CRAC Team
librairie actions petit robot carte esclave
Dependents: carte_esclave201_petit_rob carte_esclave2019 carte_esclave_PETIT_ROBOT_2019 ACRAC_carte_esclave_GROS_ROBOT_2019
actions_Pr.h@19:f42a70ebc580, 2019-05-30 (annotated)
- Committer:
- Artiom
- Date:
- Thu May 30 12:20:23 2019 +0000
- Revision:
- 19:f42a70ebc580
- Parent:
- 16:77e352ca3035
- Child:
- 22:4a005be0883b
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Artiom | 0:42544b5e8b9f | 1 | #ifndef ACTIONS_PR_H |
| Artiom | 0:42544b5e8b9f | 2 | #define ACTIONS_PR_H |
| Artiom | 0:42544b5e8b9f | 3 | #include "main.h" |
| Artiom | 0:42544b5e8b9f | 4 | |
| Artiom | 0:42544b5e8b9f | 5 | |
| Artiom | 0:42544b5e8b9f | 6 | #ifdef ROBOT_SMALL |
| Artiom | 0:42544b5e8b9f | 7 | //-----------------------servo petit robot-------------------------------------- |
| Artiom | 0:42544b5e8b9f | 8 | //avant |
| Artiom | 0:42544b5e8b9f | 9 | |
| Artiom | 0:42544b5e8b9f | 10 | #define AV_EP_D 11 |
| Artiom | 0:42544b5e8b9f | 11 | #define AV_poigne_D 13 |
| Artiom | 0:42544b5e8b9f | 12 | |
| Artiom | 0:42544b5e8b9f | 13 | #define AV_EP_C 15 |
| Artiom | 0:42544b5e8b9f | 14 | #define AV_poigne_C 16 |
| Artiom | 0:42544b5e8b9f | 15 | |
| Artiom | 0:42544b5e8b9f | 16 | #define AV_EP_G 12 |
| Artiom | 0:42544b5e8b9f | 17 | #define AV_poigne_G 14 |
| Artiom | 0:42544b5e8b9f | 18 | #define AV_sol 20 |
| Artiom | 0:42544b5e8b9f | 19 | |
| Artiom | 0:42544b5e8b9f | 20 | //arriere |
| Artiom | 0:42544b5e8b9f | 21 | |
| Artiom | 0:42544b5e8b9f | 22 | #define AR_EP_D 21 |
| Artiom | 0:42544b5e8b9f | 23 | #define AR_poigne_D 23 |
| Artiom | 0:42544b5e8b9f | 24 | |
| Artiom | 0:42544b5e8b9f | 25 | #define AR_EP_C 25 |
| Artiom | 0:42544b5e8b9f | 26 | #define AR_poigne_C 26 |
| Artiom | 0:42544b5e8b9f | 27 | |
| Artiom | 0:42544b5e8b9f | 28 | #define AR_EP_G 22 |
| Artiom | 0:42544b5e8b9f | 29 | #define AR_poigne_G 24 |
| Artiom | 0:42544b5e8b9f | 30 | |
| Artiom | 0:42544b5e8b9f | 31 | #define AR_sol 10 |
| Artiom | 0:42544b5e8b9f | 32 | |
| Artiom | 16:77e352ca3035 | 33 | //vitesse asservissement |
| Artiom | 16:77e352ca3035 | 34 | |
| Artiom | 19:f42a70ebc580 | 35 | #define VITESSE_RALENTI 25 |
| Artiom | 16:77e352ca3035 | 36 | #define VITESSE_NORMAL 300 |
| Artiom | 19:f42a70ebc580 | 37 | |
| Artiom | 19:f42a70ebc580 | 38 | #define ACCELERATION_RALENTI 1000 |
| Artiom | 19:f42a70ebc580 | 39 | #define DECELERATION_RALENTI 1000 |
| Artiom | 19:f42a70ebc580 | 40 | |
| Artiom | 16:77e352ca3035 | 41 | #define ACCELERATION 5000 |
| Artiom | 16:77e352ca3035 | 42 | #define DECELERATION 5000 |
| Artiom | 16:77e352ca3035 | 43 | |
| Artiom | 16:77e352ca3035 | 44 | #define TIMEOUT_ACTION_PRESENTOIR 5000 |
| Artiom | 16:77e352ca3035 | 45 | |
| Artiom | 16:77e352ca3035 | 46 | |
| Artiom | 0:42544b5e8b9f | 47 | |
| Artiom | 0:42544b5e8b9f | 48 | extern char status_pompe; |
| Artiom | 0:42544b5e8b9f | 49 | |
| Artiom | 0:42544b5e8b9f | 50 | extern char fpresentoir_avant, fpresentoir_arriere; |
| Artiom | 0:42544b5e8b9f | 51 | extern char fgoldenium_avant, fgoldenium_arriere; |
| Artiom | 0:42544b5e8b9f | 52 | extern char fsol_avant,fsol_arriere; |
| Artiom | 0:42544b5e8b9f | 53 | extern char fsol_avant_relache,fsol_arriere_relache; |
| Artiom | 0:42544b5e8b9f | 54 | extern char fbalance_avant,fbalance_arriere; |
| Artiom | 0:42544b5e8b9f | 55 | extern char favant_relache,farriere_relache; |
| Artiom | 0:42544b5e8b9f | 56 | extern char faccelerateur_avant,faccelerateur_arriere; |
| Artiom | 0:42544b5e8b9f | 57 | |
| kyxstark | 4:21ff54400895 | 58 | void gabarit_robot(void); |
| Artiom | 0:42544b5e8b9f | 59 | |
| Artiom | 0:42544b5e8b9f | 60 | void presentoir_avant(void); |
| kyxstark | 4:21ff54400895 | 61 | void balance_avant(void); |
| Artiom | 0:42544b5e8b9f | 62 | void balance_avant_placement(void); |
| Artiom | 0:42544b5e8b9f | 63 | |
| Artiom | 0:42544b5e8b9f | 64 | void presentoir_arriere(void); |
| kyxstark | 4:21ff54400895 | 65 | void balance_arriere(void); |
| Artiom | 0:42544b5e8b9f | 66 | void balance_arriere_placement(void); |
| Artiom | 0:42544b5e8b9f | 67 | |
| Artiom | 0:42544b5e8b9f | 68 | void accelerateur_avant(void); |
| Artiom | 9:40ac0603f9df | 69 | void accelerateur_avant_insertion(void); |
| Artiom | 9:40ac0603f9df | 70 | |
| Artiom | 0:42544b5e8b9f | 71 | void accelerateur_arriere(void); |
| Artiom | 0:42544b5e8b9f | 72 | |
| Artiom | 0:42544b5e8b9f | 73 | void goldenium_avant(void); |
| Artiom | 0:42544b5e8b9f | 74 | void goldenium_arriere(void); |
| Artiom | 0:42544b5e8b9f | 75 | |
| Artiom | 0:42544b5e8b9f | 76 | void sol_avant_baisser(void); |
| Artiom | 0:42544b5e8b9f | 77 | void sol_arriere_baisser(void); |
| Artiom | 0:42544b5e8b9f | 78 | |
| Artiom | 0:42544b5e8b9f | 79 | void sol_avant_remonter(void); |
| Artiom | 0:42544b5e8b9f | 80 | void sol_arriere_remonter(void); |
| Artiom | 0:42544b5e8b9f | 81 | |
| Artiom | 0:42544b5e8b9f | 82 | void recroqueviller_avant(void); |
| Artiom | 0:42544b5e8b9f | 83 | void recroqueviller_arriere(void); |
| Artiom | 0:42544b5e8b9f | 84 | |
| Artiom | 0:42544b5e8b9f | 85 | |
| Artiom | 0:42544b5e8b9f | 86 | void automate_ventouse_presentoir_avant(void); |
| Artiom | 0:42544b5e8b9f | 87 | void automate_ventouse_presentoir_arriere (void); |
| Artiom | 0:42544b5e8b9f | 88 | |
| Artiom | 0:42544b5e8b9f | 89 | void automate_ventouse_goldenium_avant (void); |
| Artiom | 0:42544b5e8b9f | 90 | void automate_ventouse_goldenium_arriere (void); |
| Artiom | 0:42544b5e8b9f | 91 | |
| Artiom | 0:42544b5e8b9f | 92 | void automate_ventouse_sol_avant (void); |
| Artiom | 0:42544b5e8b9f | 93 | void automate_ventouse_sol_arriere(void); |
| Artiom | 0:42544b5e8b9f | 94 | |
| Artiom | 0:42544b5e8b9f | 95 | void automate_ventouse_sol_avant_relache(void); |
| Artiom | 0:42544b5e8b9f | 96 | void automate_ventouse_sol_arriere_relache(void); |
| Artiom | 0:42544b5e8b9f | 97 | |
| Artiom | 0:42544b5e8b9f | 98 | void automate_ventouse_balance_avant (void); |
| Artiom | 0:42544b5e8b9f | 99 | void automate_ventouse_balance_arriere(void); |
| Artiom | 0:42544b5e8b9f | 100 | |
| Artiom | 0:42544b5e8b9f | 101 | void automate_ventouse_relache_avant(void); |
| Artiom | 0:42544b5e8b9f | 102 | void automate_ventouse_relache_arriere (void); |
| Artiom | 0:42544b5e8b9f | 103 | |
| Artiom | 0:42544b5e8b9f | 104 | void automate_ventouse_accelerateur_avant(void); |
| Artiom | 0:42544b5e8b9f | 105 | void automate_ventouse_accelerateur_arriere(void); |
| Artiom | 0:42544b5e8b9f | 106 | |
| kyxstark | 4:21ff54400895 | 107 | void accelerateur_insertion_avant_gauche(void); |
| kyxstark | 4:21ff54400895 | 108 | void accelerateur_insertion_arriere_gauche(void); |
| Artiom | 0:42544b5e8b9f | 109 | |
| Artiom | 0:42544b5e8b9f | 110 | |
| Artiom | 0:42544b5e8b9f | 111 | |
| Artiom | 0:42544b5e8b9f | 112 | /* |
| Artiom | 0:42544b5e8b9f | 113 | #define AV_BAS 0 |
| Artiom | 0:42544b5e8b9f | 114 | #define AV_DROIT 1 |
| Artiom | 0:42544b5e8b9f | 115 | #define AV_CENTRE 2 |
| Artiom | 0:42544b5e8b9f | 116 | #define AV_GAUCHE 3 |
| Artiom | 0:42544b5e8b9f | 117 | |
| Artiom | 0:42544b5e8b9f | 118 | #define AR_BAS 4 |
| Artiom | 0:42544b5e8b9f | 119 | #define AR_DROIT 5 |
| Artiom | 0:42544b5e8b9f | 120 | #define AR_CENTRE 6 |
| Artiom | 0:42544b5e8b9f | 121 | #define AR_GAUCHE 7*/ |
| Artiom | 0:42544b5e8b9f | 122 | #endif |
| Artiom | 0:42544b5e8b9f | 123 | #endif |