CRAC Team / actions_Gr

librairie actions gros robot carte esclave

Dependents:   carte_esclave201_petit_rob carte_esclave2019 carte_esclave_PETIT_ROBOT_2019

actions_Gr.h@22:a0af2f50ff1d, 2019-05-31 (annotated)

Committer:
kyxstark
Date:
Fri May 31 23:02:21 2019 +0000
Revision:
22:a0af2f50ff1d
Parent:
19:2281a0ef54e4 
GOLD OK ajout verification rateau

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Artiom 0:f900f4ea9dfd 1 #ifndef ACTIONS_GR_H
Artiom 0:f900f4ea9dfd 2 #define ACTIONS_GR_H
Artiom 0:f900f4ea9dfd 3
Artiom 0:f900f4ea9dfd 4 #include "main.h"
Artiom 0:f900f4ea9dfd 5
Artiom 0:f900f4ea9dfd 6
Artiom 0:f900f4ea9dfd 7 #ifdef ROBOT_BIG
Artiom 0:f900f4ea9dfd 8 //-----------------------servo gros robot--------------------------------------
Artiom 0:f900f4ea9dfd 9 //serial 1
Artiom 0:f900f4ea9dfd 10 #define roue_G 4
Artiom 0:f900f4ea9dfd 11 #define stockage_G 3
Artiom 0:f900f4ea9dfd 12 //serial 2
Artiom 0:f900f4ea9dfd 13 #define doigt 2
Artiom 0:f900f4ea9dfd 14 #define AV_EP_C 10
Artiom 0:f900f4ea9dfd 15 #define AV_poigne_C 11
Artiom 0:f900f4ea9dfd 16 //serial 3
Artiom 0:f900f4ea9dfd 17 #define stockage_D 1
Artiom 0:f900f4ea9dfd 18 #define roue_D 5
marwanesaich 19:2281a0ef54e4 19 #define rateau_D 7
marwanesaich 19:2281a0ef54e4 20 #define rateau_G 6
Artiom 0:f900f4ea9dfd 21
Artiom 0:f900f4ea9dfd 22 #define SIZE_FIFO 50
Artiom 0:f900f4ea9dfd 23
marwanesaich 15:1fefa6b1569b 24 #define VIT_ROUE 1.0
marwanesaich 15:1fefa6b1569b 25
marwanesaich 18:2082875295df 26
marwanesaich 18:2082875295df 27 #define VITESSE_RALENTI 25
marwanesaich 18:2082875295df 28 #define VITESSE_NORMAL 200
marwanesaich 18:2082875295df 29
marwanesaich 18:2082875295df 30 #define ACCELERATION_RALENTI 1000
marwanesaich 18:2082875295df 31 #define DECELERATION_RALENTI 1000
marwanesaich 18:2082875295df 32
marwanesaich 18:2082875295df 33 #define ACCELERATION 4000
marwanesaich 18:2082875295df 34 #define DECELERATION 3800
marwanesaich 18:2082875295df 35
marwanesaich 18:2082875295df 36 #define TIMEOUT_ACTION_PRESENTOIR 5000
marwanesaich 18:2082875295df 37
Artiom 0:f900f4ea9dfd 38 extern char status_pompe;
marwanesaich 5:bb533bf81ee6 39 extern char status_contact;
Artiom 0:f900f4ea9dfd 40
marwanesaich 17:5973f13f44e2 41 extern bool flag_ascenseur,flag_ascenseur_force_on, flag_ascenseur_force_off;
Artiom 0:f900f4ea9dfd 42
Artiom 0:f900f4ea9dfd 43 extern char fpresentoir_avant, fpresentoir_arriere;
Artiom 0:f900f4ea9dfd 44 extern char fgoldenium_avant, fgoldenium_arriere;
Artiom 0:f900f4ea9dfd 45 extern char fsol_avant,fsol_arriere;
Artiom 0:f900f4ea9dfd 46 extern char fsol_avant_relache,fsol_arriere_relache;
Artiom 0:f900f4ea9dfd 47 extern char fbalance_avant,fbalance_arriere;
Artiom 0:f900f4ea9dfd 48 extern char favant_relache,farriere_relache;
Artiom 0:f900f4ea9dfd 49 extern char faccelerateur_avant,faccelerateur_arriere;
Artiom 0:f900f4ea9dfd 50
marwanesaich 14:bf2810b95f25 51 extern int flag_vide_vert_rouge,flag_vide_bleu;
marwanesaich 14:bf2810b95f25 52
marwanesaich 16:06463f24811d 53
marwanesaich 16:06463f24811d 54 extern int nbPaletsVerts, nbPaletsBleus;
marwanesaich 16:06463f24811d 55
kyxstark 3:a630a1ccf5f0 56 void gabarit_robot(void);
Artiom 0:f900f4ea9dfd 57
Artiom 0:f900f4ea9dfd 58 void fifo_couleur(void);
Artiom 0:f900f4ea9dfd 59 void ascenseur(void);
marwanesaich 5:bb533bf81ee6 60 void oriente_doigt(int palet);
marwanesaich 15:1fefa6b1569b 61 void oriente_doigt_suiv(int palet);
marwanesaich 7:283d66d5c3b9 62 void convoyeur_gauche_jaune(void);
marwanesaich 7:283d66d5c3b9 63 void convoyeur_droit_jaune(void);
marwanesaich 8:7bd34e838ca3 64 void convoyeur_gauche_violet(void);
marwanesaich 9:05da4300730a 65 void convoyeur_droit_violet(void);
Artiom 0:f900f4ea9dfd 66
marwanesaich 19:2281a0ef54e4 67 void rateau(int etat);
kyxstark 1:af508f84a079 68
Artiom 0:f900f4ea9dfd 69 void presentoir_avant(void);
Artiom 0:f900f4ea9dfd 70 void automate_ventouse_presentoir_avant(void);
Artiom 0:f900f4ea9dfd 71 void automate_ventouse_relache_avant(void);
Artiom 0:f900f4ea9dfd 72
Artiom 0:f900f4ea9dfd 73 void goldenium_avant(void);
Artiom 0:f900f4ea9dfd 74 void automate_ventouse_goldenium_avant(void);
Artiom 0:f900f4ea9dfd 75 void accelerateur_avant(void);
kyxstark 1:af508f84a079 76 void automate_ventouse_accelerateur_avant(void);
Artiom 0:f900f4ea9dfd 77
Artiom 0:f900f4ea9dfd 78
Artiom 0:f900f4ea9dfd 79 #endif
Artiom 0:f900f4ea9dfd 80 #endif