CRAC Team / Mbed 2 deprecated carte_esclave2019

carte esclave petit robot

Dependencies:   mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

main.cpp@7:553f3f1c2c53, 2019-05-16 (annotated)

Committer:
Artiom
Date:
Thu May 16 10:54:23 2019 +0000
Revision:
7:553f3f1c2c53
Parent:
6:45f9cf44718a
Child:
9:9833e788942b
ack ventouses fonctionels

Who changed what in which revision?

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