carte esclave petit robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
main.cpp@5:6e198cdd99ad, 2019-05-14 (annotated)
- Committer:
- Artiom
- Date:
- Tue May 14 15:09:14 2019 +0000
- Revision:
- 5:6e198cdd99ad
- Parent:
- 4:4a79942713fa
- Child:
- 6:45f9cf44718a
automate ack ventouse face avant/arriere fonctionel
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 | 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 | 4:4a79942713fa | 18 | char fpresentoir_avant=0; |
Artiom | 5:6e198cdd99ad | 19 | char fpresentoir_arriere=0; |
Artiom | 4:4a79942713fa | 20 | |
Artiom | 4:4a79942713fa | 21 | char status_pompe=0; |
Artiom | 4:4a79942713fa | 22 | |
Artiom | 0:bc74da1c502f | 23 | void canRx_ISR (void); |
Artiom | 0:bc74da1c502f | 24 | void SendAck(unsigned short id, unsigned short from); |
Artiom | 0:bc74da1c502f | 25 | void SendRawId (unsigned short id); |
Artiom | 0:bc74da1c502f | 26 | void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement); |
Artiom | 0:bc74da1c502f | 27 | void canProcessRx(void); |
Artiom | 4:4a79942713fa | 28 | void automate_ventouse_presentoir_avant(void); |
Artiom | 5:6e198cdd99ad | 29 | void automate_ventouse_presentoir_arriere (void); |
Artiom | 0:bc74da1c502f | 30 | |
Artiom | 0:bc74da1c502f | 31 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 32 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 33 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 34 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 35 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 36 | { |
Artiom | 0:bc74da1c502f | 37 | if (can.read(msgRxBuffer[FIFO_ecriture])) { |
Artiom | 0:bc74da1c502f | 38 | if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) { |
Artiom | 0:bc74da1c502f | 39 | |
Artiom | 0:bc74da1c502f | 40 | } |
Artiom | 0:bc74da1c502f | 41 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 42 | |
Artiom | 0:bc74da1c502f | 43 | } |
Artiom | 0:bc74da1c502f | 44 | |
Artiom | 0:bc74da1c502f | 45 | } |
Artiom | 0:bc74da1c502f | 46 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 47 | /* FUNCTION NAME: SendAck */ |
Artiom | 0:bc74da1c502f | 48 | /* DESCRIPTION : */ |
Artiom | 0:bc74da1c502f | 49 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 50 | 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 | 51 | { |
Artiom | 0:bc74da1c502f | 52 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 53 | msgTx.id=from; //waitingAckFrom |
Artiom | 0:bc74da1c502f | 54 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 55 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 56 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 57 | // from sur 2 octets |
Artiom | 0:bc74da1c502f | 58 | msgTx.data[0]=(unsigned char)id; //waitingAckID |
Artiom | 0:bc74da1c502f | 59 | msgTx.data[1]=(unsigned char)(id>>8); |
Artiom | 0:bc74da1c502f | 60 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 61 | } |
Artiom | 0:bc74da1c502f | 62 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 63 | /* FUNCTION NAME: SendRawId */ |
Artiom | 0:bc74da1c502f | 64 | /* DESCRIPTION : */ |
Artiom | 0:bc74da1c502f | 65 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 66 | void SendRawId (unsigned short id) |
Artiom | 0:bc74da1c502f | 67 | { |
Artiom | 0:bc74da1c502f | 68 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 69 | msgTx.id=id; |
Artiom | 0:bc74da1c502f | 70 | msgTx.len=0; |
Artiom | 0:bc74da1c502f | 71 | can.write(msgTx); //carte esclave f446re |
Artiom | 0:bc74da1c502f | 72 | wait_us(200); |
Artiom | 0:bc74da1c502f | 73 | } |
Artiom | 0:bc74da1c502f | 74 | |
Artiom | 0:bc74da1c502f | 75 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 76 | /* FUNCTION NAME: GoStraight */ |
Artiom | 0:bc74da1c502f | 77 | /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */ |
Artiom | 0:bc74da1c502f | 78 | /* recalage : 0 => pas de recalage */ |
Artiom | 0:bc74da1c502f | 79 | /* 1 => recalage en X */ |
Artiom | 0:bc74da1c502f | 80 | /* 2 => Recalage en Y */ |
Artiom | 0:bc74da1c502f | 81 | /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */ |
Artiom | 0:bc74da1c502f | 82 | /* isEnchainement : Indique si il faut executer l'instruction en enchainement */ |
Artiom | 0:bc74da1c502f | 83 | /* 0 => non */ |
Artiom | 0:bc74da1c502f | 84 | /* 1 => oui */ |
Artiom | 0:bc74da1c502f | 85 | /* 2 => dernière instruction de l'enchainement */ |
Artiom | 0:bc74da1c502f | 86 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 87 | void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement) |
Artiom | 0:bc74da1c502f | 88 | { |
Artiom | 0:bc74da1c502f | 89 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 90 | msgTx.id=ASSERVISSEMENT_RECALAGE; |
Artiom | 0:bc74da1c502f | 91 | msgTx.len=6; |
Artiom | 0:bc74da1c502f | 92 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 93 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 94 | // x sur 2 octets |
Artiom | 0:bc74da1c502f | 95 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 96 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 97 | //Recalage sur 1 octet |
Artiom | 0:bc74da1c502f | 98 | msgTx.data[2]=recalage; |
Artiom | 0:bc74da1c502f | 99 | //Valeur du recalage sur 2 octets |
Artiom | 0:bc74da1c502f | 100 | msgTx.data[3]=(unsigned char)newValue; |
Artiom | 0:bc74da1c502f | 101 | msgTx.data[4]=(unsigned char)(newValue>>8); |
Artiom | 0:bc74da1c502f | 102 | //Enchainement sur 1 octet |
Artiom | 0:bc74da1c502f | 103 | msgTx.data[5]=isEnchainement; |
Artiom | 0:bc74da1c502f | 104 | |
Artiom | 0:bc74da1c502f | 105 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 106 | //wait_ms(500); |
Artiom | 0:bc74da1c502f | 107 | } |
Artiom | 0:bc74da1c502f | 108 | |
Artiom | 0:bc74da1c502f | 109 | int main() |
Artiom | 0:bc74da1c502f | 110 | { |
Artiom | 0:bc74da1c502f | 111 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
Artiom | 0:bc74da1c502f | 112 | servo_interrupt_en(); //permettre les interuptions |
Artiom | 0:bc74da1c502f | 113 | wait(1);//attente servo boot |
Artiom | 2:9e63099cca99 | 114 | gabarit_petit_robot(); |
Artiom | 0:bc74da1c502f | 115 | |
Artiom | 0:bc74da1c502f | 116 | while(1) { |
Artiom | 0:bc74da1c502f | 117 | canProcessRx(); |
Artiom | 4:4a79942713fa | 118 | automate_ventouse_presentoir_avant(); |
Artiom | 5:6e198cdd99ad | 119 | automate_ventouse_presentoir_arriere(); |
Artiom | 0:bc74da1c502f | 120 | if(EtatGameEnd==1) { |
Artiom | 0:bc74da1c502f | 121 | while(1); |
Artiom | 0:bc74da1c502f | 122 | } |
Artiom | 0:bc74da1c502f | 123 | |
Artiom | 0:bc74da1c502f | 124 | } |
Artiom | 0:bc74da1c502f | 125 | } |
Artiom | 0:bc74da1c502f | 126 | |
Artiom | 0:bc74da1c502f | 127 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 128 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 129 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 130 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 131 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 132 | { |
Artiom | 0:bc74da1c502f | 133 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 134 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 135 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 136 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 137 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 138 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 139 | FIFO_max_occupation=FIFO_occupation; |
Artiom | 0:bc74da1c502f | 140 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 141 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 142 | |
Artiom | 0:bc74da1c502f | 143 | switch(identifiant) { |
Artiom | 0:bc74da1c502f | 144 | |
Artiom | 0:bc74da1c502f | 145 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 146 | EtatGameEnd = 1; |
Artiom | 0:bc74da1c502f | 147 | break; |
Artiom | 0:bc74da1c502f | 148 | |
Artiom | 0:bc74da1c502f | 149 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 150 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 151 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 152 | |
Artiom | 0:bc74da1c502f | 153 | |
Artiom | 0:bc74da1c502f | 154 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 155 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 156 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 157 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 158 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 159 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 160 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 161 | |
Artiom | 0:bc74da1c502f | 162 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 163 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 164 | break; |
Artiom | 0:bc74da1c502f | 165 | |
Artiom | 0:bc74da1c502f | 166 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 167 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 168 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 169 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 170 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 171 | |
Artiom | 0:bc74da1c502f | 172 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 173 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 174 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 175 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 176 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 177 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 178 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 179 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 180 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 181 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 182 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 183 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 184 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 185 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 186 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 187 | break; |
Artiom | 0:bc74da1c502f | 188 | |
Artiom | 0:bc74da1c502f | 189 | #ifdef ROBOT_SMALL |
Artiom | 4:4a79942713fa | 190 | //-------------------------------------------------------------------------Actions petit robot---------------------------------------------- |
Artiom | 2:9e63099cca99 | 191 | case GABARIT_PETIT_ROBOT: |
Artiom | 2:9e63099cca99 | 192 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 193 | gabarit_petit_robot(); |
Artiom | 2:9e63099cca99 | 194 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 0:bc74da1c502f | 195 | break; |
Artiom | 0:bc74da1c502f | 196 | |
Artiom | 0:bc74da1c502f | 197 | case PRESENTOIR_AVANT: |
Artiom | 4:4a79942713fa | 198 | fpresentoir_avant=1; |
Artiom | 0:bc74da1c502f | 199 | break; |
Artiom | 0:bc74da1c502f | 200 | |
Artiom | 0:bc74da1c502f | 201 | case PRESENTOIR_ARRIERE: |
Artiom | 5:6e198cdd99ad | 202 | fpresentoir_arriere=1; |
Artiom | 0:bc74da1c502f | 203 | break; |
Artiom | 0:bc74da1c502f | 204 | |
Artiom | 0:bc74da1c502f | 205 | case BALANCE_AVANT: |
Artiom | 2:9e63099cca99 | 206 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 0:bc74da1c502f | 207 | balance_avant(); |
Artiom | 2:9e63099cca99 | 208 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 0:bc74da1c502f | 209 | break; |
Artiom | 0:bc74da1c502f | 210 | |
Artiom | 0:bc74da1c502f | 211 | case BALANCE_ARRIERE: |
Artiom | 2:9e63099cca99 | 212 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 0:bc74da1c502f | 213 | balance_arriere(); |
Artiom | 2:9e63099cca99 | 214 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 215 | break; |
Artiom | 2:9e63099cca99 | 216 | |
Artiom | 2:9e63099cca99 | 217 | case ACCELERATEUR_AVANT: |
Artiom | 2:9e63099cca99 | 218 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 219 | accelerateur_avant(); |
Artiom | 2:9e63099cca99 | 220 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 221 | break; |
Artiom | 2:9e63099cca99 | 222 | |
Artiom | 2:9e63099cca99 | 223 | case ACCELERATEUR_ARRIERE: |
Artiom | 2:9e63099cca99 | 224 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 225 | accelerateur_arriere(); |
Artiom | 2:9e63099cca99 | 226 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 227 | break; |
Artiom | 2:9e63099cca99 | 228 | case GOLDENIUM_AVANT: |
Artiom | 2:9e63099cca99 | 229 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 230 | balance_avant(); |
Artiom | 2:9e63099cca99 | 231 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 232 | break; |
Artiom | 2:9e63099cca99 | 233 | |
Artiom | 2:9e63099cca99 | 234 | case GOLDENIUM_ARRIERE: |
Artiom | 2:9e63099cca99 | 235 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 236 | balance_arriere(); |
Artiom | 2:9e63099cca99 | 237 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 238 | break; |
Artiom | 2:9e63099cca99 | 239 | case SOL_AVANT: |
Artiom | 2:9e63099cca99 | 240 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 241 | sol_avant(); |
Artiom | 2:9e63099cca99 | 242 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 243 | break; |
Artiom | 2:9e63099cca99 | 244 | |
Artiom | 2:9e63099cca99 | 245 | case SOL_ARRIERE: |
Artiom | 2:9e63099cca99 | 246 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 247 | sol_arriere(); |
Artiom | 2:9e63099cca99 | 248 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 249 | break; |
Artiom | 2:9e63099cca99 | 250 | |
Artiom | 2:9e63099cca99 | 251 | case SOL_AVANT_RELACHE: |
Artiom | 2:9e63099cca99 | 252 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 253 | sol_avant_relache(); |
Artiom | 2:9e63099cca99 | 254 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 2:9e63099cca99 | 255 | break; |
Artiom | 2:9e63099cca99 | 256 | |
Artiom | 2:9e63099cca99 | 257 | case SOL_ARRIERE_RELACHE: |
Artiom | 2:9e63099cca99 | 258 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 259 | sol_arriere_relache(); |
Artiom | 2:9e63099cca99 | 260 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 0:bc74da1c502f | 261 | break; |
Artiom | 4:4a79942713fa | 262 | //--------------------------------------------------------------------------ACK carte pompe---------------------------------------------- |
Artiom | 4:4a79942713fa | 263 | |
Artiom | 4:4a79942713fa | 264 | |
Artiom | 4:4a79942713fa | 265 | case HACHEUR_STATUT_VENTOUSES: |
Artiom | 4:4a79942713fa | 266 | status_pompe = msgRxBuffer[FIFO_lecture].data[1]; |
Artiom | 5:6e198cdd99ad | 267 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 268 | break; |
Artiom | 4:4a79942713fa | 269 | |
Artiom | 4:4a79942713fa | 270 | case HACHEUR_GET_ATOM_ACK: |
Artiom | 4:4a79942713fa | 271 | status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 5:6e198cdd99ad | 272 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 273 | break; |
Artiom | 4:4a79942713fa | 274 | |
Artiom | 4:4a79942713fa | 275 | case HACHEUR_RELEASE_ATOM_ACK : |
Artiom | 4:4a79942713fa | 276 | status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 4:4a79942713fa | 277 | break; |
Artiom | 4:4a79942713fa | 278 | //------------------------------------------------------------------------------------------------------------------------------------------- |
Artiom | 4:4a79942713fa | 279 | |
Artiom | 0:bc74da1c502f | 280 | |
Artiom | 0:bc74da1c502f | 281 | #endif |
Artiom | 0:bc74da1c502f | 282 | #ifdef ROBOT_BIG |
Artiom | 0:bc74da1c502f | 283 | case 3: |
Artiom | 0:bc74da1c502f | 284 | |
Artiom | 0:bc74da1c502f | 285 | break; |
Artiom | 0:bc74da1c502f | 286 | |
Artiom | 0:bc74da1c502f | 287 | case 5: |
Artiom | 0:bc74da1c502f | 288 | |
Artiom | 0:bc74da1c502f | 289 | break; |
Artiom | 0:bc74da1c502f | 290 | |
Artiom | 0:bc74da1c502f | 291 | #endif |
Artiom | 0:bc74da1c502f | 292 | } |
Artiom | 0:bc74da1c502f | 293 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 294 | |
Artiom | 0:bc74da1c502f | 295 | } |
Artiom | 4:4a79942713fa | 296 | |
Artiom | 4:4a79942713fa | 297 | |
Artiom | 4:4a79942713fa | 298 | } |
Artiom | 4:4a79942713fa | 299 | |
Artiom | 4:4a79942713fa | 300 | void automate_ventouse_presentoir_avant (void) |
Artiom | 4:4a79942713fa | 301 | { |
Artiom | 4:4a79942713fa | 302 | |
Artiom | 4:4a79942713fa | 303 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 4:4a79942713fa | 304 | static type_etat etat = init; |
Artiom | 4:4a79942713fa | 305 | |
Artiom | 4:4a79942713fa | 306 | switch(etat) { |
Artiom | 4:4a79942713fa | 307 | case init: //attente d'initialisation |
Artiom | 4:4a79942713fa | 308 | if(fpresentoir_avant) |
Artiom | 4:4a79942713fa | 309 | etat=envoi_instruction; |
Artiom | 4:4a79942713fa | 310 | break; |
Artiom | 4:4a79942713fa | 311 | |
Artiom | 4:4a79942713fa | 312 | case envoi_instruction://envoi instruction |
Artiom | 4:4a79942713fa | 313 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 4:4a79942713fa | 314 | presentoir_avant(); |
Artiom | 5:6e198cdd99ad | 315 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 4:4a79942713fa | 316 | etat = attente_ack_ventouse; |
Artiom | 4:4a79942713fa | 317 | break; |
Artiom | 4:4a79942713fa | 318 | |
Artiom | 4:4a79942713fa | 319 | case attente_ack_ventouse: |
Artiom | 5:6e198cdd99ad | 320 | if((status_pompe&MASK_PRESENTOIR_AV)==MASK_PRESENTOIR_AV) { |
Artiom | 4:4a79942713fa | 321 | fpresentoir_avant=0; |
Artiom | 5:6e198cdd99ad | 322 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 4:4a79942713fa | 323 | etat = init; |
Artiom | 5:6e198cdd99ad | 324 | } |
Artiom | 5:6e198cdd99ad | 325 | break; |
Artiom | 5:6e198cdd99ad | 326 | |
Artiom | 5:6e198cdd99ad | 327 | } |
Artiom | 5:6e198cdd99ad | 328 | } |
Artiom | 5:6e198cdd99ad | 329 | void automate_ventouse_presentoir_arriere (void) |
Artiom | 5:6e198cdd99ad | 330 | { |
Artiom | 5:6e198cdd99ad | 331 | |
Artiom | 5:6e198cdd99ad | 332 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 5:6e198cdd99ad | 333 | static type_etat etat = init; |
Artiom | 5:6e198cdd99ad | 334 | |
Artiom | 5:6e198cdd99ad | 335 | switch(etat) { |
Artiom | 5:6e198cdd99ad | 336 | case init: //attente d'initialisation |
Artiom | 5:6e198cdd99ad | 337 | if(fpresentoir_arriere) |
Artiom | 5:6e198cdd99ad | 338 | etat=envoi_instruction; |
Artiom | 5:6e198cdd99ad | 339 | break; |
Artiom | 5:6e198cdd99ad | 340 | |
Artiom | 5:6e198cdd99ad | 341 | case envoi_instruction://envoi instruction |
Artiom | 5:6e198cdd99ad | 342 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 5:6e198cdd99ad | 343 | presentoir_arriere(); |
Artiom | 5:6e198cdd99ad | 344 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 5:6e198cdd99ad | 345 | etat = attente_ack_ventouse; |
Artiom | 5:6e198cdd99ad | 346 | break; |
Artiom | 5:6e198cdd99ad | 347 | |
Artiom | 5:6e198cdd99ad | 348 | case attente_ack_ventouse: |
Artiom | 5:6e198cdd99ad | 349 | if((status_pompe&MASK_PRESENTOIR_AR)==MASK_PRESENTOIR_AR) { |
Artiom | 5:6e198cdd99ad | 350 | fpresentoir_arriere=0; |
Artiom | 5:6e198cdd99ad | 351 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 5:6e198cdd99ad | 352 | etat = init; |
Artiom | 4:4a79942713fa | 353 | } |
Artiom | 4:4a79942713fa | 354 | break; |
Artiom | 4:4a79942713fa | 355 | |
Artiom | 4:4a79942713fa | 356 | } |
Artiom | 4:4a79942713fa | 357 | |
Artiom | 4:4a79942713fa | 358 | |
Artiom | 4:4a79942713fa | 359 | |
Artiom | 0:bc74da1c502f | 360 | } |