carte_esclave2019 - carte esclave petit robot

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CRAC Team / Mbed 2 deprecated carte_esclave2019

carte esclave petit robot

Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

main.cpp@10:48c0d1b8aed9, 2019-05-18 (annotated)

Committer:: Artiom
Date:: Sat May 18 12:07:01 2019 +0000
Revision:: 10:48c0d1b8aed9
Parent:: 9:9833e788942b
Child:: 11:6c11c081c855

Who changed what in which revision?

User	Revision	Line number	New contents of line
Artiom	0:bc74da1c502f	1	#include "mbed.h"
Artiom	0:bc74da1c502f	2	#include "ident_crac.h"
Artiom	0:bc74da1c502f	3	#include "Capteur.h"
Artiom	0:bc74da1c502f	4	#include "Actionneurs.h"
Artiom	0:bc74da1c502f	5	#include "fonctions_herkulex.h"
Artiom	1:568955af8c2b	6	#include "main.h"
Artiom	9:9833e788942b	7	#include "dt.h"
Artiom	0:bc74da1c502f	8
Artiom	0:bc74da1c502f	9	#define SIZE_FIFO 50
Artiom	0:bc74da1c502f	10
Artiom	0:bc74da1c502f	11	CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN
Artiom	0:bc74da1c502f	12
Artiom	0:bc74da1c502f	13
Artiom	0:bc74da1c502f	14	CANMessage msgRxBuffer[SIZE_FIFO];
Artiom	0:bc74da1c502f	15	unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Artiom	0:bc74da1c502f	16	signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
Artiom	0:bc74da1c502f	17	unsigned char EtatGameEnd=0;
Artiom	0:bc74da1c502f	18
Artiom	6:45f9cf44718a	19	char fpresentoir_avant=0, fpresentoir_arriere=0;
Artiom	6:45f9cf44718a	20	char fgoldenium_avant=0, fgoldenium_arriere=0;
Artiom	6:45f9cf44718a	21	char fsol_avant=0,fsol_arriere=0;
Artiom	7:553f3f1c2c53	22	char fsol_avant_relache=0,fsol_arriere_relache=0;
Artiom	4:4a79942713fa	23
Artiom	4:4a79942713fa	24	char status_pompe=0;
Artiom	4:4a79942713fa	25
Artiom	0:bc74da1c502f	26	void canRx_ISR (void);
Artiom	0:bc74da1c502f	27	void SendAck(unsigned short id, unsigned short from);
Artiom	0:bc74da1c502f	28	void SendRawId (unsigned short id);
Artiom	0:bc74da1c502f	29	void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
Artiom	0:bc74da1c502f	30	void canProcessRx(void);
Artiom	6:45f9cf44718a	31
Artiom	4:4a79942713fa	32	void automate_ventouse_presentoir_avant(void);
Artiom	5:6e198cdd99ad	33	void automate_ventouse_presentoir_arriere (void);
Artiom	0:bc74da1c502f	34
Artiom	6:45f9cf44718a	35	void automate_ventouse_goldenium_avant (void);
Artiom	6:45f9cf44718a	36	void automate_ventouse_goldenium_arriere (void);
Artiom	6:45f9cf44718a	37
Artiom	6:45f9cf44718a	38	void automate_ventouse_sol_avant (void);
Artiom	6:45f9cf44718a	39	void automate_ventouse_sol_arriere(void);
Artiom	6:45f9cf44718a	40
Artiom	7:553f3f1c2c53	41	void automate_ventouse_sol_avant_relache(void);
Artiom	7:553f3f1c2c53	42	void automate_ventouse_sol_arriere_relache(void);
Artiom	0:bc74da1c502f	43	/*********************************************************************************************/
Artiom	0:bc74da1c502f	44	/* FUNCTION NAME: canRx_ISR */
Artiom	0:bc74da1c502f	45	/* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
Artiom	0:bc74da1c502f	46	/*********************************************************************************************/
Artiom	0:bc74da1c502f	47	void canRx_ISR (void)
Artiom	0:bc74da1c502f	48	{
Artiom	0:bc74da1c502f	49	if (can.read(msgRxBuffer[FIFO_ecriture])) {
Artiom	0:bc74da1c502f	50	if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) {
Artiom	0:bc74da1c502f	51
Artiom	0:bc74da1c502f	52	}
Artiom	0:bc74da1c502f	53	FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
Artiom	0:bc74da1c502f	54
Artiom	0:bc74da1c502f	55	}
Artiom	0:bc74da1c502f	56
Artiom	0:bc74da1c502f	57	}
Artiom	0:bc74da1c502f	58	/*********************************************************************************************/
Artiom	0:bc74da1c502f	59	/* FUNCTION NAME: SendAck */
Artiom	0:bc74da1c502f	60	/* DESCRIPTION : */
Artiom	0:bc74da1c502f	61	/*********************************************************************************************/
Artiom	0:bc74da1c502f	62	void SendAck(unsigned short from, unsigned short id) //FROM et ID sont inversés pour convenir à la lecture d'ACK de la carte principale
Artiom	0:bc74da1c502f	63	{
Artiom	0:bc74da1c502f	64	CANMessage msgTx=CANMessage();
Artiom	0:bc74da1c502f	65	msgTx.id=from; //waitingAckFrom
Artiom	0:bc74da1c502f	66	msgTx.len=2;
Artiom	0:bc74da1c502f	67	msgTx.format=CANStandard;
Artiom	0:bc74da1c502f	68	msgTx.type=CANData;
Artiom	0:bc74da1c502f	69	// from sur 2 octets
Artiom	0:bc74da1c502f	70	msgTx.data[0]=(unsigned char)id; //waitingAckID
Artiom	0:bc74da1c502f	71	msgTx.data[1]=(unsigned char)(id>>8);
Artiom	0:bc74da1c502f	72	can.write(msgTx);
Artiom	0:bc74da1c502f	73	}
Artiom	0:bc74da1c502f	74	/*********************************************************************************************/
Artiom	0:bc74da1c502f	75	/* FUNCTION NAME: SendRawId */
Artiom	0:bc74da1c502f	76	/* DESCRIPTION : */
Artiom	0:bc74da1c502f	77	/*********************************************************************************************/
Artiom	0:bc74da1c502f	78	void SendRawId (unsigned short id)
Artiom	0:bc74da1c502f	79	{
Artiom	0:bc74da1c502f	80	CANMessage msgTx=CANMessage();
Artiom	0:bc74da1c502f	81	msgTx.id=id;
Artiom	0:bc74da1c502f	82	msgTx.len=0;
Artiom	0:bc74da1c502f	83	can.write(msgTx); //carte esclave f446re
Artiom	0:bc74da1c502f	84	wait_us(200);
Artiom	0:bc74da1c502f	85	}
Artiom	0:bc74da1c502f	86
Artiom	0:bc74da1c502f	87	/*********************************************************************************************/
Artiom	0:bc74da1c502f	88	/* FUNCTION NAME: GoStraight */
Artiom	0:bc74da1c502f	89	/* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
Artiom	0:bc74da1c502f	90	/* recalage : 0 => pas de recalage */
Artiom	0:bc74da1c502f	91	/* 1 => recalage en X */
Artiom	0:bc74da1c502f	92	/* 2 => Recalage en Y */
Artiom	0:bc74da1c502f	93	/* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
Artiom	0:bc74da1c502f	94	/* isEnchainement : Indique si il faut executer l'instruction en enchainement */
Artiom	0:bc74da1c502f	95	/* 0 => non */
Artiom	0:bc74da1c502f	96	/* 1 => oui */
Artiom	0:bc74da1c502f	97	/* 2 => dernière instruction de l'enchainement */
Artiom	0:bc74da1c502f	98	/*********************************************************************************************/
Artiom	0:bc74da1c502f	99	void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement)
Artiom	0:bc74da1c502f	100	{
Artiom	0:bc74da1c502f	101	CANMessage msgTx=CANMessage();
Artiom	0:bc74da1c502f	102	msgTx.id=ASSERVISSEMENT_RECALAGE;
Artiom	0:bc74da1c502f	103	msgTx.len=6;
Artiom	0:bc74da1c502f	104	msgTx.format=CANStandard;
Artiom	0:bc74da1c502f	105	msgTx.type=CANData;
Artiom	0:bc74da1c502f	106	// x sur 2 octets
Artiom	0:bc74da1c502f	107	msgTx.data[0]=(unsigned char)distance;
Artiom	0:bc74da1c502f	108	msgTx.data[1]=(unsigned char)(distance>>8);
Artiom	0:bc74da1c502f	109	//Recalage sur 1 octet
Artiom	0:bc74da1c502f	110	msgTx.data[2]=recalage;
Artiom	0:bc74da1c502f	111	//Valeur du recalage sur 2 octets
Artiom	0:bc74da1c502f	112	msgTx.data[3]=(unsigned char)newValue;
Artiom	0:bc74da1c502f	113	msgTx.data[4]=(unsigned char)(newValue>>8);
Artiom	0:bc74da1c502f	114	//Enchainement sur 1 octet
Artiom	0:bc74da1c502f	115	msgTx.data[5]=isEnchainement;
Artiom	0:bc74da1c502f	116
Artiom	0:bc74da1c502f	117	can.write(msgTx);
Artiom	0:bc74da1c502f	118	//wait_ms(500);
Artiom	0:bc74da1c502f	119	}
Artiom	0:bc74da1c502f	120
Artiom	0:bc74da1c502f	121	int main()
Artiom	0:bc74da1c502f	122	{
Artiom	0:bc74da1c502f	123	can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
Artiom	0:bc74da1c502f	124	servo_interrupt_en(); //permettre les interuptions
Artiom	0:bc74da1c502f	125	wait(1);//attente servo boot
Artiom	2:9e63099cca99	126	gabarit_petit_robot();
Artiom	0:bc74da1c502f	127
Artiom	0:bc74da1c502f	128	while(1) {
Artiom	0:bc74da1c502f	129	canProcessRx();
Artiom	10:48c0d1b8aed9	130	f_mesure();//dt35
Artiom	10:48c0d1b8aed9	131
Artiom	4:4a79942713fa	132	automate_ventouse_presentoir_avant();
Artiom	5:6e198cdd99ad	133	automate_ventouse_presentoir_arriere();
Artiom	7:553f3f1c2c53	134
Artiom	6:45f9cf44718a	135	automate_ventouse_goldenium_avant();
Artiom	6:45f9cf44718a	136	automate_ventouse_goldenium_arriere();
Artiom	7:553f3f1c2c53	137
Artiom	6:45f9cf44718a	138	automate_ventouse_sol_avant();
Artiom	7:553f3f1c2c53	139	automate_ventouse_sol_arriere();
Artiom	7:553f3f1c2c53	140
Artiom	0:bc74da1c502f	141	if(EtatGameEnd==1) {
Artiom	0:bc74da1c502f	142	while(1);
Artiom	0:bc74da1c502f	143	}
Artiom	0:bc74da1c502f	144
Artiom	0:bc74da1c502f	145	}
Artiom	0:bc74da1c502f	146	}
Artiom	0:bc74da1c502f	147
Artiom	0:bc74da1c502f	148	/****************************************************************************************/
Artiom	0:bc74da1c502f	149	/* FUNCTION NAME: canProcessRx */
Artiom	0:bc74da1c502f	150	/* DESCRIPTION : Fonction de traitement des messages CAN */
Artiom	0:bc74da1c502f	151	/****************************************************************************************/
Artiom	0:bc74da1c502f	152	void canProcessRx(void)
Artiom	0:bc74da1c502f	153	{
Artiom	0:bc74da1c502f	154	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Artiom	0:bc74da1c502f	155	CANMessage msgTx=CANMessage();
Artiom	0:bc74da1c502f	156	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
Artiom	0:bc74da1c502f	157	if(FIFO_occupation<0)
Artiom	0:bc74da1c502f	158	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
Artiom	0:bc74da1c502f	159	if(FIFO_max_occupation<FIFO_occupation)
Artiom	0:bc74da1c502f	160	FIFO_max_occupation=FIFO_occupation;
Artiom	0:bc74da1c502f	161	if(FIFO_occupation!=0) {
Artiom	0:bc74da1c502f	162	int identifiant=msgRxBuffer[FIFO_lecture].id;
Artiom	0:bc74da1c502f	163
Artiom	0:bc74da1c502f	164	switch(identifiant) {
Artiom	0:bc74da1c502f	165
Artiom	0:bc74da1c502f	166	case GLOBAL_GAME_END:
Artiom	0:bc74da1c502f	167	EtatGameEnd = 1;
Artiom	0:bc74da1c502f	168	break;
Artiom	0:bc74da1c502f	169
Artiom	0:bc74da1c502f	170	case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN
Artiom	0:bc74da1c502f	171	char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0];
Artiom	0:bc74da1c502f	172	short distance=lecture_telemetre(numero_telemetre);
Artiom	0:bc74da1c502f	173
Artiom	0:bc74da1c502f	174
Artiom	0:bc74da1c502f	175	msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1
Artiom	0:bc74da1c502f	176	msgTx.len=2;
Artiom	0:bc74da1c502f	177	msgTx.format=CANStandard;
Artiom	0:bc74da1c502f	178	msgTx.type=CANData;
Artiom	0:bc74da1c502f	179	// Rayon sur 2 octets
Artiom	0:bc74da1c502f	180	msgTx.data[0]=(unsigned char)distance;
Artiom	0:bc74da1c502f	181	msgTx.data[1]=(unsigned char)(distance>>8);
Artiom	0:bc74da1c502f	182
Artiom	0:bc74da1c502f	183	can.write(msgTx);
Artiom	0:bc74da1c502f	184	SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA);
Artiom	0:bc74da1c502f	185	break;
Artiom	0:bc74da1c502f	186
Artiom	0:bc74da1c502f	187	case DATA_RECALAGE:
Artiom	0:bc74da1c502f	188	short distance1=lecture_telemetre(1);
Artiom	0:bc74da1c502f	189	short distance2=lecture_telemetre(2);
Artiom	0:bc74da1c502f	190	short distance3=lecture_telemetre(3);
Artiom	0:bc74da1c502f	191	short distance4=lecture_telemetre(4);
Artiom	0:bc74da1c502f	192
Artiom	0:bc74da1c502f	193	msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1
Artiom	0:bc74da1c502f	194	msgTx.len=8;
Artiom	0:bc74da1c502f	195	msgTx.format=CANStandard;
Artiom	0:bc74da1c502f	196	msgTx.type=CANData;
Artiom	0:bc74da1c502f	197	// Rayon sur 2 octets
Artiom	0:bc74da1c502f	198	msgTx.data[0]=(unsigned char)distance1;
Artiom	0:bc74da1c502f	199	msgTx.data[1]=(unsigned char)(distance1>>8);
Artiom	0:bc74da1c502f	200	msgTx.data[2]=(unsigned char)distance2;
Artiom	0:bc74da1c502f	201	msgTx.data[3]=(unsigned char)(distance2>>8);
Artiom	0:bc74da1c502f	202	msgTx.data[4]=(unsigned char)distance3;
Artiom	0:bc74da1c502f	203	msgTx.data[5]=(unsigned char)(distance3>>8);
Artiom	0:bc74da1c502f	204	msgTx.data[6]=(unsigned char)distance4;
Artiom	0:bc74da1c502f	205	msgTx.data[7]=(unsigned char)(distance4>>8);
Artiom	0:bc74da1c502f	206	can.write(msgTx);
Artiom	0:bc74da1c502f	207	SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
Artiom	0:bc74da1c502f	208	break;
Artiom	0:bc74da1c502f	209
Artiom	0:bc74da1c502f	210	#ifdef ROBOT_SMALL
Artiom	4:4a79942713fa	211	//-------------------------------------------------------------------------Actions petit robot----------------------------------------------
Artiom	2:9e63099cca99	212	case GABARIT_PETIT_ROBOT:
Artiom	2:9e63099cca99	213	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	2:9e63099cca99	214	gabarit_petit_robot();
Artiom	2:9e63099cca99	215	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	0:bc74da1c502f	216	break;
Artiom	0:bc74da1c502f	217
Artiom	0:bc74da1c502f	218	case PRESENTOIR_AVANT:
Artiom	4:4a79942713fa	219	fpresentoir_avant=1;
Artiom	0:bc74da1c502f	220	break;
Artiom	0:bc74da1c502f	221
Artiom	0:bc74da1c502f	222	case PRESENTOIR_ARRIERE:
Artiom	5:6e198cdd99ad	223	fpresentoir_arriere=1;
Artiom	0:bc74da1c502f	224	break;
Artiom	0:bc74da1c502f	225
Artiom	0:bc74da1c502f	226	case BALANCE_AVANT:
Artiom	2:9e63099cca99	227	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	0:bc74da1c502f	228	balance_avant();
Artiom	2:9e63099cca99	229	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	0:bc74da1c502f	230	break;
Artiom	0:bc74da1c502f	231
Artiom	0:bc74da1c502f	232	case BALANCE_ARRIERE:
Artiom	2:9e63099cca99	233	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	0:bc74da1c502f	234	balance_arriere();
Artiom	2:9e63099cca99	235	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	2:9e63099cca99	236	break;
Artiom	2:9e63099cca99	237
Artiom	2:9e63099cca99	238	case ACCELERATEUR_AVANT:
Artiom	2:9e63099cca99	239	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	2:9e63099cca99	240	accelerateur_avant();
Artiom	2:9e63099cca99	241	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	2:9e63099cca99	242	break;
Artiom	2:9e63099cca99	243
Artiom	2:9e63099cca99	244	case ACCELERATEUR_ARRIERE:
Artiom	2:9e63099cca99	245	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	2:9e63099cca99	246	accelerateur_arriere();
Artiom	2:9e63099cca99	247	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	2:9e63099cca99	248	break;
Artiom	6:45f9cf44718a	249
Artiom	2:9e63099cca99	250	case GOLDENIUM_AVANT:
Artiom	6:45f9cf44718a	251	fgoldenium_avant=1;
Artiom	2:9e63099cca99	252	break;
Artiom	2:9e63099cca99	253
Artiom	2:9e63099cca99	254	case GOLDENIUM_ARRIERE:
Artiom	6:45f9cf44718a	255	fgoldenium_arriere=1;
Artiom	2:9e63099cca99	256	break;
Artiom	6:45f9cf44718a	257
Artiom	2:9e63099cca99	258	case SOL_AVANT:
Artiom	6:45f9cf44718a	259	fsol_avant=1;
Artiom	2:9e63099cca99	260	break;
Artiom	2:9e63099cca99	261
Artiom	2:9e63099cca99	262	case SOL_ARRIERE:
Artiom	6:45f9cf44718a	263	fsol_arriere=1;
Artiom	2:9e63099cca99	264	break;
Artiom	2:9e63099cca99	265
Artiom	2:9e63099cca99	266	case SOL_AVANT_RELACHE:
Artiom	7:553f3f1c2c53	267	fsol_avant_relache=1;
Artiom	2:9e63099cca99	268	break;
Artiom	2:9e63099cca99	269
Artiom	2:9e63099cca99	270	case SOL_ARRIERE_RELACHE:
Artiom	7:553f3f1c2c53	271	fsol_arriere_relache=1;
Artiom	0:bc74da1c502f	272	break;
Artiom	4:4a79942713fa	273	//--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
Artiom	4:4a79942713fa	274
Artiom	4:4a79942713fa	275
Artiom	4:4a79942713fa	276	case HACHEUR_STATUT_VENTOUSES:
Artiom	4:4a79942713fa	277	status_pompe = msgRxBuffer[FIFO_lecture].data[1];
Artiom	5:6e198cdd99ad	278	//can.write(CANMessage(0x529, &status_pompe,1));
Artiom	4:4a79942713fa	279	break;
Artiom	4:4a79942713fa	280
Artiom	4:4a79942713fa	281	case HACHEUR_GET_ATOM_ACK:
Artiom	4:4a79942713fa	282	status_pompe \|= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
Artiom	5:6e198cdd99ad	283	//can.write(CANMessage(0x529, &status_pompe,1));
Artiom	4:4a79942713fa	284	break;
Artiom	4:4a79942713fa	285
Artiom	4:4a79942713fa	286	case HACHEUR_RELEASE_ATOM_ACK :
Artiom	4:4a79942713fa	287	status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
Artiom	4:4a79942713fa	288	break;
Artiom	4:4a79942713fa	289	//-------------------------------------------------------------------------------------------------------------------------------------------
Artiom	4:4a79942713fa	290
Artiom	0:bc74da1c502f	291
Artiom	0:bc74da1c502f	292	#endif
Artiom	0:bc74da1c502f	293	#ifdef ROBOT_BIG
Artiom	0:bc74da1c502f	294	case 3:
Artiom	0:bc74da1c502f	295
Artiom	0:bc74da1c502f	296	break;
Artiom	0:bc74da1c502f	297
Artiom	0:bc74da1c502f	298	case 5:
Artiom	0:bc74da1c502f	299
Artiom	0:bc74da1c502f	300	break;
Artiom	0:bc74da1c502f	301
Artiom	0:bc74da1c502f	302	#endif
Artiom	0:bc74da1c502f	303	}
Artiom	0:bc74da1c502f	304	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
Artiom	0:bc74da1c502f	305
Artiom	0:bc74da1c502f	306	}
Artiom	4:4a79942713fa	307
Artiom	4:4a79942713fa	308
Artiom	4:4a79942713fa	309	}
Artiom	4:4a79942713fa	310
Artiom	4:4a79942713fa	311	void automate_ventouse_presentoir_avant (void)
Artiom	4:4a79942713fa	312	{
Artiom	4:4a79942713fa	313
Artiom	4:4a79942713fa	314	typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
Artiom	4:4a79942713fa	315	static type_etat etat = init;
Artiom	4:4a79942713fa	316
Artiom	4:4a79942713fa	317	switch(etat) {
Artiom	4:4a79942713fa	318	case init: //attente d'initialisation
Artiom	4:4a79942713fa	319	if(fpresentoir_avant)
Artiom	4:4a79942713fa	320	etat=envoi_instruction;
Artiom	4:4a79942713fa	321	break;
Artiom	4:4a79942713fa	322
Artiom	4:4a79942713fa	323	case envoi_instruction://envoi instruction
Artiom	4:4a79942713fa	324	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	4:4a79942713fa	325	presentoir_avant();
Artiom	5:6e198cdd99ad	326	SendRawId(HACHEUR_STATUT_VENTOUSES);
Artiom	4:4a79942713fa	327	etat = attente_ack_ventouse;
Artiom	4:4a79942713fa	328	break;
Artiom	4:4a79942713fa	329
Artiom	4:4a79942713fa	330	case attente_ack_ventouse:
Artiom	5:6e198cdd99ad	331	if((status_pompe&MASK_PRESENTOIR_AV)==MASK_PRESENTOIR_AV) {
Artiom	4:4a79942713fa	332	fpresentoir_avant=0;
Artiom	5:6e198cdd99ad	333	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	4:4a79942713fa	334	etat = init;
Artiom	5:6e198cdd99ad	335	}
Artiom	5:6e198cdd99ad	336	break;
Artiom	5:6e198cdd99ad	337
Artiom	5:6e198cdd99ad	338	}
Artiom	5:6e198cdd99ad	339	}
Artiom	5:6e198cdd99ad	340	void automate_ventouse_presentoir_arriere (void)
Artiom	5:6e198cdd99ad	341	{
Artiom	5:6e198cdd99ad	342
Artiom	5:6e198cdd99ad	343	typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
Artiom	5:6e198cdd99ad	344	static type_etat etat = init;
Artiom	5:6e198cdd99ad	345
Artiom	5:6e198cdd99ad	346	switch(etat) {
Artiom	5:6e198cdd99ad	347	case init: //attente d'initialisation
Artiom	5:6e198cdd99ad	348	if(fpresentoir_arriere)
Artiom	5:6e198cdd99ad	349	etat=envoi_instruction;
Artiom	5:6e198cdd99ad	350	break;
Artiom	5:6e198cdd99ad	351
Artiom	5:6e198cdd99ad	352	case envoi_instruction://envoi instruction
Artiom	5:6e198cdd99ad	353	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	5:6e198cdd99ad	354	presentoir_arriere();
Artiom	5:6e198cdd99ad	355	SendRawId(HACHEUR_STATUT_VENTOUSES);
Artiom	5:6e198cdd99ad	356	etat = attente_ack_ventouse;
Artiom	5:6e198cdd99ad	357	break;
Artiom	5:6e198cdd99ad	358
Artiom	5:6e198cdd99ad	359	case attente_ack_ventouse:
Artiom	5:6e198cdd99ad	360	if((status_pompe&MASK_PRESENTOIR_AR)==MASK_PRESENTOIR_AR) {
Artiom	5:6e198cdd99ad	361	fpresentoir_arriere=0;
Artiom	5:6e198cdd99ad	362	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	5:6e198cdd99ad	363	etat = init;
Artiom	4:4a79942713fa	364	}
Artiom	4:4a79942713fa	365	break;
Artiom	4:4a79942713fa	366
Artiom	4:4a79942713fa	367	}
Artiom	6:45f9cf44718a	368	}
Artiom	6:45f9cf44718a	369	void automate_ventouse_goldenium_avant (void)
Artiom	6:45f9cf44718a	370	{
Artiom	4:4a79942713fa	371
Artiom	6:45f9cf44718a	372	typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
Artiom	6:45f9cf44718a	373	static type_etat etat = init;
Artiom	6:45f9cf44718a	374
Artiom	6:45f9cf44718a	375	switch(etat) {
Artiom	6:45f9cf44718a	376	case init: //attente d'initialisation
Artiom	6:45f9cf44718a	377	if(fgoldenium_avant)
Artiom	6:45f9cf44718a	378	etat=envoi_instruction;
Artiom	6:45f9cf44718a	379	break;
Artiom	6:45f9cf44718a	380
Artiom	6:45f9cf44718a	381	case envoi_instruction://envoi instruction
Artiom	6:45f9cf44718a	382	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	6:45f9cf44718a	383	goldenium_avant();
Artiom	6:45f9cf44718a	384	SendRawId(HACHEUR_STATUT_VENTOUSES);
Artiom	6:45f9cf44718a	385	etat = attente_ack_ventouse;
Artiom	6:45f9cf44718a	386	break;
Artiom	6:45f9cf44718a	387
Artiom	6:45f9cf44718a	388	case attente_ack_ventouse:
Artiom	6:45f9cf44718a	389	if((status_pompe&MASK_GOLDENIUM_AV)== MASK_GOLDENIUM_AV) {
Artiom	6:45f9cf44718a	390	fgoldenium_avant=0;
Artiom	6:45f9cf44718a	391	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	6:45f9cf44718a	392	etat = init;
Artiom	6:45f9cf44718a	393	}
Artiom	6:45f9cf44718a	394	break;
Artiom	6:45f9cf44718a	395
Artiom	6:45f9cf44718a	396	}
Artiom	6:45f9cf44718a	397	}
Artiom	6:45f9cf44718a	398
Artiom	6:45f9cf44718a	399	void automate_ventouse_goldenium_arriere (void)
Artiom	6:45f9cf44718a	400	{
Artiom	6:45f9cf44718a	401
Artiom	6:45f9cf44718a	402	typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
Artiom	6:45f9cf44718a	403	static type_etat etat = init;
Artiom	6:45f9cf44718a	404
Artiom	6:45f9cf44718a	405	switch(etat) {
Artiom	6:45f9cf44718a	406	case init: //attente d'initialisation
Artiom	6:45f9cf44718a	407	if(fgoldenium_arriere)
Artiom	6:45f9cf44718a	408	etat=envoi_instruction;
Artiom	6:45f9cf44718a	409	break;
Artiom	6:45f9cf44718a	410
Artiom	6:45f9cf44718a	411	case envoi_instruction://envoi instruction
Artiom	6:45f9cf44718a	412	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	6:45f9cf44718a	413	goldenium_arriere();
Artiom	6:45f9cf44718a	414	SendRawId(HACHEUR_STATUT_VENTOUSES);
Artiom	6:45f9cf44718a	415	etat = attente_ack_ventouse;
Artiom	6:45f9cf44718a	416	break;
Artiom	6:45f9cf44718a	417
Artiom	6:45f9cf44718a	418	case attente_ack_ventouse:
Artiom	6:45f9cf44718a	419	if((status_pompe&MASK_GOLDENIUM_AR)== MASK_GOLDENIUM_AR) {
Artiom	6:45f9cf44718a	420	fgoldenium_arriere=0;
Artiom	6:45f9cf44718a	421	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	6:45f9cf44718a	422	etat = init;
Artiom	6:45f9cf44718a	423	}
Artiom	6:45f9cf44718a	424	break;
Artiom	6:45f9cf44718a	425
Artiom	6:45f9cf44718a	426	}
Artiom	6:45f9cf44718a	427
Artiom	6:45f9cf44718a	428
Artiom	6:45f9cf44718a	429	}
Artiom	6:45f9cf44718a	430
Artiom	6:45f9cf44718a	431	void automate_ventouse_sol_avant (void)
Artiom	6:45f9cf44718a	432	{
Artiom	6:45f9cf44718a	433
Artiom	6:45f9cf44718a	434	typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
Artiom	6:45f9cf44718a	435	static type_etat etat = init;
Artiom	6:45f9cf44718a	436
Artiom	6:45f9cf44718a	437	switch(etat) {
Artiom	6:45f9cf44718a	438	case init: //attente d'initialisation
Artiom	6:45f9cf44718a	439	if(fsol_avant)
Artiom	6:45f9cf44718a	440	etat=envoi_instruction;
Artiom	6:45f9cf44718a	441	break;
Artiom	6:45f9cf44718a	442
Artiom	6:45f9cf44718a	443	case envoi_instruction://envoi instruction
Artiom	6:45f9cf44718a	444	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	6:45f9cf44718a	445	sol_avant_baisser();
Artiom	6:45f9cf44718a	446	SendRawId(HACHEUR_STATUT_VENTOUSES);
Artiom	6:45f9cf44718a	447	etat = attente_ack_ventouse;
Artiom	6:45f9cf44718a	448	break;
Artiom	6:45f9cf44718a	449
Artiom	6:45f9cf44718a	450	case attente_ack_ventouse:
Artiom	6:45f9cf44718a	451	if((status_pompe&MASK_SOL_AV)== MASK_SOL_AV) {
Artiom	6:45f9cf44718a	452	sol_avant_remonter();
Artiom	6:45f9cf44718a	453	fsol_avant=0;
Artiom	6:45f9cf44718a	454	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	6:45f9cf44718a	455	etat = init;
Artiom	6:45f9cf44718a	456	}
Artiom	6:45f9cf44718a	457	break;
Artiom	6:45f9cf44718a	458
Artiom	6:45f9cf44718a	459	}
Artiom	6:45f9cf44718a	460
Artiom	6:45f9cf44718a	461
Artiom	6:45f9cf44718a	462	}
Artiom	6:45f9cf44718a	463	void automate_ventouse_sol_arriere (void)
Artiom	6:45f9cf44718a	464	{
Artiom	6:45f9cf44718a	465
Artiom	6:45f9cf44718a	466	typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
Artiom	6:45f9cf44718a	467	static type_etat etat = init;
Artiom	6:45f9cf44718a	468
Artiom	6:45f9cf44718a	469	switch(etat) {
Artiom	6:45f9cf44718a	470	case init: //attente d'initialisation
Artiom	6:45f9cf44718a	471	if(fsol_arriere)
Artiom	6:45f9cf44718a	472	etat=envoi_instruction;
Artiom	6:45f9cf44718a	473	break;
Artiom	6:45f9cf44718a	474
Artiom	6:45f9cf44718a	475	case envoi_instruction://envoi instruction
Artiom	6:45f9cf44718a	476	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	6:45f9cf44718a	477	sol_arriere_baisser();
Artiom	6:45f9cf44718a	478	SendRawId(HACHEUR_STATUT_VENTOUSES);
Artiom	6:45f9cf44718a	479	etat = attente_ack_ventouse;
Artiom	6:45f9cf44718a	480	break;
Artiom	6:45f9cf44718a	481
Artiom	6:45f9cf44718a	482	case attente_ack_ventouse:
Artiom	6:45f9cf44718a	483	if((status_pompe&MASK_SOL_AR)== MASK_SOL_AR) {
Artiom	6:45f9cf44718a	484	sol_arriere_remonter();
Artiom	6:45f9cf44718a	485	fsol_arriere=0;
Artiom	6:45f9cf44718a	486	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	6:45f9cf44718a	487	etat = init;
Artiom	6:45f9cf44718a	488	}
Artiom	6:45f9cf44718a	489	break;
Artiom	6:45f9cf44718a	490
Artiom	6:45f9cf44718a	491	}
Artiom	4:4a79942713fa	492
Artiom	4:4a79942713fa	493
Artiom	0:bc74da1c502f	494	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	10 May 2019
Imports:	11
Forks:	0
Commits:	45
Dependents:	0
Dependencies:	5
Followers:	96

main.cpp@10:48c0d1b8aed9, 2019-05-18 (annotated)

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