CRAC Team
Programme d'utilisation des AX12 et de l'MX12 V3
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Utilisatio_MX12_V2
by 
CRAC Team
Diff: main.cpp
- Revision:
- 2:9d280856a536
- Parent:
- 1:f3f702086a30
--- a/main.cpp Thu May 11 11:49:50 2017 +0000
+++ b/main.cpp Fri May 19 08:06:49 2017 +0000
@@ -1,10 +1,33 @@
-#include "mbed.h"
-#include "AX12.h"
-#include "cmsis.h"
+#include "all_includes.h"
+
+Timer t;
+Ticker flipper;
+
+CAN can(p30,p29); // Rx&Tx pour le CAN
+CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN
+
+Serial pc(USBTX, USBRX);
+
+extern void gerer_turbine(unsigned char pwm_turbine);
+
-#define SIZE_FIFO 20
-#define TIME 1
-#define T_MOT 0.00005
+PwmOut PompeDroite(p21);
+//PwmOut PompeGauche(p22);
+PwmOut MotLanceur(p22);
+PwmOut turbine(p23);
+//PwmOut ServoVanne(p21);
+
+AnalogIn telemetre(p15);
+
+DigitalIn Jack(p25);
+
+
+DigitalOut led(LED1);
+DigitalOut led2(LED2);
+
+unsigned char EtatPompeDroite=0, EtatPompeGauche=0, EtatLanceur=0, EtatAx12=0, ChoixBras=0, ActionAx12=0, EtatTurbine=0, EtatServoVanne=0;
+unsigned char action_a_effectuer=0, ActionPompe=0;
+
/*
DigitalIn IO1(p23);
@@ -23,212 +46,81 @@
PwmOut IRL_2(p22);
*/
-AnalogIn cptGauche(p20);
-AnalogIn cptDroit(p19);
-
-DigitalIn pressionGauche(p23);
-DigitalIn pressionDroit(p24);
-
-AnalogIn telemetre(p15);
-
-DigitalIn jack(p25);
-
-PwmOut motGauche(p21);
-PwmOut motDroit(p22);
-
-DigitalOut led(LED1);
-
-CAN can1(p30,p29); // Rx&Tx pour le CAN
-CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN
-unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
-signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
-
-AX12 *AX12_17, *AX12_14, *multiple_AX12;
-AX12 *AX12_14_2, *AX12_11, *multiple_AX12_2;
-AX12 *AX12_4, *AX12_18, *multiple_AX12_3;
-
-int printCapteurs = 1;
-
-static char TAB1[10]= {0x0E, 0x00, 0x00, 0xFF, 0x03,
- 0x11, 0x50, 0x02, 0xFF, 0x03};
-
-static char TAB2[10]= {0x0E, 0x50, 0x02, 0xFF, 0x03,
- 0x11, 0x00, 0x00, 0xFF, 0x03};
-
-static char TAB3[10]= {0x0E, 0x00, 0x00, 0xFF, 0x03,
- 0x0B, 0x50, 0x02, 0xFF, 0x03};
-
-static char TAB4[10]= {0x0E, 0x50, 0x02, 0xFF, 0x03,
- 0x0B, 0x00, 0x00, 0xFF, 0x03};
-
-static char TAB5[10]= {0x04, 0x00, 0x00, 0xFF, 0x03,
- 0x12, 0x50, 0x02, 0xFF, 0x03};
-
-static char TAB6[10]= {0x04, 0x50, 0x02, 0xFF, 0x03,
- 0x12, 0x00, 0x00, 0xFF, 0x03};
-
-Timer t;
-Ticker flipper;
-void canRx_ISR (void)
-{
- if (can1.read(msgRxBuffer[FIFO_ecriture])) {
- /*if(msgRxBuffer[FIFO_ecriture].id==RESET_ACTIONNEURS) mbed_reset();
- else FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;*/
- FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
+
+int main() {
+
+ can.frequency(1000000); // fréquence de travail 1Mbit/s
+ can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
+
+
+ // message CAN autorise a declencher l'interruption
+
+ CAN2_wrFilter(POMPE_DROITE);
+ CAN2_wrFilter(POMPE_GAUCHE);
+
+ CAN2_wrFilter(LANCEUR);
+ CAN2_wrFilter(TURBINE);
+ CAN2_wrFilter(SERVOVANNE);
+ CAN2_wrFilter(0x123);
+
+ CAN2_wrFilter(SERVO_AX12_ACTION);
+ CAN2_wrFilter(SERVO_AX12_ACK);
+ CAN2_wrFilter(SERVO_AX12_END);
+ CAN2_wrFilter(CHECK_AX12);
+
+ initialisation_AX12();
+
+ PompeDroite.period(0.001);
+ //PompeGauche.period(0.001);
+ MotLanceur.period(0.001);
+ // ServoVanne.period(0.001);
+
+
+ while(1) {
+ led = !led;
+ canProcessRx();//Traitement des trames CAN en attente
+
+
+ if (action_a_effectuer==1) {
+
+ action_a_effectuer=0;
+
+ if (ActionAx12==1){
+ AX12_automate(EtatAx12, ChoixBras);
+ ActionAx12=0;
+ }
+
+ if ((EtatPompeDroite==1)&&(ActionPompe==1))
+ ActionPompe=0, PompeDroite.write(1);
+ else if ((EtatPompeDroite==0)&&(ActionPompe==1))
+ PompeDroite.write(0), ActionPompe=0;
+
+ /*
+ if (EtatPompeGauche==1)
+ PompeGauche.write(1);
+ else if (EtatPompeGauche==0)
+ PompeGauche.write(0);
+ */
+
+ if (EtatTurbine==1)
+ gerer_turbine(20);
+ else if (EtatTurbine==0)
+ gerer_turbine(0);
+
+ if (EtatLanceur==1)
+ MotLanceur.write(1);
+ else if (EtatLanceur==0)
+ MotLanceur.write(0);
+ /*
+ if (EtatServoVanne==1)
+ ServoVanne.write(0.4);
+ if (EtatServoVanne==0)
+ ServoVanne.write(0);
+ */
+ }
+
}
}
-
-
-/*********************************************************************************************************/
-/* FUNCTION NAME: SendRawId */
-/* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
-/*********************************************************************************************************/
-void SendRawId (unsigned short id)
-{
- CANMessage msgTx=CANMessage();
- msgTx.id=id;
- msgTx.len=0;
- can1.write(msgTx);
- wait_us(200);
-}
-
-/*********************************************************************************************************/
-/* FUNCTION NAME: AX1 */
-/* DESCRIPTION : bouge les AX12 */
-/*********************************************************************************************************/
-void AX1(void){
- multiple_AX12->multiple_goal_and_speed(2,TAB1);
- wait(TIME);
- multiple_AX12->multiple_goal_and_speed(2,TAB2);
- wait(TIME);
-}
-
-/*********************************************************************************************************/
-/* FUNCTION NAME: AX2 */
-/* DESCRIPTION : bouge les AX12 */
-/*********************************************************************************************************/
-void AX2(void){
- multiple_AX12_2->multiple_goal_and_speed(2,TAB3);
- wait(TIME);
- multiple_AX12_2->multiple_goal_and_speed(2,TAB4);
- wait(TIME);
-}
-
-/*********************************************************************************************************/
-/* FUNCTION NAME: AX3 */
-/* DESCRIPTION : bouge les AX12 */
-/*********************************************************************************************************/
-void AX3(void){
- multiple_AX12_3->multiple_goal_and_speed(2,TAB5);
- wait(TIME);
- multiple_AX12_3->multiple_goal_and_speed(2,TAB6);
- wait(TIME);
-}
-
-/*********************************************************************************************************/
-/* FUNCTION NAME: moteur */
-/* DESCRIPTION : bouge les moteurs */
-/*********************************************************************************************************/
-void moteur(void){
- motGauche.write(0.5f);
- motDroit.write(0.5f);
-}
-
-
-/****************************************************************************************/
-/* FUNCTION NAME: canProcessRx */
-/* DESCRIPTION : Fonction de traitement des messages CAN */
-/****************************************************************************************/
-void canProcessRx(void){
- static signed char FIFO_occupation=0,FIFO_max_occupation=0;
- CANMessage msgTx=CANMessage();
- FIFO_occupation=FIFO_ecriture-FIFO_lecture;
- if(FIFO_occupation<0)
- FIFO_occupation=FIFO_occupation+SIZE_FIFO;
- if(FIFO_max_occupation<FIFO_occupation)
- FIFO_max_occupation=FIFO_occupation;
- if(FIFO_occupation!=0) {
-
- switch(msgRxBuffer[FIFO_lecture].id) {
- case 0x63:
- SendRawId(0x73);
- break;
- case 0x10:
- printCapteurs = 0;
- break;
- case 0x11:
- printCapteurs = 1;
- break;
-
-
- }
- FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
- }
-}
-
-int main() {
- can1.frequency(1000000); // fréquence de travail 1Mbit/s
- can1.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
-
- CANMessage msgTx=CANMessage();
-
-
- AX12_14 = new AX12(p9, p10, 14, 1000000); // tx, rx
- AX12_17 = new AX12(p9, p10, 17, 1000000);
- multiple_AX12 = new AX12(p9,p10,0xFE,1000000);
-
-
- AX12_14_2 = new AX12(p13, p14, 14, 1000000);
- AX12_11 = new AX12(p13, p14, 11, 1000000);
- multiple_AX12_2 = new AX12(p13,p14,0xFE,1000000);
-
- AX12_4= new AX12(p28, p27, 14, 1000000);
- AX12_18= new AX12(p28, p27, 11, 1000000);
- multiple_AX12_3= new AX12(p28,p27,0xFE,1000000);
-
- motGauche.period(T_MOT);
- motDroit.period(T_MOT);
- motGauche.write(0.0);
- motDroit.write(0.0);
-
- while(1) {
- led = !led;
-
- canProcessRx();
-
- if (printCapteurs){
-
- motGauche.write(0);
- motDroit.write(0);
-
- msgTx.id=0x21;
- msgTx.format=CANStandard;
- msgTx.type=CANData;
- msgTx.len=7;
-
- msgTx.data[0]=(unsigned char)cptGauche.read();
- msgTx.data[1]=(unsigned char)cptDroit.read();
- msgTx.data[2]=(unsigned char)pressionGauche.read();
- msgTx.data[3]=(unsigned char)pressionDroit.read();
- msgTx.data[4]=(unsigned char)jack.read();
- msgTx.data[5]=(unsigned char)(telemetre.read_u16()>>8);
- msgTx.data[6]=(unsigned char)telemetre.read_u16();
-
- can1.write(msgTx);
- wait(0.2);
- }else{
- moteur();
-
- AX1();
- AX2();
- AX3();
-
- }
-
-
- }
-}
-