CRAC Team
Programme d'utilisation des AX12 et de l'MX12 V3. 0C = action de l'MX12. (data0) 0 | 1 | 2 = position & sens de rotation
Dependencies: MX12
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Utilisatio_MX12_V3
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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
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