Diff: main.cpp

Revision:

20:42f8ec726ac8

Parent:

19:511ff570c2f5

Child:

21:edf6d03fdb20

--- a/main.cpp	Tue May 21 15:34:48 2019 +0000
+++ b/main.cpp	Wed May 22 08:25:51 2019 +0000
@@ -322,6 +322,21 @@
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
+            case VENTOUSE_AV_CENTRE_BALANCE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                goldenium_avant();
+                positionControl(AV_poigne_D, 270,1,BLED_ON,1);//actionneur
+                verification();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case VENTOUSE_AR_CENTRE_BALANCE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                goldenium_arriere();
+                positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur
+                verification();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
 
 //--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
 
@@ -378,6 +393,7 @@
         case envoi_instruction://envoi instruction
             SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
             presentoir_avant();
+            can.write(CANMessage(HACHEUR_GET_PRESENTOIR_AV));
             SendRawId(HACHEUR_STATUT_VENTOUSES);
             etat = attente_ack_ventouse;
             break;
@@ -407,6 +423,7 @@
         case envoi_instruction://envoi instruction
             SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
             presentoir_arriere();
+            can.write(CANMessage(HACHEUR_GET_PRESENTOIR_AR));
             SendRawId(HACHEUR_STATUT_VENTOUSES);
             etat = attente_ack_ventouse;
             break;
@@ -438,11 +455,11 @@
             goldenium_avant();
             char pompe=AV_CENTRE;
             can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1));
-             SendRawId(HACHEUR_STATUT_VENTOUSES);
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
             etat = attente_ack_ventouse;
             break;
 
-        case attente_ack_ventouse:         
+        case attente_ack_ventouse:
             if((status_pompe&MASK_GOLDENIUM_AV)== MASK_GOLDENIUM_AV) {
                 fgoldenium_avant=0;
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
@@ -470,11 +487,11 @@
             goldenium_arriere();
             char pompe=AR_CENTRE;
             can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1));
-             SendRawId(HACHEUR_STATUT_VENTOUSES);
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
             etat = attente_ack_ventouse;
             break;
 
-        case attente_ack_ventouse:      
+        case attente_ack_ventouse:
             if((status_pompe&MASK_GOLDENIUM_AR)== MASK_GOLDENIUM_AR) {
                 fgoldenium_arriere=0;
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
@@ -569,13 +586,14 @@
         case envoi_instruction://envoi instruction
             SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
             presentoir_avant();
+            verification();
             balance_avant_placement();
             Rotate(200);
             wait(0.5);
             balance_avant();
             Rotate(-200);
             wait(0.5);
-             SendRawId(HACHEUR_STATUT_VENTOUSES);
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
             etat = attente_ack_ventouse;
             break;
 
@@ -610,6 +628,7 @@
         case envoi_instruction://envoi instruction
             SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
             presentoir_arriere();
+            verification();
             balance_arriere_placement();
             Rotate(200);
             wait(0.5);
@@ -685,7 +704,7 @@
             break;
 
         case attente_ack_ventouse:
-            SendRawId(HACHEUR_RELEASE_AR);  
+            SendRawId(HACHEUR_RELEASE_AR);
             if((status_pompe&MASK_PRESENTOIR_AR)== 0) {
                 farriere_relache=0;
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
@@ -745,7 +764,7 @@
             SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
             positionControl(AR_sol,480,1,BLED_ON,4);//baisser
             verification();
-             SendRawId(HACHEUR_STATUT_VENTOUSES);
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
             etat = attente_ack_ventouse;
             break;
 
@@ -795,8 +814,8 @@
                 etat = attente_ack_ventouse_centre;
             }
         case attente_ack_ventouse_centre:
-             pompe=AV_CENTRE;
-             can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));
+            pompe=AV_CENTRE;
+            can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));
             if((status_pompe&MASK_AV_DROIT_GAUCHE)== 0) {
                 faccelerateur_avant=0;
                 presentoir_avant();
@@ -804,7 +823,7 @@
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 etat = init;
             }
-        
+
             break;
 
     }
@@ -815,7 +834,6 @@
 
 void automate_ventouse_accelerateur_arriere (void)
 {
-int test_merge = 0;
 
 }