, 0x00, ///deposer(preparation module haut)
+ 0x03,0x00, 0x02, 0xFF, 0x00,
+ 0x0D,0xD5, 0x00, 0xFF, 0x00,
+ 0x0E,0x4D, 0x03, 0xFF, 0x00};
+
+static char TAB31[25]= {0x08,0xB0, 0x01, 0xFF, 0x00, ///Pousser module (bras en bas)
+ 0x03,0x00, 0x03, 0xFF, 0x00,
+ 0x0D,0xD5, 0x00, 0xFF, 0x00,
+ 0x0E,0x4D, 0x03, 0xFF, 0x00};
+
+
+char TabBrasPompePosInit[15]= {0x03,0xB0, 0x01, 0xFF, 0x00, /// (bras en bas)
+ 0x02,0x00, 0x03, 0xFF, 0x00,
+ 0x01,0xD5, 0x00, 0xFF, 0x00};
+ /*
+char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xFD, 0x01, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0xF3, 0x00, 0xFF, 0x00,
+ 0x01,0x0B, 0x03, 0xFF, 0x00};
+
+
+
+char TabBrasPompeViderFuseeMvt2[15]= {0x03,0x18, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0xA9, 0x00, 0xFF, 0x00,
+ 0x01,0xC8, 0x01, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x3D, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x45, 0x00, 0xFF, 0x00,
+ 0x01,0x74, 0x01, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x7C, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x71, 0x00, 0xFF, 0x00,
+ 0x01,0xE5, 0x00, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x7C, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x0D, 0x01, 0xFF, 0x00,
+ 0x01,0x74, 0x00, 0xFF, 0x00};
+*/
+/*
+char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xCE, 0x01, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0xDB, 0x00, 0xFF, 0x00,
+ 0x01,0x2F, 0x03, 0xFF, 0x00};
+
+
+
+char TabBrasPompeViderFuseeMvt2[15]= {0x03,0x4D, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x6D, 0x00, 0xFF, 0x00,
+ 0x01,0x00, 0x02, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x4D, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x4F, 0x00, 0xFF, 0x00,
+ 0x01,0x32, 0x01, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x5B, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0xF3, 0x00, 0xFF, 0x00,
+ 0x01,0x5D, 0x00, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x39, 0x03, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x4C, 0x00, 0xFF, 0x00,
+ 0x01,0x80, 0x00, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt6[15]= {0x03,0xBE, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x3F, 0x00, 0xFF, 0x00,
+ 0x01,0x80, 0x00, 0xFF, 0x00};
+
+char TabBrasPompeViderFuseeMvt7[15]= {0x03,0x18, 0x02, 0xFF, 0x00, /// (haut, milieu, bas)
+ 0x02,0x9C, 0x00, 0xFF, 0x00,
+ 0x01,0xF3, 0x01, 0xFF, 0x00};
+
+ */
+
+char TabBrasPompeViderFuseeMvt1[15]= {0x03,0xE2, 0x01, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0xD5, 0x00, 0xFF, 0x03,
+ 0x01,0xFF, 0x01, 0xFF, 0x03};
+
+
+
+char TabBrasPompeViderFuseeMvt2[15]= {0x03,0xF0, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x45,0x00, 0xFF, 0x03,
+ 0x01,0x32,0x03, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt3[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x3B, 0x00, 0xFF, 0x03,
+ 0x01,0x98, 0x02, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt33[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x7E, 0x00, 0xFF, 0x03,
+ 0x01,0x65, 0x02, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt4[15]= {0x03,0x65, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0xE9, 0x00, 0xFF, 0x03,
+ 0x01,0xFF, 0x01, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt44[15]= {0x03,0x34, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x88, 0x01, 0xFF, 0x03,
+ 0x01,0x8B, 0x01, 0xFF, 0x03};
+
+
+
+char TabBrasPompeViderFuseeMvt2_2[15]= {0x03,0xF0, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x45,0x00, 0xFF, 0x03,
+ 0x01,0xCC,0x00, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt3_2[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x3B, 0x00, 0xFF, 0x03,
+ 0x01,0x66, 0x01, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt33_2[15]= {0x03,0x68,0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x7E, 0x00, 0xFF, 0x03,
+ 0x01,0x99, 0x01, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt4_2[15]= {0x03,0x65, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0xE9, 0x00, 0xFF, 0x03,
+ 0x01,0xFF, 0x01, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt44_2[15]= {0x03,0x34, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x88, 0x01, 0xFF, 0x03,
+ 0x01,0x98, 0x02, 0xFF, 0x03};
+
+
+
+char TabBrasPompeViderFuseeMvt5[15]= {0x03,0x40, 0x03, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x67, 0x00, 0xFF, 0x03,
+ 0x01,0x32, 0x00, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt6[15]= {0x03,0x7C, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x56, 0x00, 0xFF, 0x03,
+ 0x01,0x32, 0x03, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt7[15]= {0x03,0x14, 0x02, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0x92, 0x00, 0xFF, 0x03,
+ 0x01,0x32, 0x003, 0xFF, 0x03};
+
+char TabBrasPompeViderFuseeMvt8[15]= {0x03,0xDC, 0x01, 0xFF, 0x03, /// (haut, milieu, bas)
+ 0x02,0xD5, 0x00, 0xFF, 0x03,
+ 0x01,0xFF, 0x01, 0xFF, 0x03};
+
\ No newline at end of file