librairie actions gros robot carte esclave
Dependents: carte_esclave201_petit_rob carte_esclave2019 carte_esclave_PETIT_ROBOT_2019
actions_Gr.cpp@18:2082875295df, 2019-05-31 (annotated)
- Committer:
- marwanesaich
- Date:
- Fri May 31 05:39:55 2019 +0000
- Revision:
- 18:2082875295df
- Parent:
- 17:5973f13f44e2
- Child:
- 19:2281a0ef54e4
points automatiques, goldenium, debloquage roulette
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 | 15:1fefa6b1569b | 26 | #define POS_DOIGT_GAUCHE 605 |
marwanesaich | 15:1fefa6b1569b | 27 | #define POS_DOIGT_DROIT 369 |
marwanesaich | 15:1fefa6b1569b | 28 | #define POS_DOIGT_GAUCHE_SUIV 535 |
marwanesaich | 15:1fefa6b1569b | 29 | #define POS_DOIGT_DROIT_SUIV 439 |
Artiom | 0:f900f4ea9dfd | 30 | |
Artiom | 0:f900f4ea9dfd | 31 | char status_pompe=0; |
marwanesaich | 17:5973f13f44e2 | 32 | bool flag_ascenseur = 0, flag_ascenseur_force_on = 0, flag_ascenseur_force_off = 0; |
Artiom | 0:f900f4ea9dfd | 33 | |
Artiom | 0:f900f4ea9dfd | 34 | char fpresentoir_avant=0, fpresentoir_arriere=0; |
Artiom | 0:f900f4ea9dfd | 35 | char fgoldenium_avant=0, fgoldenium_arriere=0; |
Artiom | 0:f900f4ea9dfd | 36 | char fsol_avant=0,fsol_arriere=0; |
Artiom | 0:f900f4ea9dfd | 37 | char fsol_avant_relache=0,fsol_arriere_relache=0; |
Artiom | 0:f900f4ea9dfd | 38 | char fbalance_avant=0,fbalance_arriere=0; |
Artiom | 0:f900f4ea9dfd | 39 | char favant_relache=0,farriere_relache=0; |
Artiom | 0:f900f4ea9dfd | 40 | char faccelerateur_avant=0,faccelerateur_arriere=0; |
Artiom | 0:f900f4ea9dfd | 41 | |
marwanesaich | 14:bf2810b95f25 | 42 | int flag_vide_vert_rouge=0,flag_vide_bleu=0; |
Artiom | 0:f900f4ea9dfd | 43 | |
Artiom | 0:f900f4ea9dfd | 44 | DigitalIn couleur_haut[3] = {PA_9,PA_10,PA_11}; //GC1 |
Artiom | 0:f900f4ea9dfd | 45 | DigitalIn couleur_bas[3] = {PB_12,PB_13,PB_14}; //GC2 |
Artiom | 0:f900f4ea9dfd | 46 | |
marwanesaich | 15:1fefa6b1569b | 47 | PwmOut PWM_roue_Gauche(PA_15); |
marwanesaich | 15:1fefa6b1569b | 48 | PwmOut PWM_roue_Droite(PC_9); |
marwanesaich | 15:1fefa6b1569b | 49 | |
Artiom | 0:f900f4ea9dfd | 50 | char buffer_couleur_bas[SIZE_FIFO]; |
Artiom | 0:f900f4ea9dfd | 51 | unsigned char FIFO_couleur_ecriture=0; |
Artiom | 0:f900f4ea9dfd | 52 | signed char FIFO_couleur_lecture=0; |
marwanesaich | 5:bb533bf81ee6 | 53 | char status_contact=0; |
marwanesaich | 16:06463f24811d | 54 | int nbPaletsVerts = 0, nbPaletsBleus = 0; |
marwanesaich | 16:06463f24811d | 55 | |
marwanesaich | 18:2082875295df | 56 | Timer timer_bloquer; |
Artiom | 0:f900f4ea9dfd | 57 | |
marwanesaich | 18:2082875295df | 58 | Timer timeout; |
Artiom | 0:f900f4ea9dfd | 59 | |
marwanesaich | 15:1fefa6b1569b | 60 | void roue(int allume) |
marwanesaich | 15:1fefa6b1569b | 61 | { |
marwanesaich | 15:1fefa6b1569b | 62 | if(cote) |
marwanesaich | 15:1fefa6b1569b | 63 | { |
marwanesaich | 15:1fefa6b1569b | 64 | PWM_roue_Gauche.write(float(allume));// = 1.0;//VIT_ROUE*allume; |
marwanesaich | 17:5973f13f44e2 | 65 | PWM_roue_Droite.write(0); |
marwanesaich | 15:1fefa6b1569b | 66 | } |
marwanesaich | 15:1fefa6b1569b | 67 | else |
marwanesaich | 15:1fefa6b1569b | 68 | { |
marwanesaich | 15:1fefa6b1569b | 69 | PWM_roue_Droite.write(float(allume));// = 1.0;//VIT_ROUE*allume; |
marwanesaich | 17:5973f13f44e2 | 70 | PWM_roue_Gauche.write(0); |
marwanesaich | 15:1fefa6b1569b | 71 | } |
marwanesaich | 15:1fefa6b1569b | 72 | } |
marwanesaich | 15:1fefa6b1569b | 73 | |
marwanesaich | 14:bf2810b95f25 | 74 | void convoyeur_gauche_jaune(void) |
marwanesaich | 14:bf2810b95f25 | 75 | { |
marwanesaich | 14:bf2810b95f25 | 76 | |
marwanesaich | 15:1fefa6b1569b | 77 | typedef enum {init, etalonnage, tmp_pret, pret, pousse, tmp,retour, vide, tmp_vide, fin_vide} type_etat ; |
marwanesaich | 5:bb533bf81ee6 | 78 | static type_etat etat = init; |
marwanesaich | 15:1fefa6b1569b | 79 | static int16_t pos = 0, consigne_pos, consigne_roue; |
marwanesaich | 5:bb533bf81ee6 | 80 | static int16_t previous_pos = getPos(stockage_G,1); |
marwanesaich | 15:1fefa6b1569b | 81 | static int cpt_vider = 0; |
marwanesaich | 16:06463f24811d | 82 | int flag_debut = 0; |
marwanesaich | 18:2082875295df | 83 | //static int pos_vide[8] = {800, 100, 500, 900, 200, 600, 1000, 400}; |
marwanesaich | 18:2082875295df | 84 | static int pos_vide[11] = {800, 100, 500, 900, 200, 600, 1000, 300, 700, 24, 400}; |
marwanesaich | 14:bf2810b95f25 | 85 | /*if(flag_vide_vert_rouge) |
marwanesaich | 14:bf2810b95f25 | 86 | { |
marwanesaich | 14:bf2810b95f25 | 87 | etat = init; |
marwanesaich | 14:bf2810b95f25 | 88 | flag_vide_vert_rouge = 0; |
marwanesaich | 14:bf2810b95f25 | 89 | }*/ |
marwanesaich | 14:bf2810b95f25 | 90 | |
marwanesaich | 14:bf2810b95f25 | 91 | switch(etat) { |
marwanesaich | 14:bf2810b95f25 | 92 | |
marwanesaich | 14:bf2810b95f25 | 93 | case init : |
marwanesaich | 5:bb533bf81ee6 | 94 | velocityControl(stockage_G,-512,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 95 | pos = getPos(stockage_G,1); |
marwanesaich | 14:bf2810b95f25 | 96 | if(previous_pos != pos) { |
marwanesaich | 5:bb533bf81ee6 | 97 | etat = etalonnage; |
marwanesaich | 14:bf2810b95f25 | 98 | //pc.printf("ETALONNAGE\n"); |
marwanesaich | 14:bf2810b95f25 | 99 | |
marwanesaich | 5:bb533bf81ee6 | 100 | } |
marwanesaich | 5:bb533bf81ee6 | 101 | break; |
Artiom | 0:f900f4ea9dfd | 102 | |
marwanesaich | 5:bb533bf81ee6 | 103 | case etalonnage : |
marwanesaich | 5:bb533bf81ee6 | 104 | pos = getPos(stockage_G,1); |
marwanesaich | 11:dfff2e200d0c | 105 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 106 | if( ( (21<pos && pos<260) /*|| (404<pos && pos<812)*/ ) and (status_contact & MASK_FC_GAUCHE)) { |
marwanesaich | 5:bb533bf81ee6 | 107 | velocityControl(stockage_G,0,GLED_ON,1); |
marwanesaich | 11:dfff2e200d0c | 108 | wait_ms(300); |
marwanesaich | 5:bb533bf81ee6 | 109 | pos = getPos(stockage_G,1) ; |
marwanesaich | 11:dfff2e200d0c | 110 | consigne_pos = pos + 180; |
marwanesaich | 11:dfff2e200d0c | 111 | positionControl(stockage_G,consigne_pos,1,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 112 | etat = tmp_pret; |
marwanesaich | 14:bf2810b95f25 | 113 | //pc.printf("TMP_PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 114 | } |
marwanesaich | 5:bb533bf81ee6 | 115 | break; |
marwanesaich | 14:bf2810b95f25 | 116 | |
marwanesaich | 5:bb533bf81ee6 | 117 | case tmp_pret : |
marwanesaich | 11:dfff2e200d0c | 118 | pos = getPos(stockage_G,1); |
marwanesaich | 11:dfff2e200d0c | 119 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 120 | if(pos> (consigne_pos-5)) { |
marwanesaich | 13:0b5310c6dc44 | 121 | //pc.printf("pos pret %d\n", pos); |
marwanesaich | 14:bf2810b95f25 | 122 | etat = pret; |
marwanesaich | 14:bf2810b95f25 | 123 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 124 | |
marwanesaich | 14:bf2810b95f25 | 125 | } |
marwanesaich | 5:bb533bf81ee6 | 126 | break; |
marwanesaich | 14:bf2810b95f25 | 127 | |
marwanesaich | 14:bf2810b95f25 | 128 | case pret : |
marwanesaich | 14:bf2810b95f25 | 129 | if(flag_vide_vert_rouge) { |
marwanesaich | 14:bf2810b95f25 | 130 | flag_vide_vert_rouge =0; |
marwanesaich | 16:06463f24811d | 131 | flag_debut = 0; |
marwanesaich | 14:bf2810b95f25 | 132 | etat = vide; |
marwanesaich | 17:5973f13f44e2 | 133 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
marwanesaich | 14:bf2810b95f25 | 134 | } else if((status_contact & MASK_CT_GAUCHE)) { |
marwanesaich | 13:0b5310c6dc44 | 135 | consigne_pos = (getPos(stockage_G,1)+550); |
marwanesaich | 14:bf2810b95f25 | 136 | |
marwanesaich | 13:0b5310c6dc44 | 137 | //if(consigne_pos>1105) consigne_pos -= 1105; |
marwanesaich | 13:0b5310c6dc44 | 138 | //pc.printf("consigne pousse %d\n", consigne_pos); |
marwanesaich | 6:aa800daf5ff9 | 139 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 6:aa800daf5ff9 | 140 | wait_us(500); |
marwanesaich | 11:dfff2e200d0c | 141 | positionControl(stockage_G,consigne_pos,1,BLED_ON,1); |
marwanesaich | 13:0b5310c6dc44 | 142 | //compteTour(stockage_G,+1023,0,consigne_pos,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 143 | etat = pousse; |
marwanesaich | 14:bf2810b95f25 | 144 | //pc.printf("POUSSE\n"); |
marwanesaich | 5:bb533bf81ee6 | 145 | } |
marwanesaich | 5:bb533bf81ee6 | 146 | break; |
marwanesaich | 14:bf2810b95f25 | 147 | |
marwanesaich | 5:bb533bf81ee6 | 148 | case pousse : |
marwanesaich | 5:bb533bf81ee6 | 149 | pos = getPos(stockage_G,1); |
marwanesaich | 13:0b5310c6dc44 | 150 | //pc.printf("%d\n", pos); |
marwanesaich | 11:dfff2e200d0c | 151 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 152 | if(pos>(consigne_pos-5) and (status_contact & MASK_CT_GAUCHE)==0) { |
marwanesaich | 14:bf2810b95f25 | 153 | consigne_pos = pos - 550; |
marwanesaich | 6:aa800daf5ff9 | 154 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 6:aa800daf5ff9 | 155 | wait_us(500); |
marwanesaich | 11:dfff2e200d0c | 156 | positionControl(stockage_G,consigne_pos,1,BLED_ON,1); |
marwanesaich | 5:bb533bf81ee6 | 157 | etat = retour; |
marwanesaich | 14:bf2810b95f25 | 158 | //pc.printf("RETOUR\n"); |
marwanesaich | 5:bb533bf81ee6 | 159 | } |
marwanesaich | 14:bf2810b95f25 | 160 | |
marwanesaich | 5:bb533bf81ee6 | 161 | break; |
marwanesaich | 5:bb533bf81ee6 | 162 | case retour : |
marwanesaich | 5:bb533bf81ee6 | 163 | pos = getPos(stockage_G,1) ; |
marwanesaich | 11:dfff2e200d0c | 164 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 165 | if(pos< (consigne_pos+5)) { |
marwanesaich | 14:bf2810b95f25 | 166 | etat = pret; |
marwanesaich | 14:bf2810b95f25 | 167 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 168 | } |
marwanesaich | 14:bf2810b95f25 | 169 | break; |
marwanesaich | 16:06463f24811d | 170 | /* |
marwanesaich | 14:bf2810b95f25 | 171 | case vide: |
marwanesaich | 15:1fefa6b1569b | 172 | pos = getPos(stockage_G,1); |
marwanesaich | 16:06463f24811d | 173 | if(!flag_debut){ |
marwanesaich | 16:06463f24811d | 174 | flag_debut =1; |
marwanesaich | 16:06463f24811d | 175 | consigne_pos = (pos+420)%1105; |
marwanesaich | 16:06463f24811d | 176 | } |
marwanesaich | 16:06463f24811d | 177 | else{ |
marwanesaich | 16:06463f24811d | 178 | |
marwanesaich | 16:06463f24811d | 179 | consigne_pos = (pos+400)%1105; |
marwanesaich | 16:06463f24811d | 180 | } |
marwanesaich | 16:06463f24811d | 181 | |
marwanesaich | 15:1fefa6b1569b | 182 | pc.printf("\n1 pos : %d consigne %d\n",pos, consigne_pos); |
marwanesaich | 15:1fefa6b1569b | 183 | //ACTIVERMOTEUR |
marwanesaich | 15:1fefa6b1569b | 184 | roue(1); |
marwanesaich | 15:1fefa6b1569b | 185 | //compteTour(stockage_G,+1023,3,consigne_pos,BLED_ON,1); |
marwanesaich | 15:1fefa6b1569b | 186 | |
marwanesaich | 16:06463f24811d | 187 | if(cpt_vider<7){ |
marwanesaich | 16:06463f24811d | 188 | compteTour(stockage_G,+200,0,consigne_pos,BLED_ON,1); |
marwanesaich | 15:1fefa6b1569b | 189 | //positionControl(stockage_G,consigne_pos,1,BLED_ON,1); |
marwanesaich | 15:1fefa6b1569b | 190 | pc.printf("TMP_VIDE\n"); |
marwanesaich | 15:1fefa6b1569b | 191 | etat = tmp_vide; |
marwanesaich | 15:1fefa6b1569b | 192 | |
marwanesaich | 15:1fefa6b1569b | 193 | }else{ |
marwanesaich | 15:1fefa6b1569b | 194 | //arreter moteurs |
marwanesaich | 15:1fefa6b1569b | 195 | etat = init; |
marwanesaich | 15:1fefa6b1569b | 196 | cpt_vider = 0; |
marwanesaich | 15:1fefa6b1569b | 197 | roue(0); |
marwanesaich | 15:1fefa6b1569b | 198 | pc.printf("INIT\n"); |
marwanesaich | 15:1fefa6b1569b | 199 | } |
marwanesaich | 5:bb533bf81ee6 | 200 | break; |
marwanesaich | 15:1fefa6b1569b | 201 | |
marwanesaich | 15:1fefa6b1569b | 202 | case tmp_vide: |
marwanesaich | 15:1fefa6b1569b | 203 | |
marwanesaich | 14:bf2810b95f25 | 204 | pos = getPos(stockage_G,1) ; |
marwanesaich | 14:bf2810b95f25 | 205 | wait_us(500); |
marwanesaich | 16:06463f24811d | 206 | if(pos< (consigne_pos+5)) { |
marwanesaich | 15:1fefa6b1569b | 207 | cpt_vider +=1; |
marwanesaich | 16:06463f24811d | 208 | consigne_roue = 815; |
marwanesaich | 15:1fefa6b1569b | 209 | positionControl(roue_G,consigne_roue,40,BLED_ON,1); |
marwanesaich | 15:1fefa6b1569b | 210 | etat = fin_vide; |
marwanesaich | 15:1fefa6b1569b | 211 | pc.printf("FIN_VIDE\n"); |
marwanesaich | 15:1fefa6b1569b | 212 | } |
marwanesaich | 15:1fefa6b1569b | 213 | |
marwanesaich | 15:1fefa6b1569b | 214 | break; |
marwanesaich | 15:1fefa6b1569b | 215 | |
marwanesaich | 15:1fefa6b1569b | 216 | case fin_vide: |
marwanesaich | 15:1fefa6b1569b | 217 | pos = getPos(roue_G,1) ; |
marwanesaich | 15:1fefa6b1569b | 218 | wait_us(500); |
marwanesaich | 15:1fefa6b1569b | 219 | if(pos> (consigne_roue-5)) { |
marwanesaich | 15:1fefa6b1569b | 220 | wait_ms(300.0); |
marwanesaich | 15:1fefa6b1569b | 221 | positionControl(roue_G,780,1,BLED_ON,1); |
marwanesaich | 15:1fefa6b1569b | 222 | pc.printf("VIDE\n"); |
marwanesaich | 15:1fefa6b1569b | 223 | wait_ms(300.0); |
marwanesaich | 15:1fefa6b1569b | 224 | etat = vide; |
marwanesaich | 14:bf2810b95f25 | 225 | } |
marwanesaich | 5:bb533bf81ee6 | 226 | |
marwanesaich | 14:bf2810b95f25 | 227 | break; |
marwanesaich | 16:06463f24811d | 228 | }*/ |
marwanesaich | 16:06463f24811d | 229 | case vide: |
marwanesaich | 16:06463f24811d | 230 | |
marwanesaich | 16:06463f24811d | 231 | velocityControl(stockage_G, 400, BLED_ON,1); |
marwanesaich | 16:06463f24811d | 232 | wait_ms(200); |
marwanesaich | 16:06463f24811d | 233 | roue(1); |
marwanesaich | 16:06463f24811d | 234 | |
marwanesaich | 16:06463f24811d | 235 | if(cpt_vider<9){ |
marwanesaich | 16:06463f24811d | 236 | etat = tmp_vide; |
marwanesaich | 16:06463f24811d | 237 | //pc.printf("TMP_VIDE\n"); |
marwanesaich | 16:06463f24811d | 238 | |
marwanesaich | 16:06463f24811d | 239 | }else{ |
marwanesaich | 16:06463f24811d | 240 | etat = init; |
marwanesaich | 17:5973f13f44e2 | 241 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
marwanesaich | 17:5973f13f44e2 | 242 | SendCharCan(NB_PALETS_VERTS, nbPaletsVerts); |
marwanesaich | 17:5973f13f44e2 | 243 | nbPaletsVerts =0; |
marwanesaich | 16:06463f24811d | 244 | cpt_vider = 0; |
marwanesaich | 16:06463f24811d | 245 | roue(0); |
marwanesaich | 16:06463f24811d | 246 | //pc.printf("INIT\n"); |
marwanesaich | 16:06463f24811d | 247 | } |
marwanesaich | 16:06463f24811d | 248 | break; |
marwanesaich | 16:06463f24811d | 249 | |
marwanesaich | 16:06463f24811d | 250 | case tmp_vide: |
marwanesaich | 16:06463f24811d | 251 | pos = getPos(stockage_G,1); |
marwanesaich | 16:06463f24811d | 252 | wait_us(100); |
marwanesaich | 18:2082875295df | 253 | if(pos >= pos_vide[cpt_vider%11] && pos <= (pos_vide[cpt_vider%11]+20)){ //if(pos == pos_vide[cpt_vider%5]) |
marwanesaich | 16:06463f24811d | 254 | velocityControl(stockage_G, 0, BLED_ON,1); |
marwanesaich | 16:06463f24811d | 255 | positionControl(stockage_G,pos-30,1,BLED_ON,1); |
marwanesaich | 16:06463f24811d | 256 | //pc.printf("pos :%d\n", pos); |
marwanesaich | 16:06463f24811d | 257 | consigne_roue = 840; |
marwanesaich | 16:06463f24811d | 258 | positionControl(roue_G,consigne_roue,1,BLED_ON,1); |
marwanesaich | 16:06463f24811d | 259 | etat = fin_vide; |
marwanesaich | 18:2082875295df | 260 | timer_bloquer.start(); |
marwanesaich | 18:2082875295df | 261 | timer_bloquer.reset(); |
marwanesaich | 16:06463f24811d | 262 | } |
marwanesaich | 16:06463f24811d | 263 | |
marwanesaich | 16:06463f24811d | 264 | break; |
marwanesaich | 16:06463f24811d | 265 | |
marwanesaich | 16:06463f24811d | 266 | case fin_vide: |
marwanesaich | 16:06463f24811d | 267 | pos = getPos(roue_G,1) ; |
marwanesaich | 16:06463f24811d | 268 | wait_us(500); |
marwanesaich | 18:2082875295df | 269 | if(pos> (consigne_roue-5) || timer_bloquer>2) { |
marwanesaich | 16:06463f24811d | 270 | positionControl(roue_G,750,50,BLED_ON,1); |
marwanesaich | 16:06463f24811d | 271 | verification(); |
marwanesaich | 16:06463f24811d | 272 | cpt_vider ++; |
marwanesaich | 16:06463f24811d | 273 | etat = vide; |
marwanesaich | 16:06463f24811d | 274 | } |
marwanesaich | 16:06463f24811d | 275 | |
marwanesaich | 16:06463f24811d | 276 | break; |
marwanesaich | 14:bf2810b95f25 | 277 | } |
marwanesaich | 14:bf2810b95f25 | 278 | } |
marwanesaich | 14:bf2810b95f25 | 279 | |
marwanesaich | 14:bf2810b95f25 | 280 | void convoyeur_droit_jaune(void) |
marwanesaich | 14:bf2810b95f25 | 281 | { |
marwanesaich | 14:bf2810b95f25 | 282 | |
marwanesaich | 14:bf2810b95f25 | 283 | typedef enum {init, etalonnage, tmp_pret, pret, pousse, retour, vide, fin_vide} type_etat ; |
marwanesaich | 5:bb533bf81ee6 | 284 | static type_etat etat = init; |
marwanesaich | 11:dfff2e200d0c | 285 | static int16_t pos = 0, consigne_pos; |
marwanesaich | 5:bb533bf81ee6 | 286 | static int16_t previous_pos = getPos(stockage_D,3); |
marwanesaich | 17:5973f13f44e2 | 287 | static int flag_ack = 0; |
marwanesaich | 16:06463f24811d | 288 | int vInit = 512; |
marwanesaich | 14:bf2810b95f25 | 289 | /* |
marwanesaich | 14:bf2810b95f25 | 290 | if(flag_vide_bleu){ |
marwanesaich | 14:bf2810b95f25 | 291 | etat = init; |
marwanesaich | 14:bf2810b95f25 | 292 | flag_vide_bleu = 0; |
marwanesaich | 14:bf2810b95f25 | 293 | }*/ |
marwanesaich | 14:bf2810b95f25 | 294 | |
marwanesaich | 14:bf2810b95f25 | 295 | switch(etat) { |
marwanesaich | 14:bf2810b95f25 | 296 | |
marwanesaich | 14:bf2810b95f25 | 297 | case init : |
marwanesaich | 16:06463f24811d | 298 | velocityControl(stockage_D,vInit,BLED_ON,3); |
marwanesaich | 11:dfff2e200d0c | 299 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 300 | pos = getPos(stockage_D,3); |
marwanesaich | 14:bf2810b95f25 | 301 | if(previous_pos != pos) { |
marwanesaich | 5:bb533bf81ee6 | 302 | etat = etalonnage; |
marwanesaich | 14:bf2810b95f25 | 303 | //pc.printf("ETALONNAGE\n"); |
marwanesaich | 5:bb533bf81ee6 | 304 | } |
marwanesaich | 5:bb533bf81ee6 | 305 | break; |
marwanesaich | 5:bb533bf81ee6 | 306 | |
marwanesaich | 5:bb533bf81ee6 | 307 | case etalonnage : |
marwanesaich | 5:bb533bf81ee6 | 308 | pos = getPos(stockage_D,3); |
marwanesaich | 11:dfff2e200d0c | 309 | wait_us(500); |
marwanesaich | 16:06463f24811d | 310 | if(( /*(21<pos && pos<428) || */(572<pos && pos<700) ) and (status_contact & MASK_FC_DROIT)) { |
marwanesaich | 5:bb533bf81ee6 | 311 | velocityControl(stockage_D,0,GLED_ON,3); |
marwanesaich | 11:dfff2e200d0c | 312 | wait_ms(300); |
marwanesaich | 5:bb533bf81ee6 | 313 | pos = getPos(stockage_D,3) ; |
marwanesaich | 16:06463f24811d | 314 | //pc.printf("pos %d\n", pos); |
marwanesaich | 5:bb533bf81ee6 | 315 | //positionControl(stockage_D,pos-2000,1,BLED_ON,3); |
marwanesaich | 13:0b5310c6dc44 | 316 | consigne_pos =pos-550; |
marwanesaich | 15:1fefa6b1569b | 317 | if(consigne_pos<0) consigne_pos += 1105; |
marwanesaich | 16:06463f24811d | 318 | //pc.printf("consigne : %d \n",consigne_pos); |
marwanesaich | 13:0b5310c6dc44 | 319 | compteTour(stockage_D,-1023,1,consigne_pos,BLED_ON,3); |
marwanesaich | 13:0b5310c6dc44 | 320 | //pc.printf("pos fin tour : %d \n",getPos(stockage_D,3)); |
marwanesaich | 10:fba0699b7a74 | 321 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 322 | etat = tmp_pret; |
marwanesaich | 13:0b5310c6dc44 | 323 | //pc.printf("TMP_PRET\n"); |
marwanesaich | 5:bb533bf81ee6 | 324 | } |
marwanesaich | 5:bb533bf81ee6 | 325 | break; |
marwanesaich | 14:bf2810b95f25 | 326 | |
marwanesaich | 5:bb533bf81ee6 | 327 | case tmp_pret : |
marwanesaich | 5:bb533bf81ee6 | 328 | pos = getPos(stockage_D,3) ; |
marwanesaich | 14:bf2810b95f25 | 329 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 330 | if(pos < (consigne_pos+5)) { |
marwanesaich | 14:bf2810b95f25 | 331 | |
marwanesaich | 13:0b5310c6dc44 | 332 | //pc.printf("pos fin %d\n", pos); |
marwanesaich | 17:5973f13f44e2 | 333 | if(flag_ack){ |
marwanesaich | 17:5973f13f44e2 | 334 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
marwanesaich | 17:5973f13f44e2 | 335 | SendCharCan(NB_PALETS_BLEU, nbPaletsBleus); |
marwanesaich | 17:5973f13f44e2 | 336 | nbPaletsBleus = 0; |
marwanesaich | 17:5973f13f44e2 | 337 | } |
marwanesaich | 17:5973f13f44e2 | 338 | flag_ack = 1; |
marwanesaich | 14:bf2810b95f25 | 339 | etat = pret; |
marwanesaich | 14:bf2810b95f25 | 340 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 341 | } |
marwanesaich | 5:bb533bf81ee6 | 342 | break; |
marwanesaich | 14:bf2810b95f25 | 343 | |
marwanesaich | 14:bf2810b95f25 | 344 | case pret : |
marwanesaich | 14:bf2810b95f25 | 345 | |
marwanesaich | 14:bf2810b95f25 | 346 | if(flag_vide_bleu) { |
marwanesaich | 14:bf2810b95f25 | 347 | flag_vide_bleu =0; |
marwanesaich | 16:06463f24811d | 348 | vInit = 1023; |
marwanesaich | 16:06463f24811d | 349 | etat = init; |
marwanesaich | 17:5973f13f44e2 | 350 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
marwanesaich | 16:06463f24811d | 351 | //pc.printf("vide\n"); |
marwanesaich | 14:bf2810b95f25 | 352 | } else if((status_contact & MASK_CT_DROIT)) { |
marwanesaich | 16:06463f24811d | 353 | ///pc.printf("%d\n",pos); |
marwanesaich | 11:dfff2e200d0c | 354 | consigne_pos = getPos(stockage_D,3)+ 550; |
marwanesaich | 6:aa800daf5ff9 | 355 | deverouillage_torque_convoyeurs_droit(); |
marwanesaich | 6:aa800daf5ff9 | 356 | wait_us(500); |
marwanesaich | 11:dfff2e200d0c | 357 | positionControl(stockage_D,consigne_pos,1,BLED_ON,3); |
marwanesaich | 10:fba0699b7a74 | 358 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 359 | etat = pousse; |
marwanesaich | 13:0b5310c6dc44 | 360 | //pc.printf("POUSSE\n"); |
marwanesaich | 5:bb533bf81ee6 | 361 | } |
marwanesaich | 5:bb533bf81ee6 | 362 | break; |
marwanesaich | 14:bf2810b95f25 | 363 | |
marwanesaich | 5:bb533bf81ee6 | 364 | case pousse : |
marwanesaich | 5:bb533bf81ee6 | 365 | pos = getPos(stockage_D,3); |
marwanesaich | 14:bf2810b95f25 | 366 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 367 | if(pos>(consigne_pos-5) and (status_contact & MASK_CT_DROIT)==0) { |
marwanesaich | 5:bb533bf81ee6 | 368 | //pc.printf("%d\n",pos); |
marwanesaich | 14:bf2810b95f25 | 369 | consigne_pos = pos - 550; |
marwanesaich | 6:aa800daf5ff9 | 370 | deverouillage_torque_convoyeurs_droit(); |
marwanesaich | 6:aa800daf5ff9 | 371 | wait_us(500); |
marwanesaich | 11:dfff2e200d0c | 372 | positionControl(stockage_D,consigne_pos,1,BLED_ON,3); |
marwanesaich | 10:fba0699b7a74 | 373 | wait_us(500); |
marwanesaich | 5:bb533bf81ee6 | 374 | etat = retour; |
marwanesaich | 13:0b5310c6dc44 | 375 | //pc.printf("RETOUR\n"); |
marwanesaich | 5:bb533bf81ee6 | 376 | } |
marwanesaich | 14:bf2810b95f25 | 377 | |
marwanesaich | 5:bb533bf81ee6 | 378 | break; |
marwanesaich | 14:bf2810b95f25 | 379 | |
marwanesaich | 5:bb533bf81ee6 | 380 | case retour : |
marwanesaich | 5:bb533bf81ee6 | 381 | pos = getPos(stockage_D,3) ; |
marwanesaich | 11:dfff2e200d0c | 382 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 383 | if(pos< (consigne_pos+5)) { |
marwanesaich | 14:bf2810b95f25 | 384 | etat = pret; |
marwanesaich | 14:bf2810b95f25 | 385 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 386 | } |
marwanesaich | 14:bf2810b95f25 | 387 | break; |
marwanesaich | 17:5973f13f44e2 | 388 | /* |
marwanesaich | 14:bf2810b95f25 | 389 | case vide: |
marwanesaich | 14:bf2810b95f25 | 390 | consigne_pos = getPos(stockage_D,3); |
marwanesaich | 14:bf2810b95f25 | 391 | compteTour(stockage_D,+1023,2,consigne_pos,BLED_ON,3); |
marwanesaich | 14:bf2810b95f25 | 392 | etat = fin_vide; |
marwanesaich | 5:bb533bf81ee6 | 393 | break; |
marwanesaich | 14:bf2810b95f25 | 394 | case fin_vide: |
marwanesaich | 14:bf2810b95f25 | 395 | pos = getPos(stockage_D,3) ; |
marwanesaich | 14:bf2810b95f25 | 396 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 397 | if(pos> (consigne_pos-5)) { |
marwanesaich | 14:bf2810b95f25 | 398 | etat = init; |
marwanesaich | 17:5973f13f44e2 | 399 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
marwanesaich | 16:06463f24811d | 400 | //pc.printf("INIT\n"); |
marwanesaich | 14:bf2810b95f25 | 401 | } |
marwanesaich | 14:bf2810b95f25 | 402 | |
marwanesaich | 17:5973f13f44e2 | 403 | break;*/ |
marwanesaich | 14:bf2810b95f25 | 404 | } |
marwanesaich | 5:bb533bf81ee6 | 405 | } |
Artiom | 0:f900f4ea9dfd | 406 | |
marwanesaich | 14:bf2810b95f25 | 407 | void convoyeur_gauche_violet(void) |
marwanesaich | 14:bf2810b95f25 | 408 | { |
marwanesaich | 14:bf2810b95f25 | 409 | |
marwanesaich | 14:bf2810b95f25 | 410 | typedef enum {init, etalonnage, tmp_pret, pret, pousse, retour, vide, fin_vide} type_etat ; |
marwanesaich | 8:7bd34e838ca3 | 411 | static type_etat etat = init; |
marwanesaich | 16:06463f24811d | 412 | static int16_t pos = 0, consigne_pos, pos_pret; |
marwanesaich | 8:7bd34e838ca3 | 413 | static int16_t previous_pos = getPos(stockage_G,1); |
marwanesaich | 16:06463f24811d | 414 | static int vInit = -512; |
marwanesaich | 17:5973f13f44e2 | 415 | static int flag_ack = 0; |
marwanesaich | 14:bf2810b95f25 | 416 | /* |
marwanesaich | 14:bf2810b95f25 | 417 | if(flag_vide_bleu){ |
marwanesaich | 14:bf2810b95f25 | 418 | etat = init; |
marwanesaich | 14:bf2810b95f25 | 419 | flag_vide_bleu = 0; |
marwanesaich | 14:bf2810b95f25 | 420 | }*/ |
marwanesaich | 14:bf2810b95f25 | 421 | switch(etat) { |
marwanesaich | 14:bf2810b95f25 | 422 | |
marwanesaich | 14:bf2810b95f25 | 423 | case init : |
marwanesaich | 16:06463f24811d | 424 | velocityControl(stockage_G,vInit,BLED_ON,1); |
marwanesaich | 14:bf2810b95f25 | 425 | wait_us(500); |
marwanesaich | 8:7bd34e838ca3 | 426 | pos = getPos(stockage_G,1); |
marwanesaich | 14:bf2810b95f25 | 427 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 428 | if(previous_pos != pos) { |
marwanesaich | 8:7bd34e838ca3 | 429 | etat = etalonnage; |
marwanesaich | 14:bf2810b95f25 | 430 | // pc.printf("ETALONNAGE\n"); |
marwanesaich | 8:7bd34e838ca3 | 431 | } |
marwanesaich | 8:7bd34e838ca3 | 432 | break; |
marwanesaich | 8:7bd34e838ca3 | 433 | |
marwanesaich | 8:7bd34e838ca3 | 434 | case etalonnage : |
marwanesaich | 8:7bd34e838ca3 | 435 | pos = getPos(stockage_G,1); |
marwanesaich | 16:06463f24811d | 436 | if(((21<pos && pos<228)/* || (572<pos && pos<980)*/) and (status_contact & MASK_FC_GAUCHE)) { //!!!!!!!!!!!!!changer les bornes |
marwanesaich | 8:7bd34e838ca3 | 437 | velocityControl(stockage_G,0,GLED_ON,1); |
marwanesaich | 8:7bd34e838ca3 | 438 | wait_ms(500); |
marwanesaich | 8:7bd34e838ca3 | 439 | pos = getPos(stockage_G,1) ; |
marwanesaich | 16:06463f24811d | 440 | //pc.printf("pos depart: %d\n",pos); |
marwanesaich | 10:fba0699b7a74 | 441 | wait_us(500); |
marwanesaich | 16:06463f24811d | 442 | pos_pret = pos + 500; |
marwanesaich | 16:06463f24811d | 443 | if(pos_pret >1105) pos_pret -= 1105; |
marwanesaich | 15:1fefa6b1569b | 444 | |
marwanesaich | 16:06463f24811d | 445 | //pc.printf("pos : %d consigne : %d\n",pos,pos_pret); |
marwanesaich | 16:06463f24811d | 446 | compteTour(stockage_G,1023,1,pos_pret,BLED_ON,1); |
marwanesaich | 10:fba0699b7a74 | 447 | wait_us(500); |
marwanesaich | 8:7bd34e838ca3 | 448 | etat = tmp_pret; |
marwanesaich | 10:fba0699b7a74 | 449 | ////pc.printf("TMP_PRET\n"); |
marwanesaich | 8:7bd34e838ca3 | 450 | } |
marwanesaich | 8:7bd34e838ca3 | 451 | break; |
marwanesaich | 14:bf2810b95f25 | 452 | |
marwanesaich | 8:7bd34e838ca3 | 453 | case tmp_pret : |
marwanesaich | 8:7bd34e838ca3 | 454 | pos = getPos(stockage_G,1) ; |
marwanesaich | 14:bf2810b95f25 | 455 | wait_us(500); |
marwanesaich | 16:06463f24811d | 456 | if(pos> (pos_pret-5)) { |
marwanesaich | 14:bf2810b95f25 | 457 | etat = pret; |
marwanesaich | 17:5973f13f44e2 | 458 | if(flag_ack){ |
marwanesaich | 17:5973f13f44e2 | 459 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
marwanesaich | 17:5973f13f44e2 | 460 | SendCharCan(NB_PALETS_BLEU, nbPaletsBleus); |
marwanesaich | 17:5973f13f44e2 | 461 | nbPaletsBleus = 0; |
marwanesaich | 17:5973f13f44e2 | 462 | } |
marwanesaich | 17:5973f13f44e2 | 463 | flag_ack = 1; |
marwanesaich | 14:bf2810b95f25 | 464 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 465 | } |
marwanesaich | 8:7bd34e838ca3 | 466 | break; |
marwanesaich | 14:bf2810b95f25 | 467 | |
marwanesaich | 14:bf2810b95f25 | 468 | case pret : |
marwanesaich | 14:bf2810b95f25 | 469 | if(flag_vide_bleu) { |
marwanesaich | 14:bf2810b95f25 | 470 | flag_vide_bleu =0; |
marwanesaich | 16:06463f24811d | 471 | vInit = -1023; |
marwanesaich | 16:06463f24811d | 472 | etat = init; |
marwanesaich | 17:5973f13f44e2 | 473 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
marwanesaich | 14:bf2810b95f25 | 474 | } else if((status_contact & MASK_CT_GAUCHE)) { |
marwanesaich | 16:06463f24811d | 475 | consigne_pos = (pos_pret- 550); |
marwanesaich | 16:06463f24811d | 476 | if(consigne_pos<0)consigne_pos+=1105; |
marwanesaich | 10:fba0699b7a74 | 477 | wait_us(500); |
marwanesaich | 8:7bd34e838ca3 | 478 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 8:7bd34e838ca3 | 479 | wait_us(500); |
marwanesaich | 16:06463f24811d | 480 | //pc.printf("pos:%d consigne:%d\n",pos, consigne_pos); |
marwanesaich | 16:06463f24811d | 481 | |
marwanesaich | 16:06463f24811d | 482 | //compteTour(stockage_G,-1023,0,consigne_pos,BLED_ON,1); |
marwanesaich | 11:dfff2e200d0c | 483 | positionControl(stockage_G,consigne_pos,1,BLED_ON,1); |
marwanesaich | 10:fba0699b7a74 | 484 | wait_us(500); |
marwanesaich | 8:7bd34e838ca3 | 485 | etat = pousse; |
marwanesaich | 10:fba0699b7a74 | 486 | //pc.printf("POUSSE\n"); |
marwanesaich | 8:7bd34e838ca3 | 487 | } |
marwanesaich | 8:7bd34e838ca3 | 488 | break; |
marwanesaich | 14:bf2810b95f25 | 489 | |
marwanesaich | 8:7bd34e838ca3 | 490 | case pousse : |
marwanesaich | 8:7bd34e838ca3 | 491 | pos = getPos(stockage_G,1); |
marwanesaich | 14:bf2810b95f25 | 492 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 493 | if(pos<(consigne_pos+5) and (status_contact & MASK_CT_GAUCHE)==0) { |
marwanesaich | 13:0b5310c6dc44 | 494 | //pc.printf("%d\n",pos); |
marwanesaich | 8:7bd34e838ca3 | 495 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 8:7bd34e838ca3 | 496 | wait_us(500); |
marwanesaich | 16:06463f24811d | 497 | |
marwanesaich | 16:06463f24811d | 498 | //compteTour(stockage_G,1023,0,pos_pret,BLED_ON,1); |
marwanesaich | 16:06463f24811d | 499 | positionControl(stockage_G,pos_pret,1,BLED_ON,1); |
marwanesaich | 10:fba0699b7a74 | 500 | wait_us(500); |
marwanesaich | 8:7bd34e838ca3 | 501 | etat = retour; |
marwanesaich | 10:fba0699b7a74 | 502 | //pc.printf("RETOUR\n"); |
marwanesaich | 8:7bd34e838ca3 | 503 | } |
marwanesaich | 14:bf2810b95f25 | 504 | |
marwanesaich | 8:7bd34e838ca3 | 505 | break; |
marwanesaich | 14:bf2810b95f25 | 506 | |
marwanesaich | 8:7bd34e838ca3 | 507 | case retour : |
marwanesaich | 8:7bd34e838ca3 | 508 | pos = getPos(stockage_G,1) ; |
marwanesaich | 14:bf2810b95f25 | 509 | wait_us(500); |
marwanesaich | 16:06463f24811d | 510 | if(pos> (pos_pret-5)) { |
marwanesaich | 14:bf2810b95f25 | 511 | etat = pret; |
marwanesaich | 14:bf2810b95f25 | 512 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 513 | } |
marwanesaich | 8:7bd34e838ca3 | 514 | break; |
marwanesaich | 17:5973f13f44e2 | 515 | /* |
marwanesaich | 14:bf2810b95f25 | 516 | case vide: |
marwanesaich | 14:bf2810b95f25 | 517 | consigne_pos = getPos(stockage_G,1); |
marwanesaich | 14:bf2810b95f25 | 518 | compteTour(stockage_G,-1023,2,consigne_pos,BLED_ON,1); |
marwanesaich | 14:bf2810b95f25 | 519 | etat = fin_vide; |
marwanesaich | 14:bf2810b95f25 | 520 | break; |
marwanesaich | 14:bf2810b95f25 | 521 | case fin_vide: |
marwanesaich | 14:bf2810b95f25 | 522 | pos = getPos(stockage_G,1) ; |
marwanesaich | 14:bf2810b95f25 | 523 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 524 | if(pos< (consigne_pos+5)) { |
marwanesaich | 14:bf2810b95f25 | 525 | etat = init; |
marwanesaich | 17:5973f13f44e2 | 526 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
marwanesaich | 17:5973f13f44e2 | 527 | SendChar(NB_PALETS_BLEU, nbPaletsVerts); |
marwanesaich | 14:bf2810b95f25 | 528 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 529 | } |
marwanesaich | 14:bf2810b95f25 | 530 | |
marwanesaich | 17:5973f13f44e2 | 531 | break;*/ |
marwanesaich | 14:bf2810b95f25 | 532 | } |
marwanesaich | 8:7bd34e838ca3 | 533 | } |
marwanesaich | 8:7bd34e838ca3 | 534 | |
marwanesaich | 14:bf2810b95f25 | 535 | void convoyeur_droit_violet(void) |
marwanesaich | 14:bf2810b95f25 | 536 | { |
marwanesaich | 14:bf2810b95f25 | 537 | |
marwanesaich | 16:06463f24811d | 538 | typedef enum {init, etalonnage, tmp_pret, pret, pousse, tmp,retour, vide, fin_vide,tmp_vide} type_etat ; |
marwanesaich | 9:05da4300730a | 539 | static type_etat etat = init; |
marwanesaich | 16:06463f24811d | 540 | static int16_t pos = 0, consigne_pos,consigne_roue; |
marwanesaich | 9:05da4300730a | 541 | static int16_t previous_pos = getPos(stockage_D,3); |
marwanesaich | 16:06463f24811d | 542 | static int cpt_vider=0; |
marwanesaich | 18:2082875295df | 543 | //static int pos_vide[5] = {400, 1000, 600, 200, 800}; |
marwanesaich | 18:2082875295df | 544 | static int pos_vide[11] = {400, 24, 700, 300, 1000, 600, 200, 900, 500, 100, 800}; |
marwanesaich | 14:bf2810b95f25 | 545 | /* |
marwanesaich | 14:bf2810b95f25 | 546 | if(flag_vide_vert_rouge){ |
marwanesaich | 14:bf2810b95f25 | 547 | etat = init; |
marwanesaich | 14:bf2810b95f25 | 548 | flag_vide_vert_rouge = 0; |
marwanesaich | 14:bf2810b95f25 | 549 | } */ |
marwanesaich | 14:bf2810b95f25 | 550 | |
marwanesaich | 14:bf2810b95f25 | 551 | switch(etat) { |
marwanesaich | 14:bf2810b95f25 | 552 | |
marwanesaich | 14:bf2810b95f25 | 553 | case init : |
marwanesaich | 9:05da4300730a | 554 | velocityControl(stockage_D,+512,BLED_ON,3); |
marwanesaich | 14:bf2810b95f25 | 555 | wait_us(500); |
marwanesaich | 9:05da4300730a | 556 | pos = getPos(stockage_D,3); |
marwanesaich | 14:bf2810b95f25 | 557 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 558 | if(previous_pos != pos) { |
marwanesaich | 10:fba0699b7a74 | 559 | //pc.printf("ETALONNAGE\n"); |
marwanesaich | 9:05da4300730a | 560 | etat = etalonnage; |
marwanesaich | 9:05da4300730a | 561 | } |
marwanesaich | 9:05da4300730a | 562 | break; |
Artiom | 0:f900f4ea9dfd | 563 | |
marwanesaich | 9:05da4300730a | 564 | case etalonnage : |
marwanesaich | 9:05da4300730a | 565 | pos = getPos(stockage_D,3); |
marwanesaich | 14:bf2810b95f25 | 566 | wait_us(500); |
marwanesaich | 10:fba0699b7a74 | 567 | //pc.printf("%d\n", pos); |
marwanesaich | 14:bf2810b95f25 | 568 | if( /*(21<pos && pos<260) ||*/ (754<pos && pos<812) and (status_contact & MASK_FC_DROIT)) { //!!!!!!!!!!!!!changer les bornes |
marwanesaich | 9:05da4300730a | 569 | velocityControl(stockage_D,0,GLED_ON,3); |
marwanesaich | 9:05da4300730a | 570 | wait_ms(500); |
marwanesaich | 11:dfff2e200d0c | 571 | consigne_pos = getPos(stockage_D,3) - 180 ; |
marwanesaich | 10:fba0699b7a74 | 572 | wait_us(500); |
marwanesaich | 11:dfff2e200d0c | 573 | positionControl(stockage_D,consigne_pos,1,BLED_ON,3); |
marwanesaich | 10:fba0699b7a74 | 574 | wait_us(500); |
marwanesaich | 9:05da4300730a | 575 | etat = tmp_pret; |
marwanesaich | 14:bf2810b95f25 | 576 | // pc.printf("TMP_PRET\n"); |
marwanesaich | 9:05da4300730a | 577 | } |
marwanesaich | 9:05da4300730a | 578 | break; |
marwanesaich | 14:bf2810b95f25 | 579 | |
marwanesaich | 14:bf2810b95f25 | 580 | case tmp_pret : |
marwanesaich | 9:05da4300730a | 581 | pos = getPos(stockage_D,3) ; |
marwanesaich | 14:bf2810b95f25 | 582 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 583 | if(pos< (consigne_pos+5)) { |
marwanesaich | 14:bf2810b95f25 | 584 | etat = pret; |
marwanesaich | 14:bf2810b95f25 | 585 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 586 | } |
marwanesaich | 9:05da4300730a | 587 | break; |
marwanesaich | 14:bf2810b95f25 | 588 | |
marwanesaich | 14:bf2810b95f25 | 589 | case pret : |
marwanesaich | 14:bf2810b95f25 | 590 | if(flag_vide_vert_rouge) { |
marwanesaich | 14:bf2810b95f25 | 591 | flag_vide_vert_rouge =0; |
marwanesaich | 14:bf2810b95f25 | 592 | etat = vide; |
marwanesaich | 17:5973f13f44e2 | 593 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
marwanesaich | 14:bf2810b95f25 | 594 | } else if((status_contact & MASK_CT_DROIT)) { |
marwanesaich | 11:dfff2e200d0c | 595 | consigne_pos = getPos(stockage_D,3) - 550; |
marwanesaich | 10:fba0699b7a74 | 596 | wait_us(500); |
marwanesaich | 9:05da4300730a | 597 | deverouillage_torque_convoyeurs_droit(); |
marwanesaich | 9:05da4300730a | 598 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 599 | //pc.printf("consigne %d", consigne_pos); |
marwanesaich | 11:dfff2e200d0c | 600 | positionControl(stockage_D,consigne_pos,1,BLED_ON,3); |
marwanesaich | 10:fba0699b7a74 | 601 | wait_us(500); |
marwanesaich | 9:05da4300730a | 602 | etat = pousse; |
marwanesaich | 14:bf2810b95f25 | 603 | //pc.printf("POUSSE\n"); |
marwanesaich | 9:05da4300730a | 604 | } |
marwanesaich | 9:05da4300730a | 605 | break; |
marwanesaich | 14:bf2810b95f25 | 606 | |
marwanesaich | 9:05da4300730a | 607 | case pousse : |
marwanesaich | 9:05da4300730a | 608 | pos = getPos(stockage_D,3); |
marwanesaich | 14:bf2810b95f25 | 609 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 610 | if(pos<(consigne_pos+5) and (status_contact & MASK_CT_DROIT)==0) { |
marwanesaich | 14:bf2810b95f25 | 611 | consigne_pos = pos + 550; |
marwanesaich | 14:bf2810b95f25 | 612 | //pc.printf("consigne %d", consigne_pos); |
marwanesaich | 9:05da4300730a | 613 | deverouillage_torque_convoyeurs_droit(); |
marwanesaich | 9:05da4300730a | 614 | wait_us(500); |
marwanesaich | 11:dfff2e200d0c | 615 | positionControl(stockage_D,consigne_pos,1,BLED_ON,3); |
marwanesaich | 10:fba0699b7a74 | 616 | wait_us(500); |
marwanesaich | 9:05da4300730a | 617 | etat = retour; |
marwanesaich | 14:bf2810b95f25 | 618 | //pc.printf("RETOUR\n"); |
marwanesaich | 9:05da4300730a | 619 | } |
marwanesaich | 14:bf2810b95f25 | 620 | |
marwanesaich | 9:05da4300730a | 621 | break; |
marwanesaich | 9:05da4300730a | 622 | case retour : |
marwanesaich | 9:05da4300730a | 623 | pos = getPos(stockage_D,3) ; |
marwanesaich | 14:bf2810b95f25 | 624 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 625 | if(pos> (consigne_pos-5)) { |
marwanesaich | 14:bf2810b95f25 | 626 | etat = pret; |
marwanesaich | 14:bf2810b95f25 | 627 | // pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 628 | } |
marwanesaich | 14:bf2810b95f25 | 629 | break; |
marwanesaich | 16:06463f24811d | 630 | /* |
marwanesaich | 14:bf2810b95f25 | 631 | case vide: |
marwanesaich | 14:bf2810b95f25 | 632 | consigne_pos = getPos(stockage_D,3); |
marwanesaich | 14:bf2810b95f25 | 633 | //pc.printf("consigne %d",consigne_pos); |
marwanesaich | 14:bf2810b95f25 | 634 | compteTour(stockage_D,-1023,3,consigne_pos,BLED_ON,3); |
marwanesaich | 14:bf2810b95f25 | 635 | etat = fin_vide; |
marwanesaich | 9:05da4300730a | 636 | break; |
marwanesaich | 14:bf2810b95f25 | 637 | |
marwanesaich | 14:bf2810b95f25 | 638 | case fin_vide: |
marwanesaich | 14:bf2810b95f25 | 639 | pos = getPos(stockage_D,3) ; |
marwanesaich | 14:bf2810b95f25 | 640 | //pc.printf("pos %d", pos); |
marwanesaich | 14:bf2810b95f25 | 641 | wait_us(500); |
marwanesaich | 14:bf2810b95f25 | 642 | if(pos< (consigne_pos+5)) { |
marwanesaich | 14:bf2810b95f25 | 643 | etat = init; |
marwanesaich | 14:bf2810b95f25 | 644 | //pc.printf("PRET\n"); |
marwanesaich | 14:bf2810b95f25 | 645 | } |
marwanesaich | 14:bf2810b95f25 | 646 | |
marwanesaich | 14:bf2810b95f25 | 647 | break; |
marwanesaich | 16:06463f24811d | 648 | */ |
marwanesaich | 16:06463f24811d | 649 | case vide: |
marwanesaich | 16:06463f24811d | 650 | |
marwanesaich | 16:06463f24811d | 651 | velocityControl(stockage_D, -400, BLED_ON,3); |
marwanesaich | 16:06463f24811d | 652 | wait_ms(200); |
marwanesaich | 16:06463f24811d | 653 | roue(1); |
marwanesaich | 16:06463f24811d | 654 | |
marwanesaich | 16:06463f24811d | 655 | if(cpt_vider<9){ |
marwanesaich | 16:06463f24811d | 656 | etat = tmp_vide; |
marwanesaich | 16:06463f24811d | 657 | //pc.printf("TMP_VIDE\n"); |
marwanesaich | 16:06463f24811d | 658 | |
marwanesaich | 16:06463f24811d | 659 | }else{ |
marwanesaich | 16:06463f24811d | 660 | etat = init; |
marwanesaich | 17:5973f13f44e2 | 661 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
marwanesaich | 17:5973f13f44e2 | 662 | SendCharCan(NB_PALETS_VERTS, nbPaletsVerts); |
marwanesaich | 17:5973f13f44e2 | 663 | nbPaletsVerts =0; |
marwanesaich | 16:06463f24811d | 664 | cpt_vider = 0; |
marwanesaich | 16:06463f24811d | 665 | roue(0); |
marwanesaich | 16:06463f24811d | 666 | //pc.printf("INIT\n"); |
marwanesaich | 16:06463f24811d | 667 | } |
marwanesaich | 16:06463f24811d | 668 | break; |
marwanesaich | 16:06463f24811d | 669 | |
marwanesaich | 16:06463f24811d | 670 | case tmp_vide: |
marwanesaich | 16:06463f24811d | 671 | pos = getPos(stockage_D,3); |
marwanesaich | 16:06463f24811d | 672 | wait_us(100); |
marwanesaich | 18:2082875295df | 673 | if(pos <= pos_vide[cpt_vider%11] && pos >= (pos_vide[cpt_vider%5]-20)){ //if(pos == pos_vide[cpt_vider%5]) |
marwanesaich | 16:06463f24811d | 674 | velocityControl(stockage_D, 0, BLED_ON,3); |
marwanesaich | 16:06463f24811d | 675 | positionControl(stockage_D,pos+30,1,BLED_ON,3); |
marwanesaich | 16:06463f24811d | 676 | //pc.printf("pos :%d\n", pos); |
marwanesaich | 16:06463f24811d | 677 | consigne_roue = 225; |
marwanesaich | 16:06463f24811d | 678 | positionControl(roue_D,consigne_roue,1,BLED_ON,3); |
marwanesaich | 16:06463f24811d | 679 | etat = fin_vide; |
marwanesaich | 18:2082875295df | 680 | timer_bloquer.start(); |
marwanesaich | 18:2082875295df | 681 | timer_bloquer.reset(); |
marwanesaich | 16:06463f24811d | 682 | } |
marwanesaich | 16:06463f24811d | 683 | |
marwanesaich | 16:06463f24811d | 684 | break; |
marwanesaich | 16:06463f24811d | 685 | |
marwanesaich | 16:06463f24811d | 686 | case fin_vide: |
marwanesaich | 16:06463f24811d | 687 | pos = getPos(roue_D,3) ; |
marwanesaich | 16:06463f24811d | 688 | wait_us(500); |
marwanesaich | 18:2082875295df | 689 | if(pos> (consigne_roue+5) || timer_bloquer>2) { |
marwanesaich | 16:06463f24811d | 690 | positionControl(roue_D,374,50,BLED_ON,3); |
marwanesaich | 16:06463f24811d | 691 | verification(); |
marwanesaich | 16:06463f24811d | 692 | cpt_vider ++; |
marwanesaich | 16:06463f24811d | 693 | etat = vide; |
marwanesaich | 16:06463f24811d | 694 | } |
marwanesaich | 16:06463f24811d | 695 | break; |
marwanesaich | 14:bf2810b95f25 | 696 | } |
marwanesaich | 14:bf2810b95f25 | 697 | } |
kyxstark | 3:a630a1ccf5f0 | 698 | void gabarit_robot(void) |
Artiom | 0:f900f4ea9dfd | 699 | { |
Artiom | 0:f900f4ea9dfd | 700 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
Artiom | 0:f900f4ea9dfd | 701 | |
kyxstark | 3:a630a1ccf5f0 | 702 | uint16_t pos_av_centre[2] = {550,550};//470,350 |
Artiom | 0:f900f4ea9dfd | 703 | |
marwanesaich | 15:1fefa6b1569b | 704 | uint8_t servos_roulette_gauche[2] = {GLED_ON, roue_G}; |
marwanesaich | 15:1fefa6b1569b | 705 | uint16_t pos_roulette_gauche[1] = {512}; |
marwanesaich | 15:1fefa6b1569b | 706 | |
marwanesaich | 15:1fefa6b1569b | 707 | uint8_t servos_roulette_droit[2] = {GLED_ON, roue_D}; |
marwanesaich | 15:1fefa6b1569b | 708 | uint16_t pos_roulette_droit[1] = {512}; |
marwanesaich | 15:1fefa6b1569b | 709 | |
marwanesaich | 15:1fefa6b1569b | 710 | PWM_roue_Gauche.period(0.00005); |
marwanesaich | 15:1fefa6b1569b | 711 | PWM_roue_Droite.period(0.00005); |
marwanesaich | 15:1fefa6b1569b | 712 | |
Artiom | 0:f900f4ea9dfd | 713 | int speed=100; |
marwanesaich | 15:1fefa6b1569b | 714 | roue(0); |
Artiom | 0:f900f4ea9dfd | 715 | deverouillage_torque(); |
kyxstark | 3:a630a1ccf5f0 | 716 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
marwanesaich | 15:1fefa6b1569b | 717 | positionControl_Mul_ensemble_complex(1,speed,servos_roulette_droit,pos_roulette_droit,3); |
marwanesaich | 15:1fefa6b1569b | 718 | positionControl_Mul_ensemble_complex(1,speed,servos_roulette_gauche,pos_roulette_gauche,1); |
marwanesaich | 15:1fefa6b1569b | 719 | |
marwanesaich | 15:1fefa6b1569b | 720 | SendRawId(HACHEUR_ETAT_CONTACTS); |
marwanesaich | 17:5973f13f44e2 | 721 | |
Artiom | 0:f900f4ea9dfd | 722 | } |
Artiom | 0:f900f4ea9dfd | 723 | |
Artiom | 0:f900f4ea9dfd | 724 | |
Artiom | 0:f900f4ea9dfd | 725 | void fifo_couleur(void) |
Artiom | 0:f900f4ea9dfd | 726 | { |
Artiom | 0:f900f4ea9dfd | 727 | |
Artiom | 0:f900f4ea9dfd | 728 | typedef enum {n_atome, atome, tmp} type_etat ; |
Artiom | 0:f900f4ea9dfd | 729 | static type_etat etat = n_atome; |
Artiom | 0:f900f4ea9dfd | 730 | |
Artiom | 0:f900f4ea9dfd | 731 | int etat_cap = !couleur_bas[0] + !couleur_bas[1]*2 + !couleur_bas[2]*2; |
Artiom | 0:f900f4ea9dfd | 732 | switch(etat) { |
Artiom | 0:f900f4ea9dfd | 733 | case n_atome : //on attend qu'un atome soit sous le capteur pour lancer la FIFO |
marwanesaich | 17:5973f13f44e2 | 734 | if(etat_cap && !flag_ascenseur_force_off) { |
Artiom | 0:f900f4ea9dfd | 735 | buffer_couleur_bas[FIFO_couleur_ecriture] = etat_cap; //1 = bleu, 2 = rouge/ vert |
Artiom | 0:f900f4ea9dfd | 736 | flag_ascenseur = 1; |
marwanesaich | 15:1fefa6b1569b | 737 | SendCharCan(HACHEUR_ID_COUROIES,1); |
Artiom | 0:f900f4ea9dfd | 738 | if(FIFO_couleur_ecriture == FIFO_couleur_lecture) { |
marwanesaich | 5:bb533bf81ee6 | 739 | oriente_doigt(buffer_couleur_bas[FIFO_couleur_ecriture]); |
Artiom | 0:f900f4ea9dfd | 740 | } |
marwanesaich | 14:bf2810b95f25 | 741 | |
Artiom | 0:f900f4ea9dfd | 742 | FIFO_couleur_ecriture=(FIFO_couleur_ecriture+1)%SIZE_FIFO; |
Artiom | 0:f900f4ea9dfd | 743 | etat = tmp; |
Artiom | 0:f900f4ea9dfd | 744 | } |
Artiom | 0:f900f4ea9dfd | 745 | break; |
Artiom | 0:f900f4ea9dfd | 746 | |
Artiom | 0:f900f4ea9dfd | 747 | case tmp : //on attend que l'atome traité soit totalement passé |
Artiom | 0:f900f4ea9dfd | 748 | if(!etat_cap) { |
Artiom | 0:f900f4ea9dfd | 749 | etat = n_atome; |
Artiom | 0:f900f4ea9dfd | 750 | } |
Artiom | 0:f900f4ea9dfd | 751 | break; |
Artiom | 0:f900f4ea9dfd | 752 | |
Artiom | 0:f900f4ea9dfd | 753 | } |
Artiom | 0:f900f4ea9dfd | 754 | |
Artiom | 0:f900f4ea9dfd | 755 | } |
Artiom | 0:f900f4ea9dfd | 756 | |
Artiom | 0:f900f4ea9dfd | 757 | |
Artiom | 0:f900f4ea9dfd | 758 | void ascenseur(void) |
Artiom | 0:f900f4ea9dfd | 759 | { |
Artiom | 0:f900f4ea9dfd | 760 | typedef enum {init, atome, tmp} type_etat; |
Artiom | 0:f900f4ea9dfd | 761 | static type_etat etat = init; |
Artiom | 0:f900f4ea9dfd | 762 | |
Artiom | 0:f900f4ea9dfd | 763 | int etat_cap = !couleur_haut[0] + !couleur_haut[1]*2 + !couleur_haut[2]*2; |
marwanesaich | 15:1fefa6b1569b | 764 | static int flag_dernier = 0, flag_suivant = 0; |
marwanesaich | 18:2082875295df | 765 | static long cpt, cpt_bloquer = 0; |
marwanesaich | 15:1fefa6b1569b | 766 | static char memo_FIFO_couleur_lecture; |
marwanesaich | 15:1fefa6b1569b | 767 | |
marwanesaich | 17:5973f13f44e2 | 768 | if(flag_ascenseur_force_off)etat = init; |
marwanesaich | 17:5973f13f44e2 | 769 | |
Artiom | 0:f900f4ea9dfd | 770 | switch(etat) { |
Artiom | 0:f900f4ea9dfd | 771 | case init : |
Artiom | 0:f900f4ea9dfd | 772 | //on attend le premier atome et place le herkulex en fonction |
marwanesaich | 17:5973f13f44e2 | 773 | if( (flag_ascenseur || flag_ascenseur_force_on) && !flag_ascenseur_force_off ) { |
marwanesaich | 17:5973f13f44e2 | 774 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 18:2082875295df | 775 | /*timer_bloquer.start(); |
marwanesaich | 18:2082875295df | 776 | timer_bloquer.reset();*/ |
Artiom | 0:f900f4ea9dfd | 777 | etat = atome; |
Artiom | 0:f900f4ea9dfd | 778 | } |
Artiom | 0:f900f4ea9dfd | 779 | break; |
Artiom | 0:f900f4ea9dfd | 780 | |
Artiom | 0:f900f4ea9dfd | 781 | case atome : |
Artiom | 0:f900f4ea9dfd | 782 | //on attend que l'atome soit présent devant le capteur haut et qu'il corresponde à la FIFO |
marwanesaich | 15:1fefa6b1569b | 783 | cpt++; |
marwanesaich | 18:2082875295df | 784 | /*if( (timer_bloquer.read() > 3.0) && (FIFO_couleur_lecture != FIFO_couleur_ecriture)){ |
marwanesaich | 18:2082875295df | 785 | flag_ascenseur_force_off = 1; |
marwanesaich | 18:2082875295df | 786 | SendCharCan(HACHEUR_ID_COUROIES,0); |
marwanesaich | 18:2082875295df | 787 | etat = init; |
marwanesaich | 18:2082875295df | 788 | } |
marwanesaich | 18:2082875295df | 789 | else*/ if( ((cpt > 30000)&& flag_dernier) ) |
marwanesaich | 15:1fefa6b1569b | 790 | { |
marwanesaich | 15:1fefa6b1569b | 791 | flag_dernier = 0; |
marwanesaich | 15:1fefa6b1569b | 792 | oriente_doigt_suiv(buffer_couleur_bas[memo_FIFO_couleur_lecture]); |
marwanesaich | 15:1fefa6b1569b | 793 | |
marwanesaich | 15:1fefa6b1569b | 794 | flag_ascenseur = 0; |
marwanesaich | 15:1fefa6b1569b | 795 | |
marwanesaich | 15:1fefa6b1569b | 796 | /* |
marwanesaich | 15:1fefa6b1569b | 797 | if(buffer_couleur_bas[memo_FIFO_couleur_lecture] == 1) |
marwanesaich | 15:1fefa6b1569b | 798 | oriente_doigt(2); |
marwanesaich | 15:1fefa6b1569b | 799 | else if(buffer_couleur_bas[memo_FIFO_couleur_lecture] == 2) |
marwanesaich | 15:1fefa6b1569b | 800 | oriente_doigt(1);*/ |
marwanesaich | 15:1fefa6b1569b | 801 | |
marwanesaich | 15:1fefa6b1569b | 802 | }else if((cpt > 5000)&& flag_suivant){ |
marwanesaich | 15:1fefa6b1569b | 803 | flag_suivant =0; |
marwanesaich | 15:1fefa6b1569b | 804 | oriente_doigt_suiv(buffer_couleur_bas[memo_FIFO_couleur_lecture]); |
marwanesaich | 18:2082875295df | 805 | |
marwanesaich | 18:2082875295df | 806 | |
marwanesaich | 17:5973f13f44e2 | 807 | }else if( (cpt>60000) && !flag_ascenseur && !flag_ascenseur_force_on){ |
marwanesaich | 15:1fefa6b1569b | 808 | SendCharCan(HACHEUR_ID_COUROIES,0); |
marwanesaich | 15:1fefa6b1569b | 809 | etat = init; |
marwanesaich | 15:1fefa6b1569b | 810 | } |
marwanesaich | 16:06463f24811d | 811 | |
marwanesaich | 14:bf2810b95f25 | 812 | if(etat_cap != 0) { |
marwanesaich | 15:1fefa6b1569b | 813 | cpt = 0; |
marwanesaich | 16:06463f24811d | 814 | if(etat_cap == 1)nbPaletsBleus ++; |
marwanesaich | 16:06463f24811d | 815 | else if(etat_cap == 2) nbPaletsVerts ++; |
marwanesaich | 7:283d66d5c3b9 | 816 | oriente_doigt(etat_cap); |
marwanesaich | 18:2082875295df | 817 | //timer_bloquer.reset(); |
marwanesaich | 6:aa800daf5ff9 | 818 | etat = tmp; |
marwanesaich | 6:aa800daf5ff9 | 819 | } |
marwanesaich | 18:2082875295df | 820 | |
marwanesaich | 10:fba0699b7a74 | 821 | /*else if(FIFO_couleur_lecture == FIFO_couleur_ecriture) |
marwanesaich | 10:fba0699b7a74 | 822 | { |
marwanesaich | 10:fba0699b7a74 | 823 | oriente_doigt((FIFO_couleur_lecture-1)%SIZE_FIFO); |
marwanesaich | 6:aa800daf5ff9 | 824 | }*/ |
Artiom | 0:f900f4ea9dfd | 825 | break; |
Artiom | 0:f900f4ea9dfd | 826 | |
Artiom | 0:f900f4ea9dfd | 827 | case tmp : |
Artiom | 0:f900f4ea9dfd | 828 | //on attend que le capteur soit totalement passé pour déplacer le pointeur de lecture |
marwanesaich | 18:2082875295df | 829 | /*if( (timer_bloquer.read() > 5.0) && (FIFO_couleur_lecture != FIFO_couleur_ecriture)){ |
marwanesaich | 18:2082875295df | 830 | flag_ascenseur_force_off = 1; |
marwanesaich | 18:2082875295df | 831 | SendCharCan(HACHEUR_ID_COUROIES,0); |
marwanesaich | 18:2082875295df | 832 | etat = init; |
marwanesaich | 18:2082875295df | 833 | }*/ |
Artiom | 0:f900f4ea9dfd | 834 | if(etat_cap == 0) { |
marwanesaich | 18:2082875295df | 835 | //timer_bloquer.reset(); |
marwanesaich | 15:1fefa6b1569b | 836 | memo_FIFO_couleur_lecture = FIFO_couleur_lecture; |
marwanesaich | 16:06463f24811d | 837 | |
Artiom | 0:f900f4ea9dfd | 838 | FIFO_couleur_lecture=(FIFO_couleur_lecture+1)%SIZE_FIFO; |
marwanesaich | 14:bf2810b95f25 | 839 | if(FIFO_couleur_lecture == FIFO_couleur_ecriture) { |
marwanesaich | 14:bf2810b95f25 | 840 | //pc.printf("Fifo vide\n"); |
marwanesaich | 15:1fefa6b1569b | 841 | flag_dernier = 1;/* |
marwanesaich | 10:fba0699b7a74 | 842 | if(buffer_couleur_bas[memo_FIFO_couleur_lecture] == 1) |
marwanesaich | 10:fba0699b7a74 | 843 | oriente_doigt(2); |
marwanesaich | 10:fba0699b7a74 | 844 | else if(buffer_couleur_bas[memo_FIFO_couleur_lecture] == 2) |
marwanesaich | 15:1fefa6b1569b | 845 | oriente_doigt(1);*/ |
marwanesaich | 15:1fefa6b1569b | 846 | }else{ |
marwanesaich | 15:1fefa6b1569b | 847 | flag_suivant = 1; |
marwanesaich | 15:1fefa6b1569b | 848 | /*if(buffer_couleur_bas[memo_FIFO_couleur_lecture] == 1) |
marwanesaich | 15:1fefa6b1569b | 849 | oriente_doigt(2); |
marwanesaich | 15:1fefa6b1569b | 850 | else if(buffer_couleur_bas[memo_FIFO_couleur_lecture] == 2) |
marwanesaich | 15:1fefa6b1569b | 851 | oriente_doigt(1);*/ |
marwanesaich | 10:fba0699b7a74 | 852 | } |
Artiom | 0:f900f4ea9dfd | 853 | etat = atome; |
Artiom | 0:f900f4ea9dfd | 854 | } |
Artiom | 0:f900f4ea9dfd | 855 | break; |
Artiom | 0:f900f4ea9dfd | 856 | } |
Artiom | 0:f900f4ea9dfd | 857 | } |
kyxstark | 1:af508f84a079 | 858 | |
marwanesaich | 5:bb533bf81ee6 | 859 | void oriente_doigt(int palet) |
marwanesaich | 5:bb533bf81ee6 | 860 | { |
marwanesaich | 5:bb533bf81ee6 | 861 | if(cote) { |
marwanesaich | 5:bb533bf81ee6 | 862 | if(palet == 1) {//position herkulex stockage bleu |
marwanesaich | 6:aa800daf5ff9 | 863 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 15:1fefa6b1569b | 864 | positionControl(doigt,POS_DOIGT_GAUCHE,20,BLED_ON,2); |
marwanesaich | 5:bb533bf81ee6 | 865 | } else if (palet == 2) {//position herkulex stockage rouge/vert |
marwanesaich | 6:aa800daf5ff9 | 866 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 15:1fefa6b1569b | 867 | positionControl(doigt,POS_DOIGT_DROIT,20,GLED_ON,2); |
marwanesaich | 14:bf2810b95f25 | 868 | |
marwanesaich | 15:1fefa6b1569b | 869 | }else |
marwanesaich | 15:1fefa6b1569b | 870 | positionControl(doigt,512,20,GLED_ON,2); |
marwanesaich | 5:bb533bf81ee6 | 871 | } else { |
marwanesaich | 5:bb533bf81ee6 | 872 | if(palet== 1) {//position herkulex stockage bleu |
marwanesaich | 15:1fefa6b1569b | 873 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 6:aa800daf5ff9 | 874 | positionControl(doigt,POS_DOIGT_DROIT,10,BLED_ON,2); |
marwanesaich | 5:bb533bf81ee6 | 875 | } else if (palet== 2) {//position herkulex stockage rouge/vert |
marwanesaich | 15:1fefa6b1569b | 876 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 6:aa800daf5ff9 | 877 | positionControl(doigt,POS_DOIGT_GAUCHE,10,GLED_ON,2); |
marwanesaich | 15:1fefa6b1569b | 878 | }else |
marwanesaich | 15:1fefa6b1569b | 879 | positionControl(doigt,512,20,GLED_ON,2); |
marwanesaich | 5:bb533bf81ee6 | 880 | } |
marwanesaich | 5:bb533bf81ee6 | 881 | } |
marwanesaich | 5:bb533bf81ee6 | 882 | |
marwanesaich | 15:1fefa6b1569b | 883 | void oriente_doigt_suiv(int palet) |
marwanesaich | 15:1fefa6b1569b | 884 | { |
marwanesaich | 15:1fefa6b1569b | 885 | if(cote) { |
marwanesaich | 15:1fefa6b1569b | 886 | if(palet == 1) {//position herkulex stockage bleu |
marwanesaich | 15:1fefa6b1569b | 887 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 15:1fefa6b1569b | 888 | positionControl(doigt,POS_DOIGT_GAUCHE_SUIV,20,BLED_ON,2); |
marwanesaich | 15:1fefa6b1569b | 889 | } else if (palet == 2) {//position herkulex stockage rouge/vert |
marwanesaich | 15:1fefa6b1569b | 890 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 15:1fefa6b1569b | 891 | positionControl(doigt,POS_DOIGT_DROIT_SUIV,20,GLED_ON,2); |
marwanesaich | 15:1fefa6b1569b | 892 | |
marwanesaich | 15:1fefa6b1569b | 893 | }else |
marwanesaich | 15:1fefa6b1569b | 894 | positionControl(doigt,512,20,GLED_ON,2); |
marwanesaich | 15:1fefa6b1569b | 895 | } else { |
marwanesaich | 15:1fefa6b1569b | 896 | if(palet== 1) {//position herkulex stockage bleu |
marwanesaich | 15:1fefa6b1569b | 897 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 15:1fefa6b1569b | 898 | positionControl(doigt,POS_DOIGT_DROIT_SUIV,10,BLED_ON,2); |
marwanesaich | 15:1fefa6b1569b | 899 | } else if (palet== 2) {//position herkulex stockage rouge/vert |
marwanesaich | 15:1fefa6b1569b | 900 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 15:1fefa6b1569b | 901 | positionControl(doigt,POS_DOIGT_GAUCHE_SUIV,10,GLED_ON,2); |
marwanesaich | 15:1fefa6b1569b | 902 | }else |
marwanesaich | 15:1fefa6b1569b | 903 | positionControl(doigt,512,20,GLED_ON,2); |
marwanesaich | 15:1fefa6b1569b | 904 | } |
marwanesaich | 15:1fefa6b1569b | 905 | } |
Artiom | 0:f900f4ea9dfd | 906 | void presentoir_avant(void) |
Artiom | 0:f900f4ea9dfd | 907 | { |
kyxstark | 2:33583329d6c8 | 908 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
kyxstark | 2:33583329d6c8 | 909 | |
kyxstark | 3:a630a1ccf5f0 | 910 | uint16_t pos_av_centre[2] = {512,512}; |
kyxstark | 2:33583329d6c8 | 911 | |
kyxstark | 2:33583329d6c8 | 912 | int speed=1; |
kyxstark | 2:33583329d6c8 | 913 | |
kyxstark | 2:33583329d6c8 | 914 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
kyxstark | 2:33583329d6c8 | 915 | verification(); |
Artiom | 0:f900f4ea9dfd | 916 | } |
Artiom | 0:f900f4ea9dfd | 917 | |
Artiom | 0:f900f4ea9dfd | 918 | |
Artiom | 0:f900f4ea9dfd | 919 | void automate_ventouse_presentoir_avant(void) |
Artiom | 0:f900f4ea9dfd | 920 | { |
kyxstark | 2:33583329d6c8 | 921 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
kyxstark | 2:33583329d6c8 | 922 | static type_etat etat = init; |
kyxstark | 2:33583329d6c8 | 923 | |
kyxstark | 2:33583329d6c8 | 924 | switch(etat) { |
kyxstark | 2:33583329d6c8 | 925 | case init: //attente d'initialisation |
kyxstark | 2:33583329d6c8 | 926 | if(fpresentoir_avant) |
kyxstark | 2:33583329d6c8 | 927 | etat=envoi_instruction; |
kyxstark | 2:33583329d6c8 | 928 | break; |
kyxstark | 2:33583329d6c8 | 929 | |
kyxstark | 2:33583329d6c8 | 930 | case envoi_instruction://envoi instruction |
kyxstark | 2:33583329d6c8 | 931 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
kyxstark | 2:33583329d6c8 | 932 | presentoir_avant(); |
kyxstark | 2:33583329d6c8 | 933 | SendRawId(HACHEUR_GET_PRESENTOIR_AV); |
kyxstark | 2:33583329d6c8 | 934 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
kyxstark | 2:33583329d6c8 | 935 | etat = attente_ack_ventouse; |
kyxstark | 2:33583329d6c8 | 936 | break; |
kyxstark | 2:33583329d6c8 | 937 | |
kyxstark | 2:33583329d6c8 | 938 | case attente_ack_ventouse: |
kyxstark | 2:33583329d6c8 | 939 | if((status_pompe&MASK_PRESENTOIR_AV)==MASK_PRESENTOIR_AV) { |
kyxstark | 2:33583329d6c8 | 940 | fpresentoir_avant=0; |
kyxstark | 2:33583329d6c8 | 941 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
kyxstark | 2:33583329d6c8 | 942 | etat = init; |
kyxstark | 2:33583329d6c8 | 943 | } |
kyxstark | 2:33583329d6c8 | 944 | break; |
kyxstark | 2:33583329d6c8 | 945 | |
kyxstark | 2:33583329d6c8 | 946 | } |
Artiom | 0:f900f4ea9dfd | 947 | } |
Artiom | 0:f900f4ea9dfd | 948 | |
Artiom | 0:f900f4ea9dfd | 949 | void automate_ventouse_relache_avant(void) |
Artiom | 0:f900f4ea9dfd | 950 | { |
Artiom | 0:f900f4ea9dfd | 951 | |
kyxstark | 2:33583329d6c8 | 952 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
kyxstark | 2:33583329d6c8 | 953 | static type_etat etat = init; |
kyxstark | 2:33583329d6c8 | 954 | |
kyxstark | 2:33583329d6c8 | 955 | switch(etat) { |
kyxstark | 2:33583329d6c8 | 956 | case init: //attente d'initialisation |
kyxstark | 2:33583329d6c8 | 957 | if(favant_relache) |
kyxstark | 2:33583329d6c8 | 958 | etat=envoi_instruction; |
kyxstark | 2:33583329d6c8 | 959 | break; |
kyxstark | 2:33583329d6c8 | 960 | |
kyxstark | 2:33583329d6c8 | 961 | case envoi_instruction://envoi instruction |
kyxstark | 2:33583329d6c8 | 962 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
kyxstark | 2:33583329d6c8 | 963 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
kyxstark | 2:33583329d6c8 | 964 | etat = attente_ack_ventouse; |
kyxstark | 2:33583329d6c8 | 965 | break; |
kyxstark | 2:33583329d6c8 | 966 | |
kyxstark | 2:33583329d6c8 | 967 | case attente_ack_ventouse: |
kyxstark | 2:33583329d6c8 | 968 | SendRawId(HACHEUR_RELEASE_AV); |
kyxstark | 2:33583329d6c8 | 969 | if((status_pompe&MASK_PRESENTOIR_AV)== 0) { |
kyxstark | 2:33583329d6c8 | 970 | favant_relache=0; |
kyxstark | 2:33583329d6c8 | 971 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
kyxstark | 2:33583329d6c8 | 972 | etat = init; |
kyxstark | 2:33583329d6c8 | 973 | } |
kyxstark | 2:33583329d6c8 | 974 | break; |
kyxstark | 2:33583329d6c8 | 975 | |
kyxstark | 2:33583329d6c8 | 976 | } |
Artiom | 0:f900f4ea9dfd | 977 | |
Artiom | 0:f900f4ea9dfd | 978 | } |
Artiom | 0:f900f4ea9dfd | 979 | |
Artiom | 0:f900f4ea9dfd | 980 | void goldenium_avant(void) |
Artiom | 0:f900f4ea9dfd | 981 | { |
marwanesaich | 15:1fefa6b1569b | 982 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
marwanesaich | 15:1fefa6b1569b | 983 | uint16_t pos_av_centre[2] = {165,165}; |
marwanesaich | 15:1fefa6b1569b | 984 | int speed=25; |
Artiom | 0:f900f4ea9dfd | 985 | |
marwanesaich | 15:1fefa6b1569b | 986 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
marwanesaich | 15:1fefa6b1569b | 987 | verification(); |
Artiom | 0:f900f4ea9dfd | 988 | } |
Artiom | 0:f900f4ea9dfd | 989 | |
marwanesaich | 18:2082875295df | 990 | |
Artiom | 0:f900f4ea9dfd | 991 | void automate_ventouse_goldenium_avant (void) |
Artiom | 0:f900f4ea9dfd | 992 | { |
marwanesaich | 18:2082875295df | 993 | |
marwanesaich | 18:2082875295df | 994 | typedef enum {init,envoi_instruction,attente_ack_ventouse,reculer,xyt, fin} type_etat; |
marwanesaich | 15:1fefa6b1569b | 995 | static type_etat etat = init; |
marwanesaich | 15:1fefa6b1569b | 996 | |
marwanesaich | 15:1fefa6b1569b | 997 | switch(etat) { |
marwanesaich | 15:1fefa6b1569b | 998 | case init: //attente d'initialisation |
marwanesaich | 15:1fefa6b1569b | 999 | if(fgoldenium_avant) |
marwanesaich | 18:2082875295df | 1000 | etat = envoi_instruction; |
marwanesaich | 15:1fefa6b1569b | 1001 | break; |
marwanesaich | 15:1fefa6b1569b | 1002 | |
marwanesaich | 15:1fefa6b1569b | 1003 | case envoi_instruction://envoi instruction |
marwanesaich | 15:1fefa6b1569b | 1004 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
marwanesaich | 18:2082875295df | 1005 | wait_us(50); |
marwanesaich | 18:2082875295df | 1006 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
marwanesaich | 18:2082875295df | 1007 | wait_us(50); |
marwanesaich | 15:1fefa6b1569b | 1008 | goldenium_avant(); |
marwanesaich | 18:2082875295df | 1009 | char pompe = AV_CENTRE; |
marwanesaich | 18:2082875295df | 1010 | SendSpeed(VITESSE_RALENTI,ACCELERATION_RALENTI,DECELERATION_RALENTI); |
marwanesaich | 18:2082875295df | 1011 | wait_us(50); |
marwanesaich | 18:2082875295df | 1012 | GoStraight(200,0,0,0);//on avance vers le goldenium |
marwanesaich | 18:2082875295df | 1013 | wait_us(50); |
marwanesaich | 15:1fefa6b1569b | 1014 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
marwanesaich | 18:2082875295df | 1015 | wait_us(50); |
marwanesaich | 18:2082875295df | 1016 | timeout.start(); |
marwanesaich | 18:2082875295df | 1017 | timeout.reset(); |
marwanesaich | 15:1fefa6b1569b | 1018 | etat = attente_ack_ventouse; |
marwanesaich | 15:1fefa6b1569b | 1019 | break; |
marwanesaich | 15:1fefa6b1569b | 1020 | |
marwanesaich | 18:2082875295df | 1021 | case attente_ack_ventouse://auotmate ack carte pompe merde, renvoi ack goldenium saisi de temps en temps |
marwanesaich | 18:2082875295df | 1022 | if((status_pompe&MASK_GOLDENIUM_AV)== MASK_GOLDENIUM_AV) {//dès qu'il est saisi on attend pour etre sur |
marwanesaich | 18:2082875295df | 1023 | wait(0.1); |
marwanesaich | 18:2082875295df | 1024 | |
marwanesaich | 18:2082875295df | 1025 | ackFinAction = 0; |
marwanesaich | 18:2082875295df | 1026 | SendRawId(ASSERVISSEMENT_STOP);//on s'arrete |
marwanesaich | 18:2082875295df | 1027 | timeout.reset(); |
marwanesaich | 18:2082875295df | 1028 | etat = reculer; |
marwanesaich | 18:2082875295df | 1029 | } else if(timeout.read_ms()>5000) { |
marwanesaich | 18:2082875295df | 1030 | ackFinAction = 0; |
marwanesaich | 18:2082875295df | 1031 | SendRawId(ASSERVISSEMENT_STOP); |
marwanesaich | 18:2082875295df | 1032 | timeout.reset(); |
marwanesaich | 18:2082875295df | 1033 | etat = reculer; |
marwanesaich | 18:2082875295df | 1034 | } |
marwanesaich | 18:2082875295df | 1035 | break; |
marwanesaich | 18:2082875295df | 1036 | |
marwanesaich | 18:2082875295df | 1037 | case reculer: |
marwanesaich | 18:2082875295df | 1038 | if(ackFinAction == ASSERVISSEMENT_STOP) |
marwanesaich | 18:2082875295df | 1039 | { |
marwanesaich | 18:2082875295df | 1040 | ackFinAction = 0; |
marwanesaich | 18:2082875295df | 1041 | GoStraight(-40,0,0,0);//on recule en x donné par la strat |
marwanesaich | 18:2082875295df | 1042 | wait(0.1); |
marwanesaich | 18:2082875295df | 1043 | positionControl(AV_poigne_C,450,150,BLED_ON,2);//forklift |
marwanesaich | 15:1fefa6b1569b | 1044 | fgoldenium_avant=0; |
marwanesaich | 18:2082875295df | 1045 | etat = xyt; |
marwanesaich | 18:2082875295df | 1046 | } |
marwanesaich | 18:2082875295df | 1047 | break; |
marwanesaich | 18:2082875295df | 1048 | |
marwanesaich | 18:2082875295df | 1049 | case xyt: |
marwanesaich | 18:2082875295df | 1050 | if(ackFinAction == ASSERVISSEMENT_RECALAGE) |
marwanesaich | 18:2082875295df | 1051 | { |
marwanesaich | 18:2082875295df | 1052 | ackFinAction = 0; |
marwanesaich | 18:2082875295df | 1053 | SendSpeed(VITESSE_NORMAL,ACCELERATION,DECELERATION); |
marwanesaich | 18:2082875295df | 1054 | GoToPosition( x_goldenium,y_goldenium,1800,-1);//x et y donné par la strat ,theta constant,-1 marche arriere |
marwanesaich | 18:2082875295df | 1055 | etat = fin; |
marwanesaich | 18:2082875295df | 1056 | } |
marwanesaich | 18:2082875295df | 1057 | break; |
marwanesaich | 18:2082875295df | 1058 | case fin : |
marwanesaich | 18:2082875295df | 1059 | if(ackFinAction == ASSERVISSEMENT_XYT) |
marwanesaich | 18:2082875295df | 1060 | { |
marwanesaich | 18:2082875295df | 1061 | ackFinAction = 0; |
marwanesaich | 15:1fefa6b1569b | 1062 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
marwanesaich | 15:1fefa6b1569b | 1063 | etat = init; |
marwanesaich | 15:1fefa6b1569b | 1064 | } |
marwanesaich | 15:1fefa6b1569b | 1065 | break; |
marwanesaich | 15:1fefa6b1569b | 1066 | } |
Artiom | 0:f900f4ea9dfd | 1067 | } |
Artiom | 0:f900f4ea9dfd | 1068 | |
marwanesaich | 18:2082875295df | 1069 | |
Artiom | 0:f900f4ea9dfd | 1070 | void accelerateur_avant(void) |
Artiom | 0:f900f4ea9dfd | 1071 | { |
Artiom | 0:f900f4ea9dfd | 1072 | } |
Artiom | 0:f900f4ea9dfd | 1073 | |
Artiom | 0:f900f4ea9dfd | 1074 | void automate_ventouse_accelerateur_avant(void) |
Artiom | 0:f900f4ea9dfd | 1075 | { |
Artiom | 0:f900f4ea9dfd | 1076 | |
kyxstark | 1:af508f84a079 | 1077 | } |
Artiom | 0:f900f4ea9dfd | 1078 | #endif |