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carte esclave petit robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
main.cpp@13:9e19048eb065, 2019-05-21 (annotated)
- Committer:
- Artiom
- Date:
- Tue May 21 08:56:49 2019 +0000
- Revision:
- 13:9e19048eb065
- Parent:
- 12:191486ba5118
- Child:
- 14:b1abd2f6df75
automate relache solavant/arriere
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 | 12:191486ba5118 | 23 | char fbalance_avant=0,fbalance_arriere=0; |
Artiom | 12:191486ba5118 | 24 | char favant_relache=0,farriere_relache=0; |
Artiom | 12:191486ba5118 | 25 | |
Artiom | 12:191486ba5118 | 26 | |
Artiom | 13:9e19048eb065 | 27 | |
Artiom | 4:4a79942713fa | 28 | char status_pompe=0; |
Artiom | 4:4a79942713fa | 29 | |
Artiom | 0:bc74da1c502f | 30 | void canRx_ISR (void); |
Artiom | 0:bc74da1c502f | 31 | void SendAck(unsigned short id, unsigned short from); |
Artiom | 0:bc74da1c502f | 32 | void SendRawId (unsigned short id); |
Artiom | 0:bc74da1c502f | 33 | void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement); |
Artiom | 0:bc74da1c502f | 34 | void canProcessRx(void); |
Artiom | 6:45f9cf44718a | 35 | |
Artiom | 4:4a79942713fa | 36 | void automate_ventouse_presentoir_avant(void); |
Artiom | 5:6e198cdd99ad | 37 | void automate_ventouse_presentoir_arriere (void); |
Artiom | 0:bc74da1c502f | 38 | |
Artiom | 6:45f9cf44718a | 39 | void automate_ventouse_goldenium_avant (void); |
Artiom | 6:45f9cf44718a | 40 | void automate_ventouse_goldenium_arriere (void); |
Artiom | 6:45f9cf44718a | 41 | |
Artiom | 6:45f9cf44718a | 42 | void automate_ventouse_sol_avant (void); |
Artiom | 6:45f9cf44718a | 43 | void automate_ventouse_sol_arriere(void); |
Artiom | 6:45f9cf44718a | 44 | |
Artiom | 7:553f3f1c2c53 | 45 | void automate_ventouse_sol_avant_relache(void); |
Artiom | 7:553f3f1c2c53 | 46 | void automate_ventouse_sol_arriere_relache(void); |
Artiom | 11:6c11c081c855 | 47 | |
Artiom | 11:6c11c081c855 | 48 | void automate_ventouse_balance_avant (void); |
Artiom | 12:191486ba5118 | 49 | void automate_ventouse_balance_arriere(void); |
Artiom | 12:191486ba5118 | 50 | |
Artiom | 13:9e19048eb065 | 51 | void automate_ventouse_relache_avant(void); |
Artiom | 13:9e19048eb065 | 52 | void automate_ventouse_relache_arriere (void); |
Artiom | 12:191486ba5118 | 53 | |
Artiom | 13:9e19048eb065 | 54 | void automate_ventouse_sol_avant_relache (void); |
Artiom | 13:9e19048eb065 | 55 | void automate_ventouse_sol_arriere_relache (void); |
Artiom | 0:bc74da1c502f | 56 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 57 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 58 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 59 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 60 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 61 | { |
Artiom | 0:bc74da1c502f | 62 | if (can.read(msgRxBuffer[FIFO_ecriture])) { |
Artiom | 0:bc74da1c502f | 63 | if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) { |
Artiom | 0:bc74da1c502f | 64 | |
Artiom | 0:bc74da1c502f | 65 | } |
Artiom | 0:bc74da1c502f | 66 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 67 | |
Artiom | 0:bc74da1c502f | 68 | } |
Artiom | 0:bc74da1c502f | 69 | |
Artiom | 0:bc74da1c502f | 70 | } |
Artiom | 0:bc74da1c502f | 71 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 72 | /* FUNCTION NAME: SendAck */ |
Artiom | 0:bc74da1c502f | 73 | /* DESCRIPTION : */ |
Artiom | 0:bc74da1c502f | 74 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 75 | 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 | 76 | { |
Artiom | 0:bc74da1c502f | 77 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 78 | msgTx.id=from; //waitingAckFrom |
Artiom | 0:bc74da1c502f | 79 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 80 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 81 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 82 | // from sur 2 octets |
Artiom | 0:bc74da1c502f | 83 | msgTx.data[0]=(unsigned char)id; //waitingAckID |
Artiom | 0:bc74da1c502f | 84 | msgTx.data[1]=(unsigned char)(id>>8); |
Artiom | 0:bc74da1c502f | 85 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 86 | } |
Artiom | 0:bc74da1c502f | 87 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 88 | /* FUNCTION NAME: SendRawId */ |
Artiom | 0:bc74da1c502f | 89 | /* DESCRIPTION : */ |
Artiom | 0:bc74da1c502f | 90 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 91 | void SendRawId (unsigned short id) |
Artiom | 0:bc74da1c502f | 92 | { |
Artiom | 0:bc74da1c502f | 93 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 94 | msgTx.id=id; |
Artiom | 0:bc74da1c502f | 95 | msgTx.len=0; |
Artiom | 0:bc74da1c502f | 96 | can.write(msgTx); //carte esclave f446re |
Artiom | 0:bc74da1c502f | 97 | wait_us(200); |
Artiom | 0:bc74da1c502f | 98 | } |
Artiom | 0:bc74da1c502f | 99 | |
Artiom | 0:bc74da1c502f | 100 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 101 | /* FUNCTION NAME: GoStraight */ |
Artiom | 0:bc74da1c502f | 102 | /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */ |
Artiom | 0:bc74da1c502f | 103 | /* recalage : 0 => pas de recalage */ |
Artiom | 0:bc74da1c502f | 104 | /* 1 => recalage en X */ |
Artiom | 0:bc74da1c502f | 105 | /* 2 => Recalage en Y */ |
Artiom | 0:bc74da1c502f | 106 | /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */ |
Artiom | 0:bc74da1c502f | 107 | /* isEnchainement : Indique si il faut executer l'instruction en enchainement */ |
Artiom | 0:bc74da1c502f | 108 | /* 0 => non */ |
Artiom | 0:bc74da1c502f | 109 | /* 1 => oui */ |
Artiom | 0:bc74da1c502f | 110 | /* 2 => dernière instruction de l'enchainement */ |
Artiom | 0:bc74da1c502f | 111 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 112 | void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement) |
Artiom | 0:bc74da1c502f | 113 | { |
Artiom | 0:bc74da1c502f | 114 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 115 | msgTx.id=ASSERVISSEMENT_RECALAGE; |
Artiom | 0:bc74da1c502f | 116 | msgTx.len=6; |
Artiom | 0:bc74da1c502f | 117 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 118 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 119 | // x sur 2 octets |
Artiom | 0:bc74da1c502f | 120 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 121 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 122 | //Recalage sur 1 octet |
Artiom | 0:bc74da1c502f | 123 | msgTx.data[2]=recalage; |
Artiom | 0:bc74da1c502f | 124 | //Valeur du recalage sur 2 octets |
Artiom | 0:bc74da1c502f | 125 | msgTx.data[3]=(unsigned char)newValue; |
Artiom | 0:bc74da1c502f | 126 | msgTx.data[4]=(unsigned char)(newValue>>8); |
Artiom | 0:bc74da1c502f | 127 | //Enchainement sur 1 octet |
Artiom | 0:bc74da1c502f | 128 | msgTx.data[5]=isEnchainement; |
Artiom | 0:bc74da1c502f | 129 | |
Artiom | 0:bc74da1c502f | 130 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 131 | //wait_ms(500); |
Artiom | 0:bc74da1c502f | 132 | } |
Artiom | 12:191486ba5118 | 133 | /****************************************************************************************/ |
Artiom | 12:191486ba5118 | 134 | /* FUNCTION NAME: Rotate */ |
Artiom | 12:191486ba5118 | 135 | /* DESCRIPTION : Transmission CAN correspondant à une rotation */ |
Artiom | 12:191486ba5118 | 136 | /****************************************************************************************/ |
Artiom | 12:191486ba5118 | 137 | void Rotate (signed short angle) |
Artiom | 12:191486ba5118 | 138 | { |
Artiom | 12:191486ba5118 | 139 | CANMessage msgTx=CANMessage(); |
Artiom | 12:191486ba5118 | 140 | msgTx.id=ASSERVISSEMENT_ROTATION; // Tx rotation autour du centre du robot |
Artiom | 12:191486ba5118 | 141 | msgTx.len=2; |
Artiom | 12:191486ba5118 | 142 | msgTx.format=CANStandard; |
Artiom | 12:191486ba5118 | 143 | msgTx.type=CANData; |
Artiom | 12:191486ba5118 | 144 | // Angle signé sur 2 octets |
Artiom | 12:191486ba5118 | 145 | msgTx.data[0]=(unsigned char)angle; |
Artiom | 12:191486ba5118 | 146 | msgTx.data[1]=(unsigned char)(angle>>8); |
Artiom | 12:191486ba5118 | 147 | |
Artiom | 12:191486ba5118 | 148 | can.write(msgTx); |
Artiom | 12:191486ba5118 | 149 | } |
Artiom | 0:bc74da1c502f | 150 | |
Artiom | 0:bc74da1c502f | 151 | int main() |
Artiom | 0:bc74da1c502f | 152 | { |
Artiom | 0:bc74da1c502f | 153 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
Artiom | 0:bc74da1c502f | 154 | servo_interrupt_en(); //permettre les interuptions |
Artiom | 11:6c11c081c855 | 155 | |
Artiom | 0:bc74da1c502f | 156 | wait(1);//attente servo boot |
Artiom | 2:9e63099cca99 | 157 | gabarit_petit_robot(); |
Artiom | 0:bc74da1c502f | 158 | while(1) { |
Artiom | 0:bc74da1c502f | 159 | canProcessRx(); |
Artiom | 10:48c0d1b8aed9 | 160 | f_mesure();//dt35 |
Artiom | 11:6c11c081c855 | 161 | |
Artiom | 4:4a79942713fa | 162 | automate_ventouse_presentoir_avant(); |
Artiom | 5:6e198cdd99ad | 163 | automate_ventouse_presentoir_arriere(); |
Artiom | 7:553f3f1c2c53 | 164 | |
Artiom | 6:45f9cf44718a | 165 | automate_ventouse_goldenium_avant(); |
Artiom | 6:45f9cf44718a | 166 | automate_ventouse_goldenium_arriere(); |
Artiom | 7:553f3f1c2c53 | 167 | |
Artiom | 6:45f9cf44718a | 168 | automate_ventouse_sol_avant(); |
Artiom | 7:553f3f1c2c53 | 169 | automate_ventouse_sol_arriere(); |
Artiom | 7:553f3f1c2c53 | 170 | |
Artiom | 11:6c11c081c855 | 171 | automate_ventouse_balance_avant(); |
Artiom | 12:191486ba5118 | 172 | automate_ventouse_balance_arriere(); |
Artiom | 12:191486ba5118 | 173 | |
Artiom | 13:9e19048eb065 | 174 | automate_ventouse_relache_avant(); |
Artiom | 12:191486ba5118 | 175 | automate_ventouse_relache_arriere(); |
Artiom | 11:6c11c081c855 | 176 | |
Artiom | 13:9e19048eb065 | 177 | automate_ventouse_sol_avant_relache(); |
Artiom | 13:9e19048eb065 | 178 | automate_ventouse_sol_arriere_relache(); |
Artiom | 13:9e19048eb065 | 179 | |
Artiom | 0:bc74da1c502f | 180 | if(EtatGameEnd==1) { |
Artiom | 0:bc74da1c502f | 181 | while(1); |
Artiom | 0:bc74da1c502f | 182 | } |
Artiom | 0:bc74da1c502f | 183 | |
Artiom | 0:bc74da1c502f | 184 | } |
Artiom | 0:bc74da1c502f | 185 | } |
Artiom | 0:bc74da1c502f | 186 | |
Artiom | 0:bc74da1c502f | 187 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 188 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 189 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 190 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 191 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 192 | { |
Artiom | 0:bc74da1c502f | 193 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 194 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 195 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 196 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 197 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 198 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 199 | FIFO_max_occupation=FIFO_occupation; |
Artiom | 0:bc74da1c502f | 200 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 201 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 202 | |
Artiom | 0:bc74da1c502f | 203 | switch(identifiant) { |
Artiom | 0:bc74da1c502f | 204 | |
Artiom | 0:bc74da1c502f | 205 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 206 | EtatGameEnd = 1; |
Artiom | 0:bc74da1c502f | 207 | break; |
Artiom | 0:bc74da1c502f | 208 | |
Artiom | 0:bc74da1c502f | 209 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 210 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 211 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 212 | |
Artiom | 0:bc74da1c502f | 213 | |
Artiom | 0:bc74da1c502f | 214 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 215 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 216 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 217 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 218 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 219 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 220 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 221 | |
Artiom | 0:bc74da1c502f | 222 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 223 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 224 | break; |
Artiom | 0:bc74da1c502f | 225 | |
Artiom | 0:bc74da1c502f | 226 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 227 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 228 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 229 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 230 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 231 | |
Artiom | 0:bc74da1c502f | 232 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 233 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 234 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 235 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 236 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 237 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 238 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 239 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 240 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 241 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 242 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 243 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 244 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 245 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 246 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 247 | break; |
Artiom | 0:bc74da1c502f | 248 | |
Artiom | 0:bc74da1c502f | 249 | #ifdef ROBOT_SMALL |
Artiom | 4:4a79942713fa | 250 | //-------------------------------------------------------------------------Actions petit robot---------------------------------------------- |
Artiom | 2:9e63099cca99 | 251 | case GABARIT_PETIT_ROBOT: |
Artiom | 2:9e63099cca99 | 252 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 253 | gabarit_petit_robot(); |
Artiom | 2:9e63099cca99 | 254 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 0:bc74da1c502f | 255 | break; |
Artiom | 0:bc74da1c502f | 256 | |
Artiom | 0:bc74da1c502f | 257 | case PRESENTOIR_AVANT: |
Artiom | 4:4a79942713fa | 258 | fpresentoir_avant=1; |
Artiom | 0:bc74da1c502f | 259 | break; |
Artiom | 0:bc74da1c502f | 260 | |
Artiom | 0:bc74da1c502f | 261 | case PRESENTOIR_ARRIERE: |
Artiom | 5:6e198cdd99ad | 262 | fpresentoir_arriere=1; |
Artiom | 0:bc74da1c502f | 263 | break; |
Artiom | 0:bc74da1c502f | 264 | |
Artiom | 0:bc74da1c502f | 265 | case BALANCE_AVANT: |
Artiom | 11:6c11c081c855 | 266 | fbalance_avant=1; |
Artiom | 0:bc74da1c502f | 267 | break; |
Artiom | 0:bc74da1c502f | 268 | |
Artiom | 0:bc74da1c502f | 269 | case BALANCE_ARRIERE: |
Artiom | 12:191486ba5118 | 270 | fbalance_arriere=1; |
Artiom | 2:9e63099cca99 | 271 | break; |
Artiom | 2:9e63099cca99 | 272 | |
Artiom | 2:9e63099cca99 | 273 | case ACCELERATEUR_AVANT: |
Artiom | 2:9e63099cca99 | 274 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 275 | accelerateur_avant(); |
Artiom | 2:9e63099cca99 | 276 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 277 | break; |
Artiom | 2:9e63099cca99 | 278 | |
Artiom | 2:9e63099cca99 | 279 | case ACCELERATEUR_ARRIERE: |
Artiom | 2:9e63099cca99 | 280 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 281 | accelerateur_arriere(); |
Artiom | 2:9e63099cca99 | 282 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 283 | break; |
Artiom | 6:45f9cf44718a | 284 | |
Artiom | 2:9e63099cca99 | 285 | case GOLDENIUM_AVANT: |
Artiom | 6:45f9cf44718a | 286 | fgoldenium_avant=1; |
Artiom | 2:9e63099cca99 | 287 | break; |
Artiom | 2:9e63099cca99 | 288 | |
Artiom | 2:9e63099cca99 | 289 | case GOLDENIUM_ARRIERE: |
Artiom | 6:45f9cf44718a | 290 | fgoldenium_arriere=1; |
Artiom | 2:9e63099cca99 | 291 | break; |
Artiom | 6:45f9cf44718a | 292 | |
Artiom | 2:9e63099cca99 | 293 | case SOL_AVANT: |
Artiom | 6:45f9cf44718a | 294 | fsol_avant=1; |
Artiom | 2:9e63099cca99 | 295 | break; |
Artiom | 2:9e63099cca99 | 296 | |
Artiom | 2:9e63099cca99 | 297 | case SOL_ARRIERE: |
Artiom | 6:45f9cf44718a | 298 | fsol_arriere=1; |
Artiom | 2:9e63099cca99 | 299 | break; |
Artiom | 2:9e63099cca99 | 300 | |
Artiom | 2:9e63099cca99 | 301 | case SOL_AVANT_RELACHE: |
Artiom | 7:553f3f1c2c53 | 302 | fsol_avant_relache=1; |
Artiom | 2:9e63099cca99 | 303 | break; |
Artiom | 2:9e63099cca99 | 304 | |
Artiom | 2:9e63099cca99 | 305 | case SOL_ARRIERE_RELACHE: |
Artiom | 7:553f3f1c2c53 | 306 | fsol_arriere_relache=1; |
Artiom | 0:bc74da1c502f | 307 | break; |
Artiom | 12:191486ba5118 | 308 | case AVANT_RELACHE: |
Artiom | 12:191486ba5118 | 309 | favant_relache=1; |
Artiom | 12:191486ba5118 | 310 | break; |
Artiom | 12:191486ba5118 | 311 | |
Artiom | 12:191486ba5118 | 312 | case ARRIERE_RELACHE: |
Artiom | 12:191486ba5118 | 313 | farriere_relache=1; |
Artiom | 12:191486ba5118 | 314 | break; |
Artiom | 13:9e19048eb065 | 315 | |
Artiom | 13:9e19048eb065 | 316 | |
Artiom | 4:4a79942713fa | 317 | //--------------------------------------------------------------------------ACK carte pompe---------------------------------------------- |
Artiom | 4:4a79942713fa | 318 | |
Artiom | 4:4a79942713fa | 319 | |
Artiom | 4:4a79942713fa | 320 | case HACHEUR_STATUT_VENTOUSES: |
Artiom | 4:4a79942713fa | 321 | status_pompe = msgRxBuffer[FIFO_lecture].data[1]; |
Artiom | 5:6e198cdd99ad | 322 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 323 | break; |
Artiom | 4:4a79942713fa | 324 | |
Artiom | 4:4a79942713fa | 325 | case HACHEUR_GET_ATOM_ACK: |
Artiom | 4:4a79942713fa | 326 | status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 5:6e198cdd99ad | 327 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 328 | break; |
Artiom | 4:4a79942713fa | 329 | |
Artiom | 4:4a79942713fa | 330 | case HACHEUR_RELEASE_ATOM_ACK : |
Artiom | 4:4a79942713fa | 331 | status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 4:4a79942713fa | 332 | break; |
Artiom | 13:9e19048eb065 | 333 | |
Artiom | 13:9e19048eb065 | 334 | |
Artiom | 4:4a79942713fa | 335 | //------------------------------------------------------------------------------------------------------------------------------------------- |
Artiom | 4:4a79942713fa | 336 | |
Artiom | 0:bc74da1c502f | 337 | |
Artiom | 0:bc74da1c502f | 338 | #endif |
Artiom | 0:bc74da1c502f | 339 | #ifdef ROBOT_BIG |
Artiom | 0:bc74da1c502f | 340 | case 3: |
Artiom | 0:bc74da1c502f | 341 | |
Artiom | 0:bc74da1c502f | 342 | break; |
Artiom | 0:bc74da1c502f | 343 | |
Artiom | 0:bc74da1c502f | 344 | case 5: |
Artiom | 0:bc74da1c502f | 345 | |
Artiom | 0:bc74da1c502f | 346 | break; |
Artiom | 0:bc74da1c502f | 347 | |
Artiom | 0:bc74da1c502f | 348 | #endif |
Artiom | 0:bc74da1c502f | 349 | } |
Artiom | 0:bc74da1c502f | 350 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 351 | |
Artiom | 0:bc74da1c502f | 352 | } |
Artiom | 4:4a79942713fa | 353 | |
Artiom | 4:4a79942713fa | 354 | |
Artiom | 4:4a79942713fa | 355 | } |
Artiom | 4:4a79942713fa | 356 | |
Artiom | 4:4a79942713fa | 357 | void automate_ventouse_presentoir_avant (void) |
Artiom | 4:4a79942713fa | 358 | { |
Artiom | 4:4a79942713fa | 359 | |
Artiom | 4:4a79942713fa | 360 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 4:4a79942713fa | 361 | static type_etat etat = init; |
Artiom | 4:4a79942713fa | 362 | |
Artiom | 4:4a79942713fa | 363 | switch(etat) { |
Artiom | 4:4a79942713fa | 364 | case init: //attente d'initialisation |
Artiom | 4:4a79942713fa | 365 | if(fpresentoir_avant) |
Artiom | 4:4a79942713fa | 366 | etat=envoi_instruction; |
Artiom | 4:4a79942713fa | 367 | break; |
Artiom | 4:4a79942713fa | 368 | |
Artiom | 4:4a79942713fa | 369 | case envoi_instruction://envoi instruction |
Artiom | 4:4a79942713fa | 370 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 4:4a79942713fa | 371 | presentoir_avant(); |
Artiom | 5:6e198cdd99ad | 372 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 4:4a79942713fa | 373 | etat = attente_ack_ventouse; |
Artiom | 4:4a79942713fa | 374 | break; |
Artiom | 4:4a79942713fa | 375 | |
Artiom | 4:4a79942713fa | 376 | case attente_ack_ventouse: |
Artiom | 5:6e198cdd99ad | 377 | if((status_pompe&MASK_PRESENTOIR_AV)==MASK_PRESENTOIR_AV) { |
Artiom | 4:4a79942713fa | 378 | fpresentoir_avant=0; |
Artiom | 5:6e198cdd99ad | 379 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 4:4a79942713fa | 380 | etat = init; |
Artiom | 5:6e198cdd99ad | 381 | } |
Artiom | 5:6e198cdd99ad | 382 | break; |
Artiom | 5:6e198cdd99ad | 383 | |
Artiom | 5:6e198cdd99ad | 384 | } |
Artiom | 5:6e198cdd99ad | 385 | } |
Artiom | 5:6e198cdd99ad | 386 | void automate_ventouse_presentoir_arriere (void) |
Artiom | 5:6e198cdd99ad | 387 | { |
Artiom | 5:6e198cdd99ad | 388 | |
Artiom | 5:6e198cdd99ad | 389 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 5:6e198cdd99ad | 390 | static type_etat etat = init; |
Artiom | 5:6e198cdd99ad | 391 | |
Artiom | 5:6e198cdd99ad | 392 | switch(etat) { |
Artiom | 5:6e198cdd99ad | 393 | case init: //attente d'initialisation |
Artiom | 5:6e198cdd99ad | 394 | if(fpresentoir_arriere) |
Artiom | 5:6e198cdd99ad | 395 | etat=envoi_instruction; |
Artiom | 5:6e198cdd99ad | 396 | break; |
Artiom | 5:6e198cdd99ad | 397 | |
Artiom | 5:6e198cdd99ad | 398 | case envoi_instruction://envoi instruction |
Artiom | 5:6e198cdd99ad | 399 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 5:6e198cdd99ad | 400 | presentoir_arriere(); |
Artiom | 5:6e198cdd99ad | 401 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 5:6e198cdd99ad | 402 | etat = attente_ack_ventouse; |
Artiom | 5:6e198cdd99ad | 403 | break; |
Artiom | 5:6e198cdd99ad | 404 | |
Artiom | 5:6e198cdd99ad | 405 | case attente_ack_ventouse: |
Artiom | 5:6e198cdd99ad | 406 | if((status_pompe&MASK_PRESENTOIR_AR)==MASK_PRESENTOIR_AR) { |
Artiom | 5:6e198cdd99ad | 407 | fpresentoir_arriere=0; |
Artiom | 5:6e198cdd99ad | 408 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 5:6e198cdd99ad | 409 | etat = init; |
Artiom | 4:4a79942713fa | 410 | } |
Artiom | 4:4a79942713fa | 411 | break; |
Artiom | 4:4a79942713fa | 412 | |
Artiom | 4:4a79942713fa | 413 | } |
Artiom | 6:45f9cf44718a | 414 | } |
Artiom | 6:45f9cf44718a | 415 | void automate_ventouse_goldenium_avant (void) |
Artiom | 6:45f9cf44718a | 416 | { |
Artiom | 4:4a79942713fa | 417 | |
Artiom | 6:45f9cf44718a | 418 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 419 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 420 | |
Artiom | 6:45f9cf44718a | 421 | switch(etat) { |
Artiom | 6:45f9cf44718a | 422 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 423 | if(fgoldenium_avant) |
Artiom | 6:45f9cf44718a | 424 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 425 | break; |
Artiom | 6:45f9cf44718a | 426 | |
Artiom | 6:45f9cf44718a | 427 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 428 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 429 | goldenium_avant(); |
Artiom | 6:45f9cf44718a | 430 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 431 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 432 | break; |
Artiom | 6:45f9cf44718a | 433 | |
Artiom | 6:45f9cf44718a | 434 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 435 | if((status_pompe&MASK_GOLDENIUM_AV)== MASK_GOLDENIUM_AV) { |
Artiom | 6:45f9cf44718a | 436 | fgoldenium_avant=0; |
Artiom | 6:45f9cf44718a | 437 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 438 | etat = init; |
Artiom | 6:45f9cf44718a | 439 | } |
Artiom | 6:45f9cf44718a | 440 | break; |
Artiom | 6:45f9cf44718a | 441 | |
Artiom | 6:45f9cf44718a | 442 | } |
Artiom | 6:45f9cf44718a | 443 | } |
Artiom | 6:45f9cf44718a | 444 | |
Artiom | 6:45f9cf44718a | 445 | void automate_ventouse_goldenium_arriere (void) |
Artiom | 6:45f9cf44718a | 446 | { |
Artiom | 6:45f9cf44718a | 447 | |
Artiom | 6:45f9cf44718a | 448 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 449 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 450 | |
Artiom | 6:45f9cf44718a | 451 | switch(etat) { |
Artiom | 6:45f9cf44718a | 452 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 453 | if(fgoldenium_arriere) |
Artiom | 6:45f9cf44718a | 454 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 455 | break; |
Artiom | 6:45f9cf44718a | 456 | |
Artiom | 6:45f9cf44718a | 457 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 458 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 459 | goldenium_arriere(); |
Artiom | 6:45f9cf44718a | 460 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 461 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 462 | break; |
Artiom | 6:45f9cf44718a | 463 | |
Artiom | 6:45f9cf44718a | 464 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 465 | if((status_pompe&MASK_GOLDENIUM_AR)== MASK_GOLDENIUM_AR) { |
Artiom | 6:45f9cf44718a | 466 | fgoldenium_arriere=0; |
Artiom | 6:45f9cf44718a | 467 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 468 | etat = init; |
Artiom | 6:45f9cf44718a | 469 | } |
Artiom | 6:45f9cf44718a | 470 | break; |
Artiom | 6:45f9cf44718a | 471 | |
Artiom | 6:45f9cf44718a | 472 | } |
Artiom | 6:45f9cf44718a | 473 | |
Artiom | 6:45f9cf44718a | 474 | |
Artiom | 6:45f9cf44718a | 475 | } |
Artiom | 6:45f9cf44718a | 476 | |
Artiom | 6:45f9cf44718a | 477 | void automate_ventouse_sol_avant (void) |
Artiom | 6:45f9cf44718a | 478 | { |
Artiom | 6:45f9cf44718a | 479 | |
Artiom | 6:45f9cf44718a | 480 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 481 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 482 | |
Artiom | 6:45f9cf44718a | 483 | switch(etat) { |
Artiom | 6:45f9cf44718a | 484 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 485 | if(fsol_avant) |
Artiom | 6:45f9cf44718a | 486 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 487 | break; |
Artiom | 6:45f9cf44718a | 488 | |
Artiom | 6:45f9cf44718a | 489 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 490 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 491 | sol_avant_baisser(); |
Artiom | 13:9e19048eb065 | 492 | char pompe=AV_BAS; |
Artiom | 13:9e19048eb065 | 493 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
Artiom | 6:45f9cf44718a | 494 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 495 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 496 | break; |
Artiom | 6:45f9cf44718a | 497 | |
Artiom | 6:45f9cf44718a | 498 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 499 | if((status_pompe&MASK_SOL_AV)== MASK_SOL_AV) { |
Artiom | 6:45f9cf44718a | 500 | sol_avant_remonter(); |
Artiom | 6:45f9cf44718a | 501 | fsol_avant=0; |
Artiom | 6:45f9cf44718a | 502 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 503 | etat = init; |
Artiom | 6:45f9cf44718a | 504 | } |
Artiom | 6:45f9cf44718a | 505 | break; |
Artiom | 6:45f9cf44718a | 506 | |
Artiom | 6:45f9cf44718a | 507 | } |
Artiom | 6:45f9cf44718a | 508 | |
Artiom | 6:45f9cf44718a | 509 | |
Artiom | 6:45f9cf44718a | 510 | } |
Artiom | 6:45f9cf44718a | 511 | void automate_ventouse_sol_arriere (void) |
Artiom | 6:45f9cf44718a | 512 | { |
Artiom | 6:45f9cf44718a | 513 | |
Artiom | 6:45f9cf44718a | 514 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 515 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 516 | |
Artiom | 6:45f9cf44718a | 517 | switch(etat) { |
Artiom | 6:45f9cf44718a | 518 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 519 | if(fsol_arriere) |
Artiom | 6:45f9cf44718a | 520 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 521 | break; |
Artiom | 6:45f9cf44718a | 522 | |
Artiom | 6:45f9cf44718a | 523 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 524 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 525 | sol_arriere_baisser(); |
Artiom | 13:9e19048eb065 | 526 | char pompe=AR_BAS; |
Artiom | 13:9e19048eb065 | 527 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
Artiom | 6:45f9cf44718a | 528 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 529 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 530 | break; |
Artiom | 6:45f9cf44718a | 531 | |
Artiom | 6:45f9cf44718a | 532 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 533 | if((status_pompe&MASK_SOL_AR)== MASK_SOL_AR) { |
Artiom | 6:45f9cf44718a | 534 | sol_arriere_remonter(); |
Artiom | 6:45f9cf44718a | 535 | fsol_arriere=0; |
Artiom | 6:45f9cf44718a | 536 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 537 | etat = init; |
Artiom | 6:45f9cf44718a | 538 | } |
Artiom | 6:45f9cf44718a | 539 | break; |
Artiom | 6:45f9cf44718a | 540 | |
Artiom | 6:45f9cf44718a | 541 | } |
Artiom | 4:4a79942713fa | 542 | |
Artiom | 4:4a79942713fa | 543 | |
Artiom | 11:6c11c081c855 | 544 | } |
Artiom | 11:6c11c081c855 | 545 | void automate_ventouse_balance_avant (void) |
Artiom | 11:6c11c081c855 | 546 | { |
Artiom | 11:6c11c081c855 | 547 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 11:6c11c081c855 | 548 | static type_etat etat = init; |
Artiom | 11:6c11c081c855 | 549 | |
Artiom | 11:6c11c081c855 | 550 | switch(etat) { |
Artiom | 11:6c11c081c855 | 551 | case init: //attente d'initialisation |
Artiom | 11:6c11c081c855 | 552 | if(fbalance_avant) |
Artiom | 11:6c11c081c855 | 553 | etat=envoi_instruction; |
Artiom | 11:6c11c081c855 | 554 | break; |
Artiom | 11:6c11c081c855 | 555 | |
Artiom | 11:6c11c081c855 | 556 | case envoi_instruction://envoi instruction |
Artiom | 11:6c11c081c855 | 557 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 12:191486ba5118 | 558 | balance_avant_placement(); |
Artiom | 12:191486ba5118 | 559 | Rotate(200); |
Artiom | 12:191486ba5118 | 560 | wait(0.5); |
Artiom | 11:6c11c081c855 | 561 | balance_avant(); |
Artiom | 12:191486ba5118 | 562 | Rotate(-200); |
Artiom | 12:191486ba5118 | 563 | wait(0.5); |
Artiom | 11:6c11c081c855 | 564 | etat = attente_ack_ventouse; |
Artiom | 11:6c11c081c855 | 565 | break; |
Artiom | 11:6c11c081c855 | 566 | |
Artiom | 11:6c11c081c855 | 567 | case attente_ack_ventouse: |
Artiom | 12:191486ba5118 | 568 | char pompe=AV_DROIT; |
Artiom | 12:191486ba5118 | 569 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 12:191486ba5118 | 570 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 11:6c11c081c855 | 571 | if((status_pompe&MASK_AV_DROIT)== 0) { |
Artiom | 11:6c11c081c855 | 572 | fbalance_avant=0; |
Artiom | 12:191486ba5118 | 573 | presentoir_arriere(); |
Artiom | 12:191486ba5118 | 574 | presentoir_avant(); |
Artiom | 12:191486ba5118 | 575 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));//on arrete la pompe car elle est réactivé par presentoir_avant(); |
Artiom | 12:191486ba5118 | 576 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 12:191486ba5118 | 577 | etat = init; |
Artiom | 12:191486ba5118 | 578 | } |
Artiom | 12:191486ba5118 | 579 | break; |
Artiom | 12:191486ba5118 | 580 | |
Artiom | 12:191486ba5118 | 581 | } |
Artiom | 12:191486ba5118 | 582 | |
Artiom | 12:191486ba5118 | 583 | |
Artiom | 12:191486ba5118 | 584 | } |
Artiom | 12:191486ba5118 | 585 | void automate_ventouse_balance_arriere (void) |
Artiom | 12:191486ba5118 | 586 | { |
Artiom | 12:191486ba5118 | 587 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 12:191486ba5118 | 588 | static type_etat etat = init; |
Artiom | 12:191486ba5118 | 589 | |
Artiom | 12:191486ba5118 | 590 | switch(etat) { |
Artiom | 12:191486ba5118 | 591 | case init: //attente d'initialisation |
Artiom | 12:191486ba5118 | 592 | if(fbalance_arriere) |
Artiom | 12:191486ba5118 | 593 | etat=envoi_instruction; |
Artiom | 12:191486ba5118 | 594 | break; |
Artiom | 12:191486ba5118 | 595 | |
Artiom | 12:191486ba5118 | 596 | case envoi_instruction://envoi instruction |
Artiom | 12:191486ba5118 | 597 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 12:191486ba5118 | 598 | balance_arriere_placement(); |
Artiom | 12:191486ba5118 | 599 | Rotate(200); |
Artiom | 12:191486ba5118 | 600 | wait(0.5); |
Artiom | 12:191486ba5118 | 601 | balance_arriere(); |
Artiom | 12:191486ba5118 | 602 | Rotate(-200); |
Artiom | 12:191486ba5118 | 603 | wait(0.5); |
Artiom | 12:191486ba5118 | 604 | etat = attente_ack_ventouse; |
Artiom | 12:191486ba5118 | 605 | break; |
Artiom | 12:191486ba5118 | 606 | |
Artiom | 12:191486ba5118 | 607 | case attente_ack_ventouse: |
Artiom | 12:191486ba5118 | 608 | char pompe=AR_DROIT; |
Artiom | 12:191486ba5118 | 609 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 12:191486ba5118 | 610 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 12:191486ba5118 | 611 | if((status_pompe&MASK_AR_DROIT)== 0) { |
Artiom | 12:191486ba5118 | 612 | fbalance_arriere=0; |
Artiom | 12:191486ba5118 | 613 | presentoir_arriere(); |
Artiom | 12:191486ba5118 | 614 | presentoir_avant(); |
Artiom | 12:191486ba5118 | 615 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));//on arrete la pompe car elle est réactivé par presentoir_avant(); |
Artiom | 12:191486ba5118 | 616 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 12:191486ba5118 | 617 | etat = init; |
Artiom | 12:191486ba5118 | 618 | } |
Artiom | 12:191486ba5118 | 619 | break; |
Artiom | 12:191486ba5118 | 620 | |
Artiom | 12:191486ba5118 | 621 | } |
Artiom | 12:191486ba5118 | 622 | |
Artiom | 12:191486ba5118 | 623 | |
Artiom | 12:191486ba5118 | 624 | } |
Artiom | 13:9e19048eb065 | 625 | void automate_ventouse_relache_avant (void) |
Artiom | 13:9e19048eb065 | 626 | { |
Artiom | 13:9e19048eb065 | 627 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 13:9e19048eb065 | 628 | static type_etat etat = init; |
Artiom | 13:9e19048eb065 | 629 | |
Artiom | 13:9e19048eb065 | 630 | switch(etat) { |
Artiom | 13:9e19048eb065 | 631 | case init: //attente d'initialisation |
Artiom | 13:9e19048eb065 | 632 | if(favant_relache) |
Artiom | 13:9e19048eb065 | 633 | etat=envoi_instruction; |
Artiom | 13:9e19048eb065 | 634 | break; |
Artiom | 13:9e19048eb065 | 635 | |
Artiom | 13:9e19048eb065 | 636 | case envoi_instruction://envoi instruction |
Artiom | 13:9e19048eb065 | 637 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 13:9e19048eb065 | 638 | etat = attente_ack_ventouse; |
Artiom | 13:9e19048eb065 | 639 | break; |
Artiom | 13:9e19048eb065 | 640 | |
Artiom | 13:9e19048eb065 | 641 | case attente_ack_ventouse: |
Artiom | 13:9e19048eb065 | 642 | SendRawId(HACHEUR_RELEASE_AV); |
Artiom | 13:9e19048eb065 | 643 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 13:9e19048eb065 | 644 | if((status_pompe&MASK_PRESENTOIR_AV)== 0) { |
Artiom | 13:9e19048eb065 | 645 | favant_relache=0; |
Artiom | 13:9e19048eb065 | 646 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 13:9e19048eb065 | 647 | etat = init; |
Artiom | 13:9e19048eb065 | 648 | } |
Artiom | 13:9e19048eb065 | 649 | break; |
Artiom | 13:9e19048eb065 | 650 | |
Artiom | 13:9e19048eb065 | 651 | } |
Artiom | 13:9e19048eb065 | 652 | |
Artiom | 13:9e19048eb065 | 653 | |
Artiom | 13:9e19048eb065 | 654 | } |
Artiom | 12:191486ba5118 | 655 | void automate_ventouse_relache_arriere (void) |
Artiom | 12:191486ba5118 | 656 | { |
Artiom | 12:191486ba5118 | 657 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 12:191486ba5118 | 658 | static type_etat etat = init; |
Artiom | 12:191486ba5118 | 659 | |
Artiom | 12:191486ba5118 | 660 | switch(etat) { |
Artiom | 12:191486ba5118 | 661 | case init: //attente d'initialisation |
Artiom | 12:191486ba5118 | 662 | if(farriere_relache) |
Artiom | 12:191486ba5118 | 663 | etat=envoi_instruction; |
Artiom | 12:191486ba5118 | 664 | break; |
Artiom | 12:191486ba5118 | 665 | |
Artiom | 12:191486ba5118 | 666 | case envoi_instruction://envoi instruction |
Artiom | 12:191486ba5118 | 667 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 12:191486ba5118 | 668 | etat = attente_ack_ventouse; |
Artiom | 12:191486ba5118 | 669 | break; |
Artiom | 12:191486ba5118 | 670 | |
Artiom | 12:191486ba5118 | 671 | case attente_ack_ventouse: |
Artiom | 12:191486ba5118 | 672 | SendRawId(HACHEUR_RELEASE_AR); |
Artiom | 12:191486ba5118 | 673 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 12:191486ba5118 | 674 | if((status_pompe&MASK_PRESENTOIR_AR)== 0) { |
Artiom | 12:191486ba5118 | 675 | farriere_relache=0; |
Artiom | 11:6c11c081c855 | 676 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 11:6c11c081c855 | 677 | etat = init; |
Artiom | 11:6c11c081c855 | 678 | } |
Artiom | 11:6c11c081c855 | 679 | break; |
Artiom | 11:6c11c081c855 | 680 | |
Artiom | 11:6c11c081c855 | 681 | } |
Artiom | 11:6c11c081c855 | 682 | |
Artiom | 11:6c11c081c855 | 683 | |
Artiom | 13:9e19048eb065 | 684 | } |
Artiom | 13:9e19048eb065 | 685 | void automate_ventouse_sol_avant_relache (void) |
Artiom | 13:9e19048eb065 | 686 | { |
Artiom | 13:9e19048eb065 | 687 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 13:9e19048eb065 | 688 | static type_etat etat = init; |
Artiom | 13:9e19048eb065 | 689 | |
Artiom | 13:9e19048eb065 | 690 | switch(etat) { |
Artiom | 13:9e19048eb065 | 691 | case init: //attente d'initialisation |
Artiom | 13:9e19048eb065 | 692 | if(fsol_avant_relache) |
Artiom | 13:9e19048eb065 | 693 | etat=envoi_instruction; |
Artiom | 13:9e19048eb065 | 694 | break; |
Artiom | 13:9e19048eb065 | 695 | |
Artiom | 13:9e19048eb065 | 696 | case envoi_instruction://envoi instruction |
Artiom | 13:9e19048eb065 | 697 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 13:9e19048eb065 | 698 | positionControl(AV_sol,520,1,BLED_ON,4);//baisser |
Artiom | 13:9e19048eb065 | 699 | verification(); |
Artiom | 13:9e19048eb065 | 700 | etat = attente_ack_ventouse; |
Artiom | 13:9e19048eb065 | 701 | break; |
Artiom | 13:9e19048eb065 | 702 | |
Artiom | 13:9e19048eb065 | 703 | case attente_ack_ventouse: |
Artiom | 13:9e19048eb065 | 704 | char pompe=AV_BAS; |
Artiom | 13:9e19048eb065 | 705 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 13:9e19048eb065 | 706 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 13:9e19048eb065 | 707 | if((status_pompe&MASK_SOL_AV)== 0) { |
Artiom | 13:9e19048eb065 | 708 | sol_avant_remonter(); |
Artiom | 13:9e19048eb065 | 709 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 13:9e19048eb065 | 710 | fsol_avant_relache=0; |
Artiom | 13:9e19048eb065 | 711 | etat = init; |
Artiom | 13:9e19048eb065 | 712 | } |
Artiom | 13:9e19048eb065 | 713 | break; |
Artiom | 13:9e19048eb065 | 714 | |
Artiom | 13:9e19048eb065 | 715 | } |
Artiom | 13:9e19048eb065 | 716 | |
Artiom | 13:9e19048eb065 | 717 | |
Artiom | 13:9e19048eb065 | 718 | } |
Artiom | 13:9e19048eb065 | 719 | |
Artiom | 13:9e19048eb065 | 720 | void automate_ventouse_sol_arriere_relache (void) |
Artiom | 13:9e19048eb065 | 721 | { |
Artiom | 13:9e19048eb065 | 722 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 13:9e19048eb065 | 723 | static type_etat etat = init; |
Artiom | 13:9e19048eb065 | 724 | |
Artiom | 13:9e19048eb065 | 725 | switch(etat) { |
Artiom | 13:9e19048eb065 | 726 | case init: //attente d'initialisation |
Artiom | 13:9e19048eb065 | 727 | if(fsol_arriere_relache) |
Artiom | 13:9e19048eb065 | 728 | etat=envoi_instruction; |
Artiom | 13:9e19048eb065 | 729 | break; |
Artiom | 13:9e19048eb065 | 730 | |
Artiom | 13:9e19048eb065 | 731 | case envoi_instruction://envoi instruction |
Artiom | 13:9e19048eb065 | 732 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 13:9e19048eb065 | 733 | positionControl(AR_sol,480,1,BLED_ON,4);//baisser |
Artiom | 13:9e19048eb065 | 734 | verification(); |
Artiom | 13:9e19048eb065 | 735 | etat = attente_ack_ventouse; |
Artiom | 13:9e19048eb065 | 736 | break; |
Artiom | 13:9e19048eb065 | 737 | |
Artiom | 13:9e19048eb065 | 738 | case attente_ack_ventouse: |
Artiom | 13:9e19048eb065 | 739 | char pompe=AR_BAS; |
Artiom | 13:9e19048eb065 | 740 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 13:9e19048eb065 | 741 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 13:9e19048eb065 | 742 | if((status_pompe&MASK_SOL_AR)== 0) { |
Artiom | 13:9e19048eb065 | 743 | sol_arriere_remonter(); |
Artiom | 13:9e19048eb065 | 744 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 13:9e19048eb065 | 745 | fsol_arriere_relache=0; |
Artiom | 13:9e19048eb065 | 746 | etat = init; |
Artiom | 13:9e19048eb065 | 747 | } |
Artiom | 13:9e19048eb065 | 748 | break; |
Artiom | 13:9e19048eb065 | 749 | |
Artiom | 13:9e19048eb065 | 750 | } |
Artiom | 13:9e19048eb065 | 751 | |
Artiom | 13:9e19048eb065 | 752 | |
Artiom | 0:bc74da1c502f | 753 | } |