librairie actions gros robot carte esclave
Dependents: carte_esclave201_petit_rob carte_esclave2019 carte_esclave_PETIT_ROBOT_2019
actions_Gr.cpp@8:7bd34e838ca3, 2019-05-25 (annotated)
- Committer:
- marwanesaich
- Date:
- Sat May 25 16:35:36 2019 +0000
- Revision:
- 8:7bd34e838ca3
- Parent:
- 7:283d66d5c3b9
- Child:
- 9:05da4300730a
ajout convoyeur gauche violet ;
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 | |
marwanesaich | 8:7bd34e838ca3 | 204 | void convoyeur_gauche_violet(void){ |
marwanesaich | 8:7bd34e838ca3 | 205 | |
marwanesaich | 8:7bd34e838ca3 | 206 | typedef enum {init, etalonnage, tmp_pret, pret, pousse, retour} type_etat ; |
marwanesaich | 8:7bd34e838ca3 | 207 | static type_etat etat = init; |
marwanesaich | 8:7bd34e838ca3 | 208 | static int16_t pos = 0; |
marwanesaich | 8:7bd34e838ca3 | 209 | static int16_t previous_pos = getPos(stockage_G,1); |
marwanesaich | 8:7bd34e838ca3 | 210 | |
marwanesaich | 8:7bd34e838ca3 | 211 | |
marwanesaich | 8:7bd34e838ca3 | 212 | switch(etat){ |
marwanesaich | 8:7bd34e838ca3 | 213 | |
marwanesaich | 8:7bd34e838ca3 | 214 | case init : |
marwanesaich | 8:7bd34e838ca3 | 215 | velocityControl(stockage_G,-512,BLED_ON,1); |
marwanesaich | 8:7bd34e838ca3 | 216 | pos = getPos(stockage_G,1); |
marwanesaich | 8:7bd34e838ca3 | 217 | if(previous_pos != pos){ |
marwanesaich | 8:7bd34e838ca3 | 218 | etat = etalonnage; |
marwanesaich | 8:7bd34e838ca3 | 219 | pc.printf("ETALONNAGE\n"); |
marwanesaich | 8:7bd34e838ca3 | 220 | } |
marwanesaich | 8:7bd34e838ca3 | 221 | break; |
marwanesaich | 8:7bd34e838ca3 | 222 | |
marwanesaich | 8:7bd34e838ca3 | 223 | case etalonnage : |
marwanesaich | 8:7bd34e838ca3 | 224 | pos = getPos(stockage_G,1); |
marwanesaich | 8:7bd34e838ca3 | 225 | if(pos<100 and (status_contact & MASK_FC_GAUCHE)){ |
marwanesaich | 8:7bd34e838ca3 | 226 | velocityControl(stockage_G,0,GLED_ON,1); |
marwanesaich | 8:7bd34e838ca3 | 227 | wait_ms(500); |
marwanesaich | 8:7bd34e838ca3 | 228 | pos = getPos(stockage_G,1) ; |
marwanesaich | 8:7bd34e838ca3 | 229 | compteTour(stockage_G,1023,2,(pos+500),BLED_ON,1); |
marwanesaich | 8:7bd34e838ca3 | 230 | previous_pos = pos; |
marwanesaich | 8:7bd34e838ca3 | 231 | etat = tmp_pret; |
marwanesaich | 8:7bd34e838ca3 | 232 | pc.printf("TMP_PRET\n"); |
marwanesaich | 8:7bd34e838ca3 | 233 | } |
marwanesaich | 8:7bd34e838ca3 | 234 | break; |
marwanesaich | 8:7bd34e838ca3 | 235 | |
marwanesaich | 8:7bd34e838ca3 | 236 | case tmp_pret : |
marwanesaich | 8:7bd34e838ca3 | 237 | pos = getPos(stockage_G,1) ; |
marwanesaich | 8:7bd34e838ca3 | 238 | if(pos> (previous_pos-5)){ |
marwanesaich | 8:7bd34e838ca3 | 239 | etat = pret; |
marwanesaich | 8:7bd34e838ca3 | 240 | pc.printf("PRET\n"); |
marwanesaich | 8:7bd34e838ca3 | 241 | } |
marwanesaich | 8:7bd34e838ca3 | 242 | break; |
marwanesaich | 8:7bd34e838ca3 | 243 | |
marwanesaich | 8:7bd34e838ca3 | 244 | case pret : |
marwanesaich | 8:7bd34e838ca3 | 245 | if((status_contact & MASK_CT_GAUCHE)){ |
marwanesaich | 8:7bd34e838ca3 | 246 | //pc.printf("%d\n",pos); |
marwanesaich | 8:7bd34e838ca3 | 247 | pos = getPos(stockage_G,1)- 550; |
marwanesaich | 8:7bd34e838ca3 | 248 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 8:7bd34e838ca3 | 249 | wait_us(500); |
marwanesaich | 8:7bd34e838ca3 | 250 | positionControl(stockage_G,pos,1,BLED_ON,1); |
marwanesaich | 8:7bd34e838ca3 | 251 | previous_pos = pos; |
marwanesaich | 8:7bd34e838ca3 | 252 | etat = pousse; |
marwanesaich | 8:7bd34e838ca3 | 253 | pc.printf("POUSSE\n"); |
marwanesaich | 8:7bd34e838ca3 | 254 | } |
marwanesaich | 8:7bd34e838ca3 | 255 | break; |
marwanesaich | 8:7bd34e838ca3 | 256 | |
marwanesaich | 8:7bd34e838ca3 | 257 | case pousse : |
marwanesaich | 8:7bd34e838ca3 | 258 | pos = getPos(stockage_G,1); |
marwanesaich | 8:7bd34e838ca3 | 259 | if(pos<(previous_pos+5) and (status_contact & MASK_CT_GAUCHE)==0){ |
marwanesaich | 8:7bd34e838ca3 | 260 | //pc.printf("%d\n",pos); |
marwanesaich | 8:7bd34e838ca3 | 261 | pos = pos + 550; |
marwanesaich | 8:7bd34e838ca3 | 262 | deverouillage_torque_convoyeurs_gauche(); |
marwanesaich | 8:7bd34e838ca3 | 263 | wait_us(500); |
marwanesaich | 8:7bd34e838ca3 | 264 | positionControl(stockage_G,pos,1,BLED_ON,1); |
marwanesaich | 8:7bd34e838ca3 | 265 | previous_pos = pos; |
marwanesaich | 8:7bd34e838ca3 | 266 | etat = retour; |
marwanesaich | 8:7bd34e838ca3 | 267 | pc.printf("RETOUR\n"); |
marwanesaich | 8:7bd34e838ca3 | 268 | } |
marwanesaich | 8:7bd34e838ca3 | 269 | |
marwanesaich | 8:7bd34e838ca3 | 270 | break; |
marwanesaich | 8:7bd34e838ca3 | 271 | |
marwanesaich | 8:7bd34e838ca3 | 272 | case retour : |
marwanesaich | 8:7bd34e838ca3 | 273 | pos = getPos(stockage_G,1) ; |
marwanesaich | 8:7bd34e838ca3 | 274 | if(pos> (previous_pos-5)){ |
marwanesaich | 8:7bd34e838ca3 | 275 | etat = pret; |
marwanesaich | 8:7bd34e838ca3 | 276 | pc.printf("PRET\n"); |
marwanesaich | 8:7bd34e838ca3 | 277 | } |
marwanesaich | 8:7bd34e838ca3 | 278 | break; |
marwanesaich | 8:7bd34e838ca3 | 279 | } |
marwanesaich | 8:7bd34e838ca3 | 280 | } |
marwanesaich | 8:7bd34e838ca3 | 281 | |
Artiom | 0:f900f4ea9dfd | 282 | |
kyxstark | 3:a630a1ccf5f0 | 283 | void gabarit_robot(void) |
Artiom | 0:f900f4ea9dfd | 284 | { |
Artiom | 0:f900f4ea9dfd | 285 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
Artiom | 0:f900f4ea9dfd | 286 | |
kyxstark | 3:a630a1ccf5f0 | 287 | uint16_t pos_av_centre[2] = {550,550};//470,350 |
Artiom | 0:f900f4ea9dfd | 288 | |
Artiom | 0:f900f4ea9dfd | 289 | |
Artiom | 0:f900f4ea9dfd | 290 | int speed=100; |
Artiom | 0:f900f4ea9dfd | 291 | |
Artiom | 0:f900f4ea9dfd | 292 | deverouillage_torque(); |
kyxstark | 3:a630a1ccf5f0 | 293 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
marwanesaich | 6:aa800daf5ff9 | 294 | wait(0.5); |
marwanesaich | 6:aa800daf5ff9 | 295 | positionControl(doigt,POS_DOIGT_DROIT,100,BLED_ON,2); |
Artiom | 0:f900f4ea9dfd | 296 | |
Artiom | 0:f900f4ea9dfd | 297 | } |
Artiom | 0:f900f4ea9dfd | 298 | |
Artiom | 0:f900f4ea9dfd | 299 | |
Artiom | 0:f900f4ea9dfd | 300 | void fifo_couleur(void) |
Artiom | 0:f900f4ea9dfd | 301 | { |
Artiom | 0:f900f4ea9dfd | 302 | |
Artiom | 0:f900f4ea9dfd | 303 | typedef enum {n_atome, atome, tmp} type_etat ; |
Artiom | 0:f900f4ea9dfd | 304 | static type_etat etat = n_atome; |
Artiom | 0:f900f4ea9dfd | 305 | |
Artiom | 0:f900f4ea9dfd | 306 | int etat_cap = !couleur_bas[0] + !couleur_bas[1]*2 + !couleur_bas[2]*2; |
Artiom | 0:f900f4ea9dfd | 307 | switch(etat) { |
Artiom | 0:f900f4ea9dfd | 308 | case n_atome : //on attend qu'un atome soit sous le capteur pour lancer la FIFO |
Artiom | 0:f900f4ea9dfd | 309 | if(etat_cap) { |
Artiom | 0:f900f4ea9dfd | 310 | buffer_couleur_bas[FIFO_couleur_ecriture] = etat_cap; //1 = bleu, 2 = rouge/ vert |
Artiom | 0:f900f4ea9dfd | 311 | flag_ascenseur = 1; |
Artiom | 0:f900f4ea9dfd | 312 | if(FIFO_couleur_ecriture == FIFO_couleur_lecture) { |
marwanesaich | 5:bb533bf81ee6 | 313 | /* if(buffer_couleur_bas[FIFO_couleur_ecriture] == 1) { |
Artiom | 0:f900f4ea9dfd | 314 | positionControl(doigt,384,10,BLED_ON,2); //position herkulex stockage bleu |
Artiom | 0:f900f4ea9dfd | 315 | } else { |
Artiom | 0:f900f4ea9dfd | 316 | positionControl(doigt,640,10,GLED_ON,2); //position herkulex stockage rouge/vert |
marwanesaich | 5:bb533bf81ee6 | 317 | }*/ |
marwanesaich | 5:bb533bf81ee6 | 318 | oriente_doigt(buffer_couleur_bas[FIFO_couleur_ecriture]); |
Artiom | 0:f900f4ea9dfd | 319 | } |
marwanesaich | 5:bb533bf81ee6 | 320 | |
Artiom | 0:f900f4ea9dfd | 321 | FIFO_couleur_ecriture=(FIFO_couleur_ecriture+1)%SIZE_FIFO; |
Artiom | 0:f900f4ea9dfd | 322 | etat = tmp; |
Artiom | 0:f900f4ea9dfd | 323 | } |
Artiom | 0:f900f4ea9dfd | 324 | break; |
marwanesaich | 6:aa800daf5ff9 | 325 | /* |
Artiom | 0:f900f4ea9dfd | 326 | case atome : //on stocke dans la fifo la couleur de l'atome |
Artiom | 0:f900f4ea9dfd | 327 | buffer_couleur_bas[FIFO_couleur_ecriture] = etat_cap; //1 = bleu, 2 = rouge/ vert |
Artiom | 0:f900f4ea9dfd | 328 | flag_ascenseur = 1; |
Artiom | 0:f900f4ea9dfd | 329 | FIFO_couleur_ecriture=(FIFO_couleur_ecriture+1)%SIZE_FIFO; |
Artiom | 0:f900f4ea9dfd | 330 | etat = tmp; |
marwanesaich | 6:aa800daf5ff9 | 331 | break;*/ |
Artiom | 0:f900f4ea9dfd | 332 | |
Artiom | 0:f900f4ea9dfd | 333 | case tmp : //on attend que l'atome traité soit totalement passé |
Artiom | 0:f900f4ea9dfd | 334 | if(!etat_cap) { |
Artiom | 0:f900f4ea9dfd | 335 | etat = n_atome; |
Artiom | 0:f900f4ea9dfd | 336 | } |
Artiom | 0:f900f4ea9dfd | 337 | break; |
Artiom | 0:f900f4ea9dfd | 338 | |
Artiom | 0:f900f4ea9dfd | 339 | } |
Artiom | 0:f900f4ea9dfd | 340 | |
Artiom | 0:f900f4ea9dfd | 341 | } |
Artiom | 0:f900f4ea9dfd | 342 | |
Artiom | 0:f900f4ea9dfd | 343 | |
Artiom | 0:f900f4ea9dfd | 344 | void ascenseur(void) |
Artiom | 0:f900f4ea9dfd | 345 | { |
Artiom | 0:f900f4ea9dfd | 346 | typedef enum {init, atome, tmp} type_etat; |
Artiom | 0:f900f4ea9dfd | 347 | static type_etat etat = init; |
Artiom | 0:f900f4ea9dfd | 348 | |
Artiom | 0:f900f4ea9dfd | 349 | int etat_cap = !couleur_haut[0] + !couleur_haut[1]*2 + !couleur_haut[2]*2; |
Artiom | 0:f900f4ea9dfd | 350 | static int flag_sortie = 0; |
marwanesaich | 5:bb533bf81ee6 | 351 | |
Artiom | 0:f900f4ea9dfd | 352 | switch(etat) { |
Artiom | 0:f900f4ea9dfd | 353 | case init : |
Artiom | 0:f900f4ea9dfd | 354 | //on attend le premier atome et place le herkulex en fonction |
Artiom | 0:f900f4ea9dfd | 355 | if(flag_ascenseur) { |
marwanesaich | 6:aa800daf5ff9 | 356 | //SendCharCan(HACHEUR_ID_COUROIES,1); |
Artiom | 0:f900f4ea9dfd | 357 | etat = atome; |
Artiom | 0:f900f4ea9dfd | 358 | } |
Artiom | 0:f900f4ea9dfd | 359 | break; |
Artiom | 0:f900f4ea9dfd | 360 | |
Artiom | 0:f900f4ea9dfd | 361 | case atome : |
Artiom | 0:f900f4ea9dfd | 362 | //on attend que l'atome soit présent devant le capteur haut et qu'il corresponde à la FIFO |
marwanesaich | 6:aa800daf5ff9 | 363 | if(etat_cap != 0) |
marwanesaich | 6:aa800daf5ff9 | 364 | { |
marwanesaich | 7:283d66d5c3b9 | 365 | oriente_doigt(etat_cap); |
marwanesaich | 6:aa800daf5ff9 | 366 | etat = tmp; |
marwanesaich | 6:aa800daf5ff9 | 367 | } |
marwanesaich | 6:aa800daf5ff9 | 368 | |
marwanesaich | 6:aa800daf5ff9 | 369 | /*if(buffer_couleur_bas[FIFO_couleur_lecture] != 0) { |
marwanesaich | 6:aa800daf5ff9 | 370 | oriente_doigt(buffer_couleur_bas[FIFO_couleur_lecture]); |
marwanesaich | 6:aa800daf5ff9 | 371 | etat = tmp; |
marwanesaich | 5:bb533bf81ee6 | 372 | }else if(etat_cap != 0) { |
marwanesaich | 5:bb533bf81ee6 | 373 | etat = tmp; |
marwanesaich | 6:aa800daf5ff9 | 374 | }*/ |
Artiom | 0:f900f4ea9dfd | 375 | break; |
Artiom | 0:f900f4ea9dfd | 376 | |
Artiom | 0:f900f4ea9dfd | 377 | case tmp : |
Artiom | 0:f900f4ea9dfd | 378 | //on attend que le capteur soit totalement passé pour déplacer le pointeur de lecture |
Artiom | 0:f900f4ea9dfd | 379 | if(etat_cap == 0) { |
Artiom | 0:f900f4ea9dfd | 380 | FIFO_couleur_lecture=(FIFO_couleur_lecture+1)%SIZE_FIFO; |
Artiom | 0:f900f4ea9dfd | 381 | etat = atome; |
Artiom | 0:f900f4ea9dfd | 382 | } |
Artiom | 0:f900f4ea9dfd | 383 | break; |
Artiom | 0:f900f4ea9dfd | 384 | } |
Artiom | 0:f900f4ea9dfd | 385 | } |
kyxstark | 1:af508f84a079 | 386 | |
marwanesaich | 5:bb533bf81ee6 | 387 | void oriente_doigt(int palet) |
marwanesaich | 5:bb533bf81ee6 | 388 | { |
marwanesaich | 5:bb533bf81ee6 | 389 | if(cote) { |
marwanesaich | 5:bb533bf81ee6 | 390 | if(palet == 1) {//position herkulex stockage bleu |
marwanesaich | 6:aa800daf5ff9 | 391 | positionControl(doigt,POS_DOIGT_GAUCHE,10,BLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 392 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 5:bb533bf81ee6 | 393 | } else if (palet == 2) {//position herkulex stockage rouge/vert |
marwanesaich | 6:aa800daf5ff9 | 394 | positionControl(doigt,POS_DOIGT_DROIT,10,GLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 395 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 6:aa800daf5ff9 | 396 | |
marwanesaich | 5:bb533bf81ee6 | 397 | } |
marwanesaich | 5:bb533bf81ee6 | 398 | } else { |
marwanesaich | 5:bb533bf81ee6 | 399 | if(palet== 1) {//position herkulex stockage bleu |
marwanesaich | 6:aa800daf5ff9 | 400 | positionControl(doigt,POS_DOIGT_DROIT,10,BLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 401 | SendCharCan(HACHEUR_ID_COUROIES,1); |
marwanesaich | 5:bb533bf81ee6 | 402 | } else if (palet== 2) {//position herkulex stockage rouge/vert |
marwanesaich | 6:aa800daf5ff9 | 403 | positionControl(doigt,POS_DOIGT_GAUCHE,10,GLED_ON,2); |
marwanesaich | 6:aa800daf5ff9 | 404 | SendCharCan(HACHEUR_ID_COUROIES,2); |
marwanesaich | 5:bb533bf81ee6 | 405 | } |
marwanesaich | 5:bb533bf81ee6 | 406 | } |
marwanesaich | 5:bb533bf81ee6 | 407 | } |
marwanesaich | 5:bb533bf81ee6 | 408 | |
Artiom | 0:f900f4ea9dfd | 409 | void presentoir_avant(void) |
Artiom | 0:f900f4ea9dfd | 410 | { |
kyxstark | 2:33583329d6c8 | 411 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
kyxstark | 2:33583329d6c8 | 412 | |
kyxstark | 3:a630a1ccf5f0 | 413 | uint16_t pos_av_centre[2] = {512,512}; |
kyxstark | 2:33583329d6c8 | 414 | |
kyxstark | 2:33583329d6c8 | 415 | int speed=1; |
kyxstark | 2:33583329d6c8 | 416 | |
kyxstark | 2:33583329d6c8 | 417 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
kyxstark | 2:33583329d6c8 | 418 | verification(); |
Artiom | 0:f900f4ea9dfd | 419 | } |
Artiom | 0:f900f4ea9dfd | 420 | |
Artiom | 0:f900f4ea9dfd | 421 | |
Artiom | 0:f900f4ea9dfd | 422 | void automate_ventouse_presentoir_avant(void) |
Artiom | 0:f900f4ea9dfd | 423 | { |
kyxstark | 2:33583329d6c8 | 424 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
kyxstark | 2:33583329d6c8 | 425 | static type_etat etat = init; |
kyxstark | 2:33583329d6c8 | 426 | |
kyxstark | 2:33583329d6c8 | 427 | switch(etat) { |
kyxstark | 2:33583329d6c8 | 428 | case init: //attente d'initialisation |
kyxstark | 2:33583329d6c8 | 429 | if(fpresentoir_avant) |
kyxstark | 2:33583329d6c8 | 430 | etat=envoi_instruction; |
kyxstark | 2:33583329d6c8 | 431 | break; |
kyxstark | 2:33583329d6c8 | 432 | |
kyxstark | 2:33583329d6c8 | 433 | case envoi_instruction://envoi instruction |
kyxstark | 2:33583329d6c8 | 434 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
kyxstark | 2:33583329d6c8 | 435 | presentoir_avant(); |
kyxstark | 2:33583329d6c8 | 436 | SendRawId(HACHEUR_GET_PRESENTOIR_AV); |
kyxstark | 2:33583329d6c8 | 437 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
kyxstark | 2:33583329d6c8 | 438 | etat = attente_ack_ventouse; |
kyxstark | 2:33583329d6c8 | 439 | break; |
kyxstark | 2:33583329d6c8 | 440 | |
kyxstark | 2:33583329d6c8 | 441 | case attente_ack_ventouse: |
kyxstark | 2:33583329d6c8 | 442 | if((status_pompe&MASK_PRESENTOIR_AV)==MASK_PRESENTOIR_AV) { |
kyxstark | 2:33583329d6c8 | 443 | fpresentoir_avant=0; |
kyxstark | 2:33583329d6c8 | 444 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
kyxstark | 2:33583329d6c8 | 445 | etat = init; |
kyxstark | 2:33583329d6c8 | 446 | } |
kyxstark | 2:33583329d6c8 | 447 | break; |
kyxstark | 2:33583329d6c8 | 448 | |
kyxstark | 2:33583329d6c8 | 449 | } |
Artiom | 0:f900f4ea9dfd | 450 | } |
Artiom | 0:f900f4ea9dfd | 451 | |
Artiom | 0:f900f4ea9dfd | 452 | void automate_ventouse_relache_avant(void) |
Artiom | 0:f900f4ea9dfd | 453 | { |
Artiom | 0:f900f4ea9dfd | 454 | |
kyxstark | 2:33583329d6c8 | 455 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
kyxstark | 2:33583329d6c8 | 456 | static type_etat etat = init; |
kyxstark | 2:33583329d6c8 | 457 | |
kyxstark | 2:33583329d6c8 | 458 | switch(etat) { |
kyxstark | 2:33583329d6c8 | 459 | case init: //attente d'initialisation |
kyxstark | 2:33583329d6c8 | 460 | if(favant_relache) |
kyxstark | 2:33583329d6c8 | 461 | etat=envoi_instruction; |
kyxstark | 2:33583329d6c8 | 462 | break; |
kyxstark | 2:33583329d6c8 | 463 | |
kyxstark | 2:33583329d6c8 | 464 | case envoi_instruction://envoi instruction |
kyxstark | 2:33583329d6c8 | 465 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
kyxstark | 2:33583329d6c8 | 466 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
kyxstark | 2:33583329d6c8 | 467 | etat = attente_ack_ventouse; |
kyxstark | 2:33583329d6c8 | 468 | break; |
kyxstark | 2:33583329d6c8 | 469 | |
kyxstark | 2:33583329d6c8 | 470 | case attente_ack_ventouse: |
kyxstark | 2:33583329d6c8 | 471 | SendRawId(HACHEUR_RELEASE_AV); |
kyxstark | 2:33583329d6c8 | 472 | if((status_pompe&MASK_PRESENTOIR_AV)== 0) { |
kyxstark | 2:33583329d6c8 | 473 | favant_relache=0; |
kyxstark | 2:33583329d6c8 | 474 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
kyxstark | 2:33583329d6c8 | 475 | etat = init; |
kyxstark | 2:33583329d6c8 | 476 | } |
kyxstark | 2:33583329d6c8 | 477 | break; |
kyxstark | 2:33583329d6c8 | 478 | |
kyxstark | 2:33583329d6c8 | 479 | } |
Artiom | 0:f900f4ea9dfd | 480 | |
Artiom | 0:f900f4ea9dfd | 481 | } |
Artiom | 0:f900f4ea9dfd | 482 | |
Artiom | 0:f900f4ea9dfd | 483 | void goldenium_avant(void) |
Artiom | 0:f900f4ea9dfd | 484 | { |
Artiom | 0:f900f4ea9dfd | 485 | |
Artiom | 0:f900f4ea9dfd | 486 | } |
Artiom | 0:f900f4ea9dfd | 487 | |
Artiom | 0:f900f4ea9dfd | 488 | void automate_ventouse_goldenium_avant (void) |
Artiom | 0:f900f4ea9dfd | 489 | { |
Artiom | 0:f900f4ea9dfd | 490 | } |
Artiom | 0:f900f4ea9dfd | 491 | |
Artiom | 0:f900f4ea9dfd | 492 | void accelerateur_avant(void) |
Artiom | 0:f900f4ea9dfd | 493 | { |
Artiom | 0:f900f4ea9dfd | 494 | } |
Artiom | 0:f900f4ea9dfd | 495 | |
Artiom | 0:f900f4ea9dfd | 496 | void automate_ventouse_accelerateur_avant(void) |
Artiom | 0:f900f4ea9dfd | 497 | { |
Artiom | 0:f900f4ea9dfd | 498 | |
kyxstark | 1:af508f84a079 | 499 | } |
Artiom | 0:f900f4ea9dfd | 500 | #endif |