librairie actions gros robot carte esclave
Dependents: carte_esclave201_petit_rob carte_esclave2019 carte_esclave_PETIT_ROBOT_2019
actions_Gr.cpp@7:283d66d5c3b9, 2019-05-25 (annotated)
- Committer:
- marwanesaich
- Date:
- Sat May 25 15:38:34 2019 +0000
- Revision:
- 7:283d66d5c3b9
- Parent:
- 6:aa800daf5ff9
- Child:
- 8:7bd34e838ca3
convoyeurs gauche
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Artiom | 0:f900f4ea9dfd | 1 | #include "actions_Gr.h" |
Artiom | 0:f900f4ea9dfd | 2 | |
Artiom | 0:f900f4ea9dfd | 3 | |
Artiom | 0:f900f4ea9dfd | 4 | #ifdef ROBOT_BIG |
Artiom | 0:f900f4ea9dfd | 5 | #define MASK_PRESENTOIR_AV 0x07 |
Artiom | 0:f900f4ea9dfd | 6 | #define MASK_PRESENTOIR_AR 0x70 |
Artiom | 0:f900f4ea9dfd | 7 | |
Artiom | 0:f900f4ea9dfd | 8 | #define MASK_GOLDENIUM_AV 0x02 |
Artiom | 0:f900f4ea9dfd | 9 | #define MASK_GOLDENIUM_AR 0x20 |
Artiom | 0:f900f4ea9dfd | 10 | |
Artiom | 0:f900f4ea9dfd | 11 | #define MASK_SOL_AV 0x08 |
Artiom | 0:f900f4ea9dfd | 12 | #define MASK_SOL_AR 0x80 |
Artiom | 0:f900f4ea9dfd | 13 | |
Artiom | 0:f900f4ea9dfd | 14 | #define MASK_AV_DROIT 0x01 |
Artiom | 0:f900f4ea9dfd | 15 | #define MASK_AR_DROIT 0x10 |
Artiom | 0:f900f4ea9dfd | 16 | |
Artiom | 0:f900f4ea9dfd | 17 | #define MASK_AV_DROIT_GAUCHE 0x05 |
Artiom | 0:f900f4ea9dfd | 18 | #define MASK_AR_DROIT_GAUCHE 0x50 |
Artiom | 0:f900f4ea9dfd | 19 | |
marwanesaich | 5:bb533bf81ee6 | 20 | #define MASK_FC_DROIT 0x01 |
marwanesaich | 5:bb533bf81ee6 | 21 | #define MASK_CT_DROIT 0x02 |
marwanesaich | 5:bb533bf81ee6 | 22 | |
marwanesaich | 5:bb533bf81ee6 | 23 | #define MASK_FC_GAUCHE 0x04 |
marwanesaich | 5:bb533bf81ee6 | 24 | #define MASK_CT_GAUCHE 0x08 |
marwanesaich | 5:bb533bf81ee6 | 25 | |
marwanesaich | 6:aa800daf5ff9 | 26 | #define POS_DOIGT_GAUCHE 585 |
marwanesaich | 6:aa800daf5ff9 | 27 | #define POS_DOIGT_DROIT 389 |
Artiom | 0:f900f4ea9dfd | 28 | |
Artiom | 0:f900f4ea9dfd | 29 | char status_pompe=0; |
Artiom | 0:f900f4ea9dfd | 30 | bool flag_ascenseur = 0; |
Artiom | 0:f900f4ea9dfd | 31 | |
Artiom | 0:f900f4ea9dfd | 32 | char fpresentoir_avant=0, fpresentoir_arriere=0; |
Artiom | 0:f900f4ea9dfd | 33 | char fgoldenium_avant=0, fgoldenium_arriere=0; |
Artiom | 0:f900f4ea9dfd | 34 | char fsol_avant=0,fsol_arriere=0; |
Artiom | 0:f900f4ea9dfd | 35 | char fsol_avant_relache=0,fsol_arriere_relache=0; |
Artiom | 0:f900f4ea9dfd | 36 | char fbalance_avant=0,fbalance_arriere=0; |
Artiom | 0:f900f4ea9dfd | 37 | char favant_relache=0,farriere_relache=0; |
Artiom | 0:f900f4ea9dfd | 38 | char faccelerateur_avant=0,faccelerateur_arriere=0; |
Artiom | 0:f900f4ea9dfd | 39 | |
Artiom | 0:f900f4ea9dfd | 40 | |
Artiom | 0:f900f4ea9dfd | 41 | DigitalIn couleur_haut[3] = {PA_9,PA_10,PA_11}; //GC1 |
Artiom | 0:f900f4ea9dfd | 42 | DigitalIn couleur_bas[3] = {PB_12,PB_13,PB_14}; //GC2 |
Artiom | 0:f900f4ea9dfd | 43 | |
Artiom | 0:f900f4ea9dfd | 44 | char buffer_couleur_bas[SIZE_FIFO]; |
Artiom | 0:f900f4ea9dfd | 45 | unsigned char FIFO_couleur_ecriture=0; |
Artiom | 0:f900f4ea9dfd | 46 | signed char FIFO_couleur_lecture=0; |
marwanesaich | 5:bb533bf81ee6 | 47 | char status_contact=0; |
Artiom | 0:f900f4ea9dfd | 48 | |
Artiom | 0:f900f4ea9dfd | 49 | |
marwanesaich | 7:283d66d5c3b9 | 50 | void convoyeur_gauche_jaune(void){ |
marwanesaich | 5:bb533bf81ee6 | 51 | |
marwanesaich | 5:bb533bf81ee6 | 52 | typedef enum {init, etalonnage, tmp_pret, pret, pousse, tmp,retour} type_etat ; |
marwanesaich | 5:bb533bf81ee6 | 53 | static type_etat etat = init; |
marwanesaich | 5:bb533bf81ee6 | 54 | static int16_t pos = 0; |
marwanesaich | 5:bb533bf81ee6 | 55 | static int16_t previous_pos = getPos(stockage_G,1); |
marwanesaich | 5:bb533bf81ee6 | 56 | |
marwanesaich | 5:bb533bf81ee6 | 57 | |
marwanesaich | 5:bb533bf81ee6 | 58 | switch(etat){ |
marwanesaich | 5:bb533bf81ee6 | 59 | |
marwanesaich | 5:bb533bf81ee6 | 60 | case init : |
marwanesaich | 5:bb533bf81ee6 | 61 | velocityControl(stockage_G,-512,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 62 | pos = getPos(stockage_G,1); |
marwanesaich | 5:bb533bf81ee6 | 63 | if(previous_pos != pos){ |
marwanesaich | 5:bb533bf81ee6 | 64 | etat = etalonnage; |
marwanesaich | 6:aa800daf5ff9 | 65 | //pc.printf("ETALONNAGE\n"); |
marwanesaich | 5:bb533bf81ee6 | 66 | } |
marwanesaich | 5:bb533bf81ee6 | 67 | break; |
Artiom | 0:f900f4ea9dfd | 68 | |
marwanesaich | 5:bb533bf81ee6 | 69 | case etalonnage : |
marwanesaich | 5:bb533bf81ee6 | 70 | pos = getPos(stockage_G,1); |
marwanesaich | 5:bb533bf81ee6 | 71 | if(pos<100 and (status_contact & MASK_FC_GAUCHE)){ |
marwanesaich | 5:bb533bf81ee6 | 72 | velocityControl(stockage_G,0,GLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 73 | wait_ms(500); |
marwanesaich | 5:bb533bf81ee6 | 74 | pos = getPos(stockage_G,1) ; |
marwanesaich | 5:bb533bf81ee6 | 75 | positionControl(stockage_G,pos+180,1,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 76 | etat = tmp_pret; |
marwanesaich | 6:aa800daf5ff9 | 77 | //pc.printf("TMP_PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 78 | } |
marwanesaich | 5:bb533bf81ee6 | 79 | break; |
marwanesaich | 5:bb533bf81ee6 | 80 | |
marwanesaich | 5:bb533bf81ee6 | 81 | case tmp_pret : |
marwanesaich | 5:bb533bf81ee6 | 82 | previous_pos = pos; |
marwanesaich | 5:bb533bf81ee6 | 83 | pos = getPos(stockage_G,1) ; |
marwanesaich | 5:bb533bf81ee6 | 84 | if(pos> (previous_pos-5)){ |
marwanesaich | 5:bb533bf81ee6 | 85 | etat = pret; |
marwanesaich | 6:aa800daf5ff9 | 86 | //pc.printf("PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 87 | } |
marwanesaich | 5:bb533bf81ee6 | 88 | break; |
marwanesaich | 5:bb533bf81ee6 | 89 | |
marwanesaich | 5:bb533bf81ee6 | 90 | case pret : |
marwanesaich | 5:bb533bf81ee6 | 91 | if((status_contact & MASK_CT_GAUCHE)){ |
marwanesaich | 5:bb533bf81ee6 | 92 | pos = getPos(stockage_G,1)+550; |
marwanesaich | 6:aa800daf5ff9 | 93 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 6:aa800daf5ff9 | 94 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 95 | positionControl(stockage_G,pos,1,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 96 | previous_pos = pos; |
marwanesaich | 5:bb533bf81ee6 | 97 | etat = pousse; |
marwanesaich | 6:aa800daf5ff9 | 98 | //pc.printf("POUSSE\n"); |
marwanesaich | 5:bb533bf81ee6 | 99 | } |
marwanesaich | 5:bb533bf81ee6 | 100 | break; |
marwanesaich | 5:bb533bf81ee6 | 101 | |
marwanesaich | 5:bb533bf81ee6 | 102 | case pousse : |
marwanesaich | 5:bb533bf81ee6 | 103 | pos = getPos(stockage_G,1); |
marwanesaich | 5:bb533bf81ee6 | 104 | if(pos>(previous_pos-5) and (status_contact & MASK_CT_GAUCHE)==0){ |
marwanesaich | 5:bb533bf81ee6 | 105 | pos = pos - 550; |
marwanesaich | 6:aa800daf5ff9 | 106 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 6:aa800daf5ff9 | 107 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 108 | positionControl(stockage_G,pos,1,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 109 | previous_pos = pos; |
marwanesaich | 5:bb533bf81ee6 | 110 | etat = retour; |
marwanesaich | 6:aa800daf5ff9 | 111 | //pc.printf("RETOUR\n"); |
marwanesaich | 5:bb533bf81ee6 | 112 | } |
marwanesaich | 5:bb533bf81ee6 | 113 | |
marwanesaich | 5:bb533bf81ee6 | 114 | break; |
marwanesaich | 5:bb533bf81ee6 | 115 | case retour : |
marwanesaich | 5:bb533bf81ee6 | 116 | pos = getPos(stockage_G,1) ; |
marwanesaich | 5:bb533bf81ee6 | 117 | if(pos> (previous_pos-5)){ |
marwanesaich | 5:bb533bf81ee6 | 118 | etat = pret; |
marwanesaich | 6:aa800daf5ff9 | 119 | //pc.printf("PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 120 | } |
marwanesaich | 5:bb533bf81ee6 | 121 | break; |
marwanesaich | 5:bb533bf81ee6 | 122 | } |
marwanesaich | 5:bb533bf81ee6 | 123 | } |
marwanesaich | 5:bb533bf81ee6 | 124 | |
marwanesaich | 7:283d66d5c3b9 | 125 | void convoyeur_droit_jaune(void){ |
marwanesaich | 5:bb533bf81ee6 | 126 | |
marwanesaich | 5:bb533bf81ee6 | 127 | typedef enum {init, etalonnage, tmp_pret, pret, pousse, retour} type_etat ; |
marwanesaich | 5:bb533bf81ee6 | 128 | static type_etat etat = init; |
marwanesaich | 5:bb533bf81ee6 | 129 | static int16_t pos = 0; |
marwanesaich | 5:bb533bf81ee6 | 130 | static int16_t previous_pos = getPos(stockage_D,3); |
marwanesaich | 5:bb533bf81ee6 | 131 | |
marwanesaich | 5:bb533bf81ee6 | 132 | |
marwanesaich | 5:bb533bf81ee6 | 133 | switch(etat){ |
marwanesaich | 5:bb533bf81ee6 | 134 | |
marwanesaich | 5:bb533bf81ee6 | 135 | case init : |
marwanesaich | 5:bb533bf81ee6 | 136 | velocityControl(stockage_D,512,BLED_ON,3); |
marwanesaich | 5:bb533bf81ee6 | 137 | pos = getPos(stockage_D,3); |
marwanesaich | 5:bb533bf81ee6 | 138 | if(previous_pos != pos){ |
marwanesaich | 5:bb533bf81ee6 | 139 | etat = etalonnage; |
marwanesaich | 6:aa800daf5ff9 | 140 | //pc.printf("ETALONNAGE\n"); |
marwanesaich | 5:bb533bf81ee6 | 141 | } |
marwanesaich | 5:bb533bf81ee6 | 142 | break; |
marwanesaich | 5:bb533bf81ee6 | 143 | |
marwanesaich | 5:bb533bf81ee6 | 144 | case etalonnage : |
marwanesaich | 5:bb533bf81ee6 | 145 | pos = getPos(stockage_D,3); |
marwanesaich | 6:aa800daf5ff9 | 146 | if(pos>600 and (status_contact & MASK_FC_DROIT)){ |
marwanesaich | 5:bb533bf81ee6 | 147 | velocityControl(stockage_D,0,GLED_ON,3); |
marwanesaich | 5:bb533bf81ee6 | 148 | wait_ms(500); |
marwanesaich | 5:bb533bf81ee6 | 149 | pos = getPos(stockage_D,3) ; |
marwanesaich | 5:bb533bf81ee6 | 150 | //positionControl(stockage_D,pos-2000,1,BLED_ON,3); |
marwanesaich | 5:bb533bf81ee6 | 151 | compteTour(stockage_D,-1023,2,(pos-500),BLED_ON,3); |
marwanesaich | 5:bb533bf81ee6 | 152 | etat = tmp_pret; |
marwanesaich | 6:aa800daf5ff9 | 153 | //pc.printf("TMP_PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 154 | } |
marwanesaich | 5:bb533bf81ee6 | 155 | break; |
marwanesaich | 5:bb533bf81ee6 | 156 | |
marwanesaich | 5:bb533bf81ee6 | 157 | case tmp_pret : |
marwanesaich | 5:bb533bf81ee6 | 158 | previous_pos = pos; |
marwanesaich | 5:bb533bf81ee6 | 159 | pos = getPos(stockage_D,3) ; |
marwanesaich | 5:bb533bf81ee6 | 160 | if(pos> (previous_pos+5)){ |
marwanesaich | 5:bb533bf81ee6 | 161 | etat = pret; |
marwanesaich | 6:aa800daf5ff9 | 162 | //pc.printf("PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 163 | } |
marwanesaich | 5:bb533bf81ee6 | 164 | break; |
marwanesaich | 5:bb533bf81ee6 | 165 | |
marwanesaich | 5:bb533bf81ee6 | 166 | case pret : |
marwanesaich | 5:bb533bf81ee6 | 167 | if((status_contact & MASK_CT_DROIT)){ |
marwanesaich | 5:bb533bf81ee6 | 168 | //pc.printf("%d\n",pos); |
marwanesaich | 5:bb533bf81ee6 | 169 | pos = getPos(stockage_D,3)+ 550; |
marwanesaich | 6:aa800daf5ff9 | 170 | deverouillage_torque_convoyeurs_droit(); |
marwanesaich | 6:aa800daf5ff9 | 171 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 172 | positionControl(stockage_D,pos,1,BLED_ON,3); |
marwanesaich | 5:bb533bf81ee6 | 173 | previous_pos = pos; |
marwanesaich | 5:bb533bf81ee6 | 174 | etat = pousse; |
marwanesaich | 6:aa800daf5ff9 | 175 | //pc.printf("POUSSE\n"); |
marwanesaich | 5:bb533bf81ee6 | 176 | } |
marwanesaich | 5:bb533bf81ee6 | 177 | break; |
marwanesaich | 5:bb533bf81ee6 | 178 | |
marwanesaich | 5:bb533bf81ee6 | 179 | case pousse : |
marwanesaich | 5:bb533bf81ee6 | 180 | pos = getPos(stockage_D,3); |
marwanesaich | 5:bb533bf81ee6 | 181 | if(pos>(previous_pos-5) and (status_contact & MASK_CT_DROIT)==0){ |
marwanesaich | 5:bb533bf81ee6 | 182 | //pc.printf("%d\n",pos); |
marwanesaich | 5:bb533bf81ee6 | 183 | pos = pos - 550; |
marwanesaich | 6:aa800daf5ff9 | 184 | deverouillage_torque_convoyeurs_droit(); |
marwanesaich | 6:aa800daf5ff9 | 185 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 186 | positionControl(stockage_D,pos,1,BLED_ON,3); |
marwanesaich | 5:bb533bf81ee6 | 187 | previous_pos = pos; |
marwanesaich | 5:bb533bf81ee6 | 188 | etat = retour; |
marwanesaich | 6:aa800daf5ff9 | 189 | //pc.printf("RETOUR\n"); |
marwanesaich | 5:bb533bf81ee6 | 190 | } |
marwanesaich | 5:bb533bf81ee6 | 191 | |
marwanesaich | 5:bb533bf81ee6 | 192 | break; |
marwanesaich | 5:bb533bf81ee6 | 193 | |
marwanesaich | 5:bb533bf81ee6 | 194 | case retour : |
marwanesaich | 5:bb533bf81ee6 | 195 | pos = getPos(stockage_D,3) ; |
marwanesaich | 5:bb533bf81ee6 | 196 | if(pos< (previous_pos+5)){ |
marwanesaich | 5:bb533bf81ee6 | 197 | etat = pret; |
marwanesaich | 6:aa800daf5ff9 | 198 | //pc.printf("PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 199 | } |
marwanesaich | 5:bb533bf81ee6 | 200 | break; |
marwanesaich | 5:bb533bf81ee6 | 201 | } |
marwanesaich | 5:bb533bf81ee6 | 202 | } |
Artiom | 0:f900f4ea9dfd | 203 | |
Artiom | 0:f900f4ea9dfd | 204 | |
kyxstark | 3:a630a1ccf5f0 | 205 | void gabarit_robot(void) |
Artiom | 0:f900f4ea9dfd | 206 | { |
Artiom | 0:f900f4ea9dfd | 207 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
Artiom | 0:f900f4ea9dfd | 208 | |
kyxstark | 3:a630a1ccf5f0 | 209 | uint16_t pos_av_centre[2] = {550,550};//470,350 |
Artiom | 0:f900f4ea9dfd | 210 | |
Artiom | 0:f900f4ea9dfd | 211 | |
Artiom | 0:f900f4ea9dfd | 212 | int speed=100; |
Artiom | 0:f900f4ea9dfd | 213 | |
Artiom | 0:f900f4ea9dfd | 214 | deverouillage_torque(); |
kyxstark | 3:a630a1ccf5f0 | 215 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
marwanesaich | 6:aa800daf5ff9 | 216 | wait(0.5); |
marwanesaich | 6:aa800daf5ff9 | 217 | positionControl(doigt,POS_DOIGT_DROIT,100,BLED_ON,2); |
Artiom | 0:f900f4ea9dfd | 218 | |
Artiom | 0:f900f4ea9dfd | 219 | } |
Artiom | 0:f900f4ea9dfd | 220 | |
Artiom | 0:f900f4ea9dfd | 221 | |
Artiom | 0:f900f4ea9dfd | 222 | void fifo_couleur(void) |
Artiom | 0:f900f4ea9dfd | 223 | { |
Artiom | 0:f900f4ea9dfd | 224 | |
Artiom | 0:f900f4ea9dfd | 225 | typedef enum {n_atome, atome, tmp} type_etat ; |
Artiom | 0:f900f4ea9dfd | 226 | static type_etat etat = n_atome; |
Artiom | 0:f900f4ea9dfd | 227 | |
Artiom | 0:f900f4ea9dfd | 228 | int etat_cap = !couleur_bas[0] + !couleur_bas[1]*2 + !couleur_bas[2]*2; |
Artiom | 0:f900f4ea9dfd | 229 | switch(etat) { |
Artiom | 0:f900f4ea9dfd | 230 | case n_atome : //on attend qu'un atome soit sous le capteur pour lancer la FIFO |
Artiom | 0:f900f4ea9dfd | 231 | if(etat_cap) { |
Artiom | 0:f900f4ea9dfd | 232 | buffer_couleur_bas[FIFO_couleur_ecriture] = etat_cap; //1 = bleu, 2 = rouge/ vert |
Artiom | 0:f900f4ea9dfd | 233 | flag_ascenseur = 1; |
Artiom | 0:f900f4ea9dfd | 234 | if(FIFO_couleur_ecriture == FIFO_couleur_lecture) { |
marwanesaich | 5:bb533bf81ee6 | 235 | /* if(buffer_couleur_bas[FIFO_couleur_ecriture] == 1) { |
Artiom | 0:f900f4ea9dfd | 236 | positionControl(doigt,384,10,BLED_ON,2); //position herkulex stockage bleu |
Artiom | 0:f900f4ea9dfd | 237 | } else { |
Artiom | 0:f900f4ea9dfd | 238 | positionControl(doigt,640,10,GLED_ON,2); //position herkulex stockage rouge/vert |
marwanesaich | 5:bb533bf81ee6 | 239 | }*/ |
marwanesaich | 5:bb533bf81ee6 | 240 | oriente_doigt(buffer_couleur_bas[FIFO_couleur_ecriture]); |
Artiom | 0:f900f4ea9dfd | 241 | } |
marwanesaich | 5:bb533bf81ee6 | 242 | |
Artiom | 0:f900f4ea9dfd | 243 | FIFO_couleur_ecriture=(FIFO_couleur_ecriture+1)%SIZE_FIFO; |
Artiom | 0:f900f4ea9dfd | 244 | etat = tmp; |
Artiom | 0:f900f4ea9dfd | 245 | } |
Artiom | 0:f900f4ea9dfd | 246 | break; |
marwanesaich | 6:aa800daf5ff9 | 247 | /* |
Artiom | 0:f900f4ea9dfd | 248 | case atome : //on stocke dans la fifo la couleur de l'atome |
Artiom | 0:f900f4ea9dfd | 249 | buffer_couleur_bas[FIFO_couleur_ecriture] = etat_cap; //1 = bleu, 2 = rouge/ vert |
Artiom | 0:f900f4ea9dfd | 250 | flag_ascenseur = 1; |
Artiom | 0:f900f4ea9dfd | 251 | FIFO_couleur_ecriture=(FIFO_couleur_ecriture+1)%SIZE_FIFO; |
Artiom | 0:f900f4ea9dfd | 252 | etat = tmp; |
marwanesaich | 6:aa800daf5ff9 | 253 | break;*/ |
Artiom | 0:f900f4ea9dfd | 254 | |
Artiom | 0:f900f4ea9dfd | 255 | case tmp : //on attend que l'atome traité soit totalement passé |
Artiom | 0:f900f4ea9dfd | 256 | if(!etat_cap) { |
Artiom | 0:f900f4ea9dfd | 257 | etat = n_atome; |
Artiom | 0:f900f4ea9dfd | 258 | } |
Artiom | 0:f900f4ea9dfd | 259 | break; |
Artiom | 0:f900f4ea9dfd | 260 | |
Artiom | 0:f900f4ea9dfd | 261 | } |
Artiom | 0:f900f4ea9dfd | 262 | |
Artiom | 0:f900f4ea9dfd | 263 | } |
Artiom | 0:f900f4ea9dfd | 264 | |
Artiom | 0:f900f4ea9dfd | 265 | |
Artiom | 0:f900f4ea9dfd | 266 | void ascenseur(void) |
Artiom | 0:f900f4ea9dfd | 267 | { |
Artiom | 0:f900f4ea9dfd | 268 | typedef enum {init, atome, tmp} type_etat; |
Artiom | 0:f900f4ea9dfd | 269 | static type_etat etat = init; |
Artiom | 0:f900f4ea9dfd | 270 | |
Artiom | 0:f900f4ea9dfd | 271 | int etat_cap = !couleur_haut[0] + !couleur_haut[1]*2 + !couleur_haut[2]*2; |
Artiom | 0:f900f4ea9dfd | 272 | static int flag_sortie = 0; |
marwanesaich | 5:bb533bf81ee6 | 273 | |
Artiom | 0:f900f4ea9dfd | 274 | switch(etat) { |
Artiom | 0:f900f4ea9dfd | 275 | case init : |
Artiom | 0:f900f4ea9dfd | 276 | //on attend le premier atome et place le herkulex en fonction |
Artiom | 0:f900f4ea9dfd | 277 | if(flag_ascenseur) { |
marwanesaich | 6:aa800daf5ff9 | 278 | //SendCharCan(HACHEUR_ID_COUROIES,1); |
Artiom | 0:f900f4ea9dfd | 279 | etat = atome; |
Artiom | 0:f900f4ea9dfd | 280 | } |
Artiom | 0:f900f4ea9dfd | 281 | break; |
Artiom | 0:f900f4ea9dfd | 282 | |
Artiom | 0:f900f4ea9dfd | 283 | case atome : |
Artiom | 0:f900f4ea9dfd | 284 | //on attend que l'atome soit présent devant le capteur haut et qu'il corresponde à la FIFO |
marwanesaich | 6:aa800daf5ff9 | 285 | if(etat_cap != 0) |
marwanesaich | 6:aa800daf5ff9 | 286 | { |
marwanesaich | 7:283d66d5c3b9 | 287 | oriente_doigt(etat_cap); |
marwanesaich | 6:aa800daf5ff9 | 288 | etat = tmp; |
marwanesaich | 6:aa800daf5ff9 | 289 | } |
marwanesaich | 6:aa800daf5ff9 | 290 | |
marwanesaich | 6:aa800daf5ff9 | 291 | /*if(buffer_couleur_bas[FIFO_couleur_lecture] != 0) { |
marwanesaich | 6:aa800daf5ff9 | 292 | oriente_doigt(buffer_couleur_bas[FIFO_couleur_lecture]); |
marwanesaich | 6:aa800daf5ff9 | 293 | etat = tmp; |
marwanesaich | 5:bb533bf81ee6 | 294 | }else if(etat_cap != 0) { |
marwanesaich | 5:bb533bf81ee6 | 295 | etat = tmp; |
marwanesaich | 6:aa800daf5ff9 | 296 | }*/ |
Artiom | 0:f900f4ea9dfd | 297 | break; |
Artiom | 0:f900f4ea9dfd | 298 | |
Artiom | 0:f900f4ea9dfd | 299 | case tmp : |
Artiom | 0:f900f4ea9dfd | 300 | //on attend que le capteur soit totalement passé pour déplacer le pointeur de lecture |
Artiom | 0:f900f4ea9dfd | 301 | if(etat_cap == 0) { |
Artiom | 0:f900f4ea9dfd | 302 | FIFO_couleur_lecture=(FIFO_couleur_lecture+1)%SIZE_FIFO; |
Artiom | 0:f900f4ea9dfd | 303 | etat = atome; |
Artiom | 0:f900f4ea9dfd | 304 | } |
Artiom | 0:f900f4ea9dfd | 305 | break; |
Artiom | 0:f900f4ea9dfd | 306 | } |
Artiom | 0:f900f4ea9dfd | 307 | } |
kyxstark | 1:af508f84a079 | 308 | |
marwanesaich | 5:bb533bf81ee6 | 309 | void oriente_doigt(int palet) |
marwanesaich | 5:bb533bf81ee6 | 310 | { |
marwanesaich | 5:bb533bf81ee6 | 311 | if(cote) { |
marwanesaich | 5:bb533bf81ee6 | 312 | if(palet == 1) {//position herkulex stockage bleu |
marwanesaich | 6:aa800daf5ff9 | 313 | positionControl(doigt,POS_DOIGT_GAUCHE,10,BLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 314 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 5:bb533bf81ee6 | 315 | } else if (palet == 2) {//position herkulex stockage rouge/vert |
marwanesaich | 6:aa800daf5ff9 | 316 | positionControl(doigt,POS_DOIGT_DROIT,10,GLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 317 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 6:aa800daf5ff9 | 318 | |
marwanesaich | 5:bb533bf81ee6 | 319 | } |
marwanesaich | 5:bb533bf81ee6 | 320 | } else { |
marwanesaich | 5:bb533bf81ee6 | 321 | if(palet== 1) {//position herkulex stockage bleu |
marwanesaich | 6:aa800daf5ff9 | 322 | positionControl(doigt,POS_DOIGT_DROIT,10,BLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 323 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 5:bb533bf81ee6 | 324 | } else if (palet== 2) {//position herkulex stockage rouge/vert |
marwanesaich | 6:aa800daf5ff9 | 325 | positionControl(doigt,POS_DOIGT_GAUCHE,10,GLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 326 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 5:bb533bf81ee6 | 327 | } |
marwanesaich | 5:bb533bf81ee6 | 328 | } |
marwanesaich | 5:bb533bf81ee6 | 329 | } |
marwanesaich | 5:bb533bf81ee6 | 330 | |
Artiom | 0:f900f4ea9dfd | 331 | void presentoir_avant(void) |
Artiom | 0:f900f4ea9dfd | 332 | { |
kyxstark | 2:33583329d6c8 | 333 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
kyxstark | 2:33583329d6c8 | 334 | |
kyxstark | 3:a630a1ccf5f0 | 335 | uint16_t pos_av_centre[2] = {512,512}; |
kyxstark | 2:33583329d6c8 | 336 | |
kyxstark | 2:33583329d6c8 | 337 | int speed=1; |
kyxstark | 2:33583329d6c8 | 338 | |
kyxstark | 2:33583329d6c8 | 339 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
kyxstark | 2:33583329d6c8 | 340 | verification(); |
Artiom | 0:f900f4ea9dfd | 341 | } |
Artiom | 0:f900f4ea9dfd | 342 | |
Artiom | 0:f900f4ea9dfd | 343 | |
Artiom | 0:f900f4ea9dfd | 344 | void automate_ventouse_presentoir_avant(void) |
Artiom | 0:f900f4ea9dfd | 345 | { |
kyxstark | 2:33583329d6c8 | 346 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
kyxstark | 2:33583329d6c8 | 347 | static type_etat etat = init; |
kyxstark | 2:33583329d6c8 | 348 | |
kyxstark | 2:33583329d6c8 | 349 | switch(etat) { |
kyxstark | 2:33583329d6c8 | 350 | case init: //attente d'initialisation |
kyxstark | 2:33583329d6c8 | 351 | if(fpresentoir_avant) |
kyxstark | 2:33583329d6c8 | 352 | etat=envoi_instruction; |
kyxstark | 2:33583329d6c8 | 353 | break; |
kyxstark | 2:33583329d6c8 | 354 | |
kyxstark | 2:33583329d6c8 | 355 | case envoi_instruction://envoi instruction |
kyxstark | 2:33583329d6c8 | 356 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
kyxstark | 2:33583329d6c8 | 357 | presentoir_avant(); |
kyxstark | 2:33583329d6c8 | 358 | SendRawId(HACHEUR_GET_PRESENTOIR_AV); |
kyxstark | 2:33583329d6c8 | 359 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
kyxstark | 2:33583329d6c8 | 360 | etat = attente_ack_ventouse; |
kyxstark | 2:33583329d6c8 | 361 | break; |
kyxstark | 2:33583329d6c8 | 362 | |
kyxstark | 2:33583329d6c8 | 363 | case attente_ack_ventouse: |
kyxstark | 2:33583329d6c8 | 364 | if((status_pompe&MASK_PRESENTOIR_AV)==MASK_PRESENTOIR_AV) { |
kyxstark | 2:33583329d6c8 | 365 | fpresentoir_avant=0; |
kyxstark | 2:33583329d6c8 | 366 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
kyxstark | 2:33583329d6c8 | 367 | etat = init; |
kyxstark | 2:33583329d6c8 | 368 | } |
kyxstark | 2:33583329d6c8 | 369 | break; |
kyxstark | 2:33583329d6c8 | 370 | |
kyxstark | 2:33583329d6c8 | 371 | } |
Artiom | 0:f900f4ea9dfd | 372 | } |
Artiom | 0:f900f4ea9dfd | 373 | |
Artiom | 0:f900f4ea9dfd | 374 | void automate_ventouse_relache_avant(void) |
Artiom | 0:f900f4ea9dfd | 375 | { |
Artiom | 0:f900f4ea9dfd | 376 | |
kyxstark | 2:33583329d6c8 | 377 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
kyxstark | 2:33583329d6c8 | 378 | static type_etat etat = init; |
kyxstark | 2:33583329d6c8 | 379 | |
kyxstark | 2:33583329d6c8 | 380 | switch(etat) { |
kyxstark | 2:33583329d6c8 | 381 | case init: //attente d'initialisation |
kyxstark | 2:33583329d6c8 | 382 | if(favant_relache) |
kyxstark | 2:33583329d6c8 | 383 | etat=envoi_instruction; |
kyxstark | 2:33583329d6c8 | 384 | break; |
kyxstark | 2:33583329d6c8 | 385 | |
kyxstark | 2:33583329d6c8 | 386 | case envoi_instruction://envoi instruction |
kyxstark | 2:33583329d6c8 | 387 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
kyxstark | 2:33583329d6c8 | 388 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
kyxstark | 2:33583329d6c8 | 389 | etat = attente_ack_ventouse; |
kyxstark | 2:33583329d6c8 | 390 | break; |
kyxstark | 2:33583329d6c8 | 391 | |
kyxstark | 2:33583329d6c8 | 392 | case attente_ack_ventouse: |
kyxstark | 2:33583329d6c8 | 393 | SendRawId(HACHEUR_RELEASE_AV); |
kyxstark | 2:33583329d6c8 | 394 | if((status_pompe&MASK_PRESENTOIR_AV)== 0) { |
kyxstark | 2:33583329d6c8 | 395 | favant_relache=0; |
kyxstark | 2:33583329d6c8 | 396 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
kyxstark | 2:33583329d6c8 | 397 | etat = init; |
kyxstark | 2:33583329d6c8 | 398 | } |
kyxstark | 2:33583329d6c8 | 399 | break; |
kyxstark | 2:33583329d6c8 | 400 | |
kyxstark | 2:33583329d6c8 | 401 | } |
Artiom | 0:f900f4ea9dfd | 402 | |
Artiom | 0:f900f4ea9dfd | 403 | } |
Artiom | 0:f900f4ea9dfd | 404 | |
Artiom | 0:f900f4ea9dfd | 405 | void goldenium_avant(void) |
Artiom | 0:f900f4ea9dfd | 406 | { |
Artiom | 0:f900f4ea9dfd | 407 | |
Artiom | 0:f900f4ea9dfd | 408 | } |
Artiom | 0:f900f4ea9dfd | 409 | |
Artiom | 0:f900f4ea9dfd | 410 | void automate_ventouse_goldenium_avant (void) |
Artiom | 0:f900f4ea9dfd | 411 | { |
Artiom | 0:f900f4ea9dfd | 412 | } |
Artiom | 0:f900f4ea9dfd | 413 | |
Artiom | 0:f900f4ea9dfd | 414 | void accelerateur_avant(void) |
Artiom | 0:f900f4ea9dfd | 415 | { |
Artiom | 0:f900f4ea9dfd | 416 | } |
Artiom | 0:f900f4ea9dfd | 417 | |
Artiom | 0:f900f4ea9dfd | 418 | void automate_ventouse_accelerateur_avant(void) |
Artiom | 0:f900f4ea9dfd | 419 | { |
Artiom | 0:f900f4ea9dfd | 420 | |
kyxstark | 1:af508f84a079 | 421 | } |
Artiom | 0:f900f4ea9dfd | 422 | #endif |