Diff: main.cpp

Revision:

23:93a427b242ce

Parent:

22:9e92a2b941ba

Child:

24:33c7ff467bd9

Child:

27:d9c3af6b14f6

--- a/main.cpp	Wed May 22 15:46:40 2019 +0000
+++ b/main.cpp	Wed May 22 20:07:49 2019 +0000
@@ -69,27 +69,26 @@
         canProcessRx();
         f_mesure();//dt35
 
+        automate_ventouse_presentoir_avant();
+        automate_ventouse_goldenium_avant();
+        automate_ventouse_relache_avant();
+        automate_ventouse_accelerateur_avant();
 
 #ifdef ROBOT_SMALL
-        automate_ventouse_presentoir_avant();
         automate_ventouse_presentoir_arriere();
 
-        automate_ventouse_goldenium_avant();
         automate_ventouse_goldenium_arriere();
 
         automate_ventouse_sol_avant();
         automate_ventouse_sol_arriere();
 
-        automate_ventouse_balance_avant();
         automate_ventouse_balance_arriere();
 
-        automate_ventouse_relache_avant();
         automate_ventouse_relache_arriere();
 
         automate_ventouse_sol_avant_relache();
         automate_ventouse_sol_arriere_relache();
 
-        automate_ventouse_accelerateur_avant();
         automate_ventouse_accelerateur_arriere();
 #endif
 
@@ -167,6 +166,54 @@
                 can.write(msgTx);
                 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
                 break;
+                
+            case PRESENTOIR_AVANT:
+                fpresentoir_avant=1;
+                break;
+
+            case BALANCE_AVANT:
+                fbalance_avant=1;
+                break;
+
+            case ACCELERATEUR_AVANT:
+                faccelerateur_avant=1;
+                break;
+
+            case GOLDENIUM_AVANT:
+                fgoldenium_avant=1;
+                break;
+
+            case VENTOUSE_AV_CENTRE_BALANCE:
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+                goldenium_avant();
+                verification();
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                break;
+
+            case AVANT_RELACHE:
+                favant_relache=1;
+                break;
+
+//--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
+
+
+            case HACHEUR_STATUT_VENTOUSES:
+                status_pompe = msgRxBuffer[FIFO_lecture].data[1];
+                //can.write(CANMessage(0x529, &status_pompe,1));
+                break;
+
+            case HACHEUR_GET_ATOM_ACK:
+                status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
+                //can.write(CANMessage(0x529, &status_pompe,1));
+                break;
+
+            case HACHEUR_RELEASE_ATOM_ACK :
+                status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
+                break;
+
+//-------------------------------------------------------------------------------------------------------------------------------------------
+
+            
 
 #ifdef ROBOT_SMALL
 //-------------------------------------------------------------------------Actions petit robot----------------------------------------------
@@ -176,34 +223,18 @@
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
-            case PRESENTOIR_AVANT:
-                fpresentoir_avant=1;
-                break;
-
             case PRESENTOIR_ARRIERE:
                 fpresentoir_arriere=1;
                 break;
 
-            case BALANCE_AVANT:
-                fbalance_avant=1;
-                break;
-
             case BALANCE_ARRIERE:
                 fbalance_arriere=1;
                 break;
 
-            case ACCELERATEUR_AVANT:
-                faccelerateur_avant=1;
-                break;
-
             case ACCELERATEUR_ARRIERE:
                 faccelerateur_arriere=1;
                 break;
 
-            case GOLDENIUM_AVANT:
-                fgoldenium_avant=1;
-                break;
-
             case GOLDENIUM_ARRIERE:
                 fgoldenium_arriere=1;
                 break;
@@ -223,9 +254,6 @@
             case SOL_ARRIERE_RELACHE:
                 fsol_arriere_relache=1;
                 break;
-            case AVANT_RELACHE:
-                favant_relache=1;
-                break;
 
             case ARRIERE_RELACHE:
                 farriere_relache=1;
@@ -238,14 +266,6 @@
                 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();
@@ -254,37 +274,14 @@
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
 
-//--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
-
-
-            case HACHEUR_STATUT_VENTOUSES:
-                status_pompe = msgRxBuffer[FIFO_lecture].data[1];
-                //can.write(CANMessage(0x529, &status_pompe,1));
-                break;
-
-            case HACHEUR_GET_ATOM_ACK:
-                status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
-                //can.write(CANMessage(0x529, &status_pompe,1));
-                break;
-
-            case HACHEUR_RELEASE_ATOM_ACK :
-                status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
-                break;
-
-
-//-------------------------------------------------------------------------------------------------------------------------------------------
-
 
 #endif
+
 #ifdef ROBOT_BIG
             case ASCENSEUR:
                 flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0];
                 break;
 
-            case 5:
-
-                break;
-
 #endif
         }
         FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;