carte esclave petit robot

Dependencies:   mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

Committer:
kyxstark
Date:
Wed May 22 20:07:49 2019 +0000
Revision:
23:93a427b242ce
Parent:
22:9e92a2b941ba
Child:
24:33c7ff467bd9
Child:
27:d9c3af6b14f6

        

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Artiom 0:bc74da1c502f 1 #include "mbed.h"
Artiom 1:568955af8c2b 2 #include "main.h"
Artiom 0:bc74da1c502f 3
Artiom 0:bc74da1c502f 4 #define SIZE_FIFO 50
Artiom 0:bc74da1c502f 5
Artiom 0:bc74da1c502f 6 CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN
Artiom 0:bc74da1c502f 7
kyxstark 22:9e92a2b941ba 8 Serial pc(USBTX,USBRX);
Artiom 0:bc74da1c502f 9
Artiom 0:bc74da1c502f 10 CANMessage msgRxBuffer[SIZE_FIFO];
Artiom 0:bc74da1c502f 11 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Artiom 0:bc74da1c502f 12 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
Artiom 0:bc74da1c502f 13 unsigned char EtatGameEnd=0;
Artiom 0:bc74da1c502f 14
kyxstark 21:edf6d03fdb20 15
kyxstark 21:edf6d03fdb20 16 int rotation_couroies = 0;
kyxstark 21:edf6d03fdb20 17
kyxstark 21:edf6d03fdb20 18
kyxstark 21:edf6d03fdb20 19 void canProcessRx(void);
Artiom 12:191486ba5118 20
Artiom 12:191486ba5118 21
Artiom 13:9e19048eb065 22
Artiom 4:4a79942713fa 23
kyxstark 21:edf6d03fdb20 24 #ifdef ROBOT_BIG
kyxstark 21:edf6d03fdb20 25 #endif
Artiom 14:b1abd2f6df75 26
Artiom 0:bc74da1c502f 27 /*********************************************************************************************/
Artiom 0:bc74da1c502f 28 /* FUNCTION NAME: canRx_ISR */
Artiom 0:bc74da1c502f 29 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
Artiom 0:bc74da1c502f 30 /*********************************************************************************************/
Artiom 0:bc74da1c502f 31 void canRx_ISR (void)
Artiom 0:bc74da1c502f 32 {
Artiom 0:bc74da1c502f 33 if (can.read(msgRxBuffer[FIFO_ecriture])) {
Artiom 0:bc74da1c502f 34 if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) {
Artiom 0:bc74da1c502f 35
Artiom 0:bc74da1c502f 36 }
Artiom 0:bc74da1c502f 37 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
Artiom 0:bc74da1c502f 38
Artiom 0:bc74da1c502f 39 }
Artiom 0:bc74da1c502f 40
Artiom 0:bc74da1c502f 41 }
Artiom 0:bc74da1c502f 42
Artiom 0:bc74da1c502f 43 int main()
Artiom 0:bc74da1c502f 44 {
Artiom 0:bc74da1c502f 45 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
Artiom 0:bc74da1c502f 46 servo_interrupt_en(); //permettre les interuptions
Artiom 11:6c11c081c855 47
Artiom 0:bc74da1c502f 48 wait(1);//attente servo boot
kyxstark 21:edf6d03fdb20 49
kyxstark 21:edf6d03fdb20 50
kyxstark 21:edf6d03fdb20 51 #ifdef ROBOT_SMALL
kyxstark 22:9e92a2b941ba 52 pc.printf("\nPetit robot\n\n");
Artiom 2:9e63099cca99 53 gabarit_petit_robot();
kyxstark 21:edf6d03fdb20 54 #endif
kyxstark 21:edf6d03fdb20 55
kyxstark 21:edf6d03fdb20 56
kyxstark 21:edf6d03fdb20 57
kyxstark 21:edf6d03fdb20 58 #ifdef ROBOT_BIG
kyxstark 22:9e92a2b941ba 59 pc.printf("\nGros robot\n\n");
kyxstark 21:edf6d03fdb20 60 clear(doigt,2);
kyxstark 21:edf6d03fdb20 61 setTorque(doigt, TORQUE_ON,2);
kyxstark 21:edf6d03fdb20 62 positionControl(doigt,384,100,BLED_ON,2);
kyxstark 21:edf6d03fdb20 63 wait(1.0);
kyxstark 21:edf6d03fdb20 64 #endif
kyxstark 21:edf6d03fdb20 65
kyxstark 21:edf6d03fdb20 66
kyxstark 22:9e92a2b941ba 67 pc.printf("\nLAUNCHED");
Artiom 0:bc74da1c502f 68 while(1) {
Artiom 0:bc74da1c502f 69 canProcessRx();
Artiom 10:48c0d1b8aed9 70 f_mesure();//dt35
Artiom 11:6c11c081c855 71
kyxstark 23:93a427b242ce 72 automate_ventouse_presentoir_avant();
kyxstark 23:93a427b242ce 73 automate_ventouse_goldenium_avant();
kyxstark 23:93a427b242ce 74 automate_ventouse_relache_avant();
kyxstark 23:93a427b242ce 75 automate_ventouse_accelerateur_avant();
kyxstark 21:edf6d03fdb20 76
kyxstark 21:edf6d03fdb20 77 #ifdef ROBOT_SMALL
Artiom 5:6e198cdd99ad 78 automate_ventouse_presentoir_arriere();
Artiom 7:553f3f1c2c53 79
Artiom 6:45f9cf44718a 80 automate_ventouse_goldenium_arriere();
Artiom 7:553f3f1c2c53 81
Artiom 6:45f9cf44718a 82 automate_ventouse_sol_avant();
Artiom 7:553f3f1c2c53 83 automate_ventouse_sol_arriere();
Artiom 7:553f3f1c2c53 84
Artiom 12:191486ba5118 85 automate_ventouse_balance_arriere();
Artiom 12:191486ba5118 86
Artiom 12:191486ba5118 87 automate_ventouse_relache_arriere();
Artiom 14:b1abd2f6df75 88
Artiom 13:9e19048eb065 89 automate_ventouse_sol_avant_relache();
Artiom 14:b1abd2f6df75 90 automate_ventouse_sol_arriere_relache();
Artiom 14:b1abd2f6df75 91
Artiom 14:b1abd2f6df75 92 automate_ventouse_accelerateur_arriere();
kyxstark 21:edf6d03fdb20 93 #endif
kyxstark 21:edf6d03fdb20 94
kyxstark 21:edf6d03fdb20 95 #ifdef ROBOT_BIG
kyxstark 21:edf6d03fdb20 96 fifo_couleur();
kyxstark 21:edf6d03fdb20 97 ascenseur();
kyxstark 21:edf6d03fdb20 98
kyxstark 21:edf6d03fdb20 99 #endif
Artiom 13:9e19048eb065 100
Artiom 0:bc74da1c502f 101 if(EtatGameEnd==1) {
Artiom 0:bc74da1c502f 102 while(1);
Artiom 0:bc74da1c502f 103 }
Artiom 0:bc74da1c502f 104
Artiom 0:bc74da1c502f 105 }
Artiom 0:bc74da1c502f 106 }
Artiom 0:bc74da1c502f 107
Artiom 0:bc74da1c502f 108 /****************************************************************************************/
Artiom 0:bc74da1c502f 109 /* FUNCTION NAME: canProcessRx */
Artiom 0:bc74da1c502f 110 /* DESCRIPTION : Fonction de traitement des messages CAN */
Artiom 0:bc74da1c502f 111 /****************************************************************************************/
Artiom 0:bc74da1c502f 112 void canProcessRx(void)
Artiom 0:bc74da1c502f 113 {
Artiom 0:bc74da1c502f 114 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Artiom 0:bc74da1c502f 115 CANMessage msgTx=CANMessage();
Artiom 0:bc74da1c502f 116 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
Artiom 0:bc74da1c502f 117 if(FIFO_occupation<0)
Artiom 0:bc74da1c502f 118 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
Artiom 0:bc74da1c502f 119 if(FIFO_max_occupation<FIFO_occupation)
Artiom 0:bc74da1c502f 120 FIFO_max_occupation=FIFO_occupation;
Artiom 0:bc74da1c502f 121 if(FIFO_occupation!=0) {
Artiom 0:bc74da1c502f 122 int identifiant=msgRxBuffer[FIFO_lecture].id;
Artiom 0:bc74da1c502f 123
Artiom 0:bc74da1c502f 124 switch(identifiant) {
Artiom 0:bc74da1c502f 125
Artiom 0:bc74da1c502f 126 case GLOBAL_GAME_END:
Artiom 0:bc74da1c502f 127 EtatGameEnd = 1;
Artiom 0:bc74da1c502f 128 break;
Artiom 0:bc74da1c502f 129
Artiom 0:bc74da1c502f 130 case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN
Artiom 0:bc74da1c502f 131 char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0];
Artiom 0:bc74da1c502f 132 short distance=lecture_telemetre(numero_telemetre);
Artiom 0:bc74da1c502f 133
Artiom 0:bc74da1c502f 134
Artiom 0:bc74da1c502f 135 msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1
Artiom 0:bc74da1c502f 136 msgTx.len=2;
Artiom 0:bc74da1c502f 137 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 138 msgTx.type=CANData;
Artiom 0:bc74da1c502f 139 // Rayon sur 2 octets
Artiom 0:bc74da1c502f 140 msgTx.data[0]=(unsigned char)distance;
Artiom 0:bc74da1c502f 141 msgTx.data[1]=(unsigned char)(distance>>8);
Artiom 0:bc74da1c502f 142
Artiom 0:bc74da1c502f 143 can.write(msgTx);
Artiom 0:bc74da1c502f 144 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA);
Artiom 0:bc74da1c502f 145 break;
Artiom 0:bc74da1c502f 146
Artiom 0:bc74da1c502f 147 case DATA_RECALAGE:
Artiom 0:bc74da1c502f 148 short distance1=lecture_telemetre(1);
Artiom 0:bc74da1c502f 149 short distance2=lecture_telemetre(2);
Artiom 0:bc74da1c502f 150 short distance3=lecture_telemetre(3);
Artiom 0:bc74da1c502f 151 short distance4=lecture_telemetre(4);
Artiom 0:bc74da1c502f 152
Artiom 0:bc74da1c502f 153 msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1
Artiom 0:bc74da1c502f 154 msgTx.len=8;
Artiom 0:bc74da1c502f 155 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 156 msgTx.type=CANData;
Artiom 0:bc74da1c502f 157 // Rayon sur 2 octets
Artiom 0:bc74da1c502f 158 msgTx.data[0]=(unsigned char)distance1;
Artiom 0:bc74da1c502f 159 msgTx.data[1]=(unsigned char)(distance1>>8);
Artiom 0:bc74da1c502f 160 msgTx.data[2]=(unsigned char)distance2;
Artiom 0:bc74da1c502f 161 msgTx.data[3]=(unsigned char)(distance2>>8);
Artiom 0:bc74da1c502f 162 msgTx.data[4]=(unsigned char)distance3;
Artiom 0:bc74da1c502f 163 msgTx.data[5]=(unsigned char)(distance3>>8);
Artiom 0:bc74da1c502f 164 msgTx.data[6]=(unsigned char)distance4;
Artiom 0:bc74da1c502f 165 msgTx.data[7]=(unsigned char)(distance4>>8);
Artiom 0:bc74da1c502f 166 can.write(msgTx);
Artiom 0:bc74da1c502f 167 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
Artiom 0:bc74da1c502f 168 break;
kyxstark 23:93a427b242ce 169
kyxstark 23:93a427b242ce 170 case PRESENTOIR_AVANT:
kyxstark 23:93a427b242ce 171 fpresentoir_avant=1;
kyxstark 23:93a427b242ce 172 break;
kyxstark 23:93a427b242ce 173
kyxstark 23:93a427b242ce 174 case BALANCE_AVANT:
kyxstark 23:93a427b242ce 175 fbalance_avant=1;
kyxstark 23:93a427b242ce 176 break;
kyxstark 23:93a427b242ce 177
kyxstark 23:93a427b242ce 178 case ACCELERATEUR_AVANT:
kyxstark 23:93a427b242ce 179 faccelerateur_avant=1;
kyxstark 23:93a427b242ce 180 break;
kyxstark 23:93a427b242ce 181
kyxstark 23:93a427b242ce 182 case GOLDENIUM_AVANT:
kyxstark 23:93a427b242ce 183 fgoldenium_avant=1;
kyxstark 23:93a427b242ce 184 break;
kyxstark 23:93a427b242ce 185
kyxstark 23:93a427b242ce 186 case VENTOUSE_AV_CENTRE_BALANCE:
kyxstark 23:93a427b242ce 187 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
kyxstark 23:93a427b242ce 188 goldenium_avant();
kyxstark 23:93a427b242ce 189 verification();
kyxstark 23:93a427b242ce 190 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
kyxstark 23:93a427b242ce 191 break;
kyxstark 23:93a427b242ce 192
kyxstark 23:93a427b242ce 193 case AVANT_RELACHE:
kyxstark 23:93a427b242ce 194 favant_relache=1;
kyxstark 23:93a427b242ce 195 break;
kyxstark 23:93a427b242ce 196
kyxstark 23:93a427b242ce 197 //--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
kyxstark 23:93a427b242ce 198
kyxstark 23:93a427b242ce 199
kyxstark 23:93a427b242ce 200 case HACHEUR_STATUT_VENTOUSES:
kyxstark 23:93a427b242ce 201 status_pompe = msgRxBuffer[FIFO_lecture].data[1];
kyxstark 23:93a427b242ce 202 //can.write(CANMessage(0x529, &status_pompe,1));
kyxstark 23:93a427b242ce 203 break;
kyxstark 23:93a427b242ce 204
kyxstark 23:93a427b242ce 205 case HACHEUR_GET_ATOM_ACK:
kyxstark 23:93a427b242ce 206 status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
kyxstark 23:93a427b242ce 207 //can.write(CANMessage(0x529, &status_pompe,1));
kyxstark 23:93a427b242ce 208 break;
kyxstark 23:93a427b242ce 209
kyxstark 23:93a427b242ce 210 case HACHEUR_RELEASE_ATOM_ACK :
kyxstark 23:93a427b242ce 211 status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
kyxstark 23:93a427b242ce 212 break;
kyxstark 23:93a427b242ce 213
kyxstark 23:93a427b242ce 214 //-------------------------------------------------------------------------------------------------------------------------------------------
kyxstark 23:93a427b242ce 215
kyxstark 23:93a427b242ce 216
Artiom 0:bc74da1c502f 217
Artiom 0:bc74da1c502f 218 #ifdef ROBOT_SMALL
Artiom 4:4a79942713fa 219 //-------------------------------------------------------------------------Actions petit robot----------------------------------------------
Artiom 2:9e63099cca99 220 case GABARIT_PETIT_ROBOT:
Artiom 2:9e63099cca99 221 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 222 gabarit_petit_robot();
Artiom 2:9e63099cca99 223 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 0:bc74da1c502f 224 break;
Artiom 0:bc74da1c502f 225
Artiom 0:bc74da1c502f 226 case PRESENTOIR_ARRIERE:
Artiom 5:6e198cdd99ad 227 fpresentoir_arriere=1;
Artiom 0:bc74da1c502f 228 break;
Artiom 0:bc74da1c502f 229
Artiom 0:bc74da1c502f 230 case BALANCE_ARRIERE:
Artiom 12:191486ba5118 231 fbalance_arriere=1;
Artiom 2:9e63099cca99 232 break;
Artiom 2:9e63099cca99 233
Artiom 2:9e63099cca99 234 case ACCELERATEUR_ARRIERE:
Artiom 14:b1abd2f6df75 235 faccelerateur_arriere=1;
Artiom 2:9e63099cca99 236 break;
Artiom 6:45f9cf44718a 237
Artiom 2:9e63099cca99 238 case GOLDENIUM_ARRIERE:
Artiom 6:45f9cf44718a 239 fgoldenium_arriere=1;
Artiom 2:9e63099cca99 240 break;
Artiom 6:45f9cf44718a 241
Artiom 2:9e63099cca99 242 case SOL_AVANT:
Artiom 6:45f9cf44718a 243 fsol_avant=1;
Artiom 2:9e63099cca99 244 break;
Artiom 2:9e63099cca99 245
Artiom 2:9e63099cca99 246 case SOL_ARRIERE:
Artiom 6:45f9cf44718a 247 fsol_arriere=1;
Artiom 2:9e63099cca99 248 break;
Artiom 2:9e63099cca99 249
Artiom 2:9e63099cca99 250 case SOL_AVANT_RELACHE:
Artiom 7:553f3f1c2c53 251 fsol_avant_relache=1;
Artiom 2:9e63099cca99 252 break;
Artiom 2:9e63099cca99 253
Artiom 2:9e63099cca99 254 case SOL_ARRIERE_RELACHE:
Artiom 7:553f3f1c2c53 255 fsol_arriere_relache=1;
Artiom 0:bc74da1c502f 256 break;
Artiom 12:191486ba5118 257
Artiom 12:191486ba5118 258 case ARRIERE_RELACHE:
Artiom 12:191486ba5118 259 farriere_relache=1;
Artiom 12:191486ba5118 260 break;
Artiom 14:b1abd2f6df75 261 case RECROQUEVILLER:
Artiom 14:b1abd2f6df75 262 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 14:b1abd2f6df75 263 recroqueviller_avant();
Artiom 14:b1abd2f6df75 264 recroqueviller_arriere();
Artiom 14:b1abd2f6df75 265 verification();
Artiom 14:b1abd2f6df75 266 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 14:b1abd2f6df75 267 break;
Artiom 13:9e19048eb065 268
Artiom 20:42f8ec726ac8 269 case VENTOUSE_AR_CENTRE_BALANCE:
Artiom 20:42f8ec726ac8 270 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 20:42f8ec726ac8 271 goldenium_arriere();
Artiom 20:42f8ec726ac8 272 positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur
Artiom 20:42f8ec726ac8 273 verification();
Artiom 20:42f8ec726ac8 274 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 20:42f8ec726ac8 275 break;
Artiom 13:9e19048eb065 276
Artiom 0:bc74da1c502f 277
Artiom 0:bc74da1c502f 278 #endif
kyxstark 23:93a427b242ce 279
Artiom 0:bc74da1c502f 280 #ifdef ROBOT_BIG
kyxstark 21:edf6d03fdb20 281 case ASCENSEUR:
kyxstark 22:9e92a2b941ba 282 flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0];
Artiom 0:bc74da1c502f 283 break;
Artiom 0:bc74da1c502f 284
Artiom 0:bc74da1c502f 285 #endif
Artiom 0:bc74da1c502f 286 }
Artiom 0:bc74da1c502f 287 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
Artiom 0:bc74da1c502f 288
Artiom 0:bc74da1c502f 289 }
Artiom 4:4a79942713fa 290
Artiom 4:4a79942713fa 291
Artiom 4:4a79942713fa 292 }
Artiom 4:4a79942713fa 293
Artiom 4:4a79942713fa 294
Artiom 4:4a79942713fa 295
Artiom 11:6c11c081c855 296