CRAC Team / Mbed 2 deprecated carte_esclave201_petit_rob

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Dependencies:   mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

ident_crac.h@12:191486ba5118, 2019-05-20 (annotated)

Committer:
Artiom
Date:
Mon May 20 17:34:39 2019 +0000
Revision:
12:191486ba5118
Parent:
4:4a79942713fa
Child:
13:9e19048eb065
automate balance avant/arriere

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Artiom 0:bc74da1c502f 1 #ifndef CRAC_IDENTH
Artiom 0:bc74da1c502f 2 #define CRAC_IDENTH
Artiom 0:bc74da1c502f 3
Artiom 0:bc74da1c502f 4 #define ROBOT_SMALL
Artiom 0:bc74da1c502f 5
Artiom 0:bc74da1c502f 6 #define GLOBAL_GAME_END 0x004 // Stop fin du match
Artiom 0:bc74da1c502f 7 #define GLOBAL_START 0x002 // Start
Artiom 0:bc74da1c502f 8 #define GLOBAL_END_INIT_POSITION 0x005 // Fin positionnement robot avant depart
Artiom 0:bc74da1c502f 9 #define GLOBAL_FUNNY_ACTION 0x007 // Funny action start (0: start, 1: stop)
Artiom 0:bc74da1c502f 10 #define GLOBAL_JACK 0x008
Artiom 0:bc74da1c502f 11 #define ACKNOWLEDGE_JACK 0X009
Artiom 0:bc74da1c502f 12
Artiom 0:bc74da1c502f 13 #define BALISE_STOP 0x003 // Trame stop
Artiom 0:bc74da1c502f 14
Artiom 0:bc74da1c502f 15 #define BALISE_DANGER 0xA // Trame danger
Artiom 0:bc74da1c502f 16
Artiom 0:bc74da1c502f 17 #define BALISE_END_DANGER 0xB // Trame fin de danger
Artiom 0:bc74da1c502f 18
Artiom 0:bc74da1c502f 19
Artiom 0:bc74da1c502f 20 #define ASSERVISSEMENT_STOP 0x001 // Stop moteur
Artiom 0:bc74da1c502f 21 #define ASSERVISSEMENT_SPEED_DANGER 0x006 // Vitesse de danger
Artiom 0:bc74da1c502f 22 #define ASSERVISSEMENT_XYT 0x020 // Asservissement (x,y,theta) (0 : au choix 1 : avant -1 : arrière)
Artiom 0:bc74da1c502f 23 #define ASSERVISSEMENT_COURBURE 0x021 // Asservissement rayon de courbure (+ gauche, - droite , sens : 1avt , -1arr; enchainement => 1 oui, 0 => non, 2=>derniére instruction de l'enchainement)
Artiom 0:bc74da1c502f 24 #define ASSERVISSEMENT_CONFIG 0x022 // Asservissement paramètre (définir les valeurs de vitesse max et d'eccélération max)
Artiom 0:bc74da1c502f 25 #define ASSERVISSEMENT_ROTATION 0x023 // Asservissement rotation
Artiom 0:bc74da1c502f 26 #define ASSERVISSEMENT_RECALAGE 0x024 // Moteur tout droit (recalage : 0 mouvement seul, 1 x, 2y valeur : coordonnée à laquelle est recalé x/y; enchainement => 1 oui, 0 => non)
Artiom 0:bc74da1c502f 27 #define ACTION_BIG_DEMARRAGE 0x025 // Action de départ du GR (Lancement de la trajectoire de départ du GR)
Artiom 0:bc74da1c502f 28 #define ODOMETRIE_BIG_POSITION 0x026 // Odométrie position robot (Position actuel du robot)
Artiom 0:bc74da1c502f 29 #define ODOMETRIE_BIG_VITESSE 0x027 // Odométrie vitesse (Indication sur l'état actuel)
Artiom 0:bc74da1c502f 30 #define ODOMETRIE_SMALL_POSITION 0x028 // Odométrie position robot (Position actuel du robot)
Artiom 0:bc74da1c502f 31 #define ODOMETRIE_SMALL_VITESSE 0x029 // Odométrie vitesse (Indication sur l'état actuel)
Artiom 0:bc74da1c502f 32
Artiom 0:bc74da1c502f 33
Artiom 0:bc74da1c502f 34
Artiom 0:bc74da1c502f 35 #define ASSERVISSEMENT_CONFIG_DECEL 0x019 // Asservissement paramètre (définir les valeurs de vitesse max et de decélération max)
Artiom 0:bc74da1c502f 36
Artiom 0:bc74da1c502f 37
Artiom 0:bc74da1c502f 38 //////////////////////////////////////////////////////////RESETS///////////////////////////////////////////////////
Artiom 0:bc74da1c502f 39 #define RESET_BALISE 0x030 // Reset balise
Artiom 0:bc74da1c502f 40 #define RESET_MOTEUR 0x031 // Reset moteur
Artiom 0:bc74da1c502f 41 #define RESET_IHM 0x032 // Reset écran tactile
Artiom 0:bc74da1c502f 42 #define RESET_ACTIONNEURS 0x033 // Reset actionneurs
Artiom 0:bc74da1c502f 43 #define RESET_POMPES 0x034 // Reset pompes
Artiom 0:bc74da1c502f 44 #define RESET_AX12 0x035 // Reset AX12
Artiom 0:bc74da1c502f 45 #define RESET_TELEMETRE 0x036 // Reset telemetre
Artiom 0:bc74da1c502f 46
Artiom 0:bc74da1c502f 47
Artiom 0:bc74da1c502f 48
Artiom 0:bc74da1c502f 49 #define RESET_STRAT 0x3A // Reset stratégie
Artiom 0:bc74da1c502f 50
Artiom 0:bc74da1c502f 51 //////////////////////////////////////////////////////////CHECK CARTES/////////////////////////////////////////////////
Artiom 0:bc74da1c502f 52 #define CHECK_BALISE 0x060 // Check balise
Artiom 0:bc74da1c502f 53 #define CHECK_MOTEUR 0x061 // Check moteur
Artiom 0:bc74da1c502f 54 #define CHECK_IHM 0x062 // Check écran tactile
Artiom 0:bc74da1c502f 55 #define CHECK_ACTIONNEURS_AVANT 0x063 // Check actionneurs
Artiom 0:bc74da1c502f 56 #define CHECK_ACTIONNEURS_ARRIERE 0x064 // Check pompes
Artiom 0:bc74da1c502f 57 #define CHECK_AX12 0x065 // Check AX12
Artiom 0:bc74da1c502f 58 #define CHECK_OK_TELEMETRE 0x066 // Check telemetre
Artiom 0:bc74da1c502f 59
Artiom 0:bc74da1c502f 60 //////////////////////////////////////////////////////////ACK CARTES///////////////////////////////////////////////////
Artiom 0:bc74da1c502f 61 #define ALIVE_BALISE 0x070 // Alive balise
Artiom 0:bc74da1c502f 62 #define ALIVE_MOTEUR 0x071 // Alive moteur
Artiom 0:bc74da1c502f 63 #define ALIVE_IHM 0x072 // Alive écran tactile
Artiom 0:bc74da1c502f 64 #define ALIVE_ACTIONNEURS_AVANT 0x073 // Alive actionneurs
Artiom 0:bc74da1c502f 65 #define ALIVE_ACTIONNEURS_ARRIERE 0x074 // Alive pompes
Artiom 0:bc74da1c502f 66 #define ALIVE_AX12 0x075 // Alive AX12
Artiom 0:bc74da1c502f 67 #define ALIVE_TELEMETRE 0x076 // Alive telemetre
Artiom 0:bc74da1c502f 68
Artiom 0:bc74da1c502f 69
Artiom 0:bc74da1c502f 70 /////////////////////////////////////////////////////ACTIONS COMPLEXES/////////////////////////////////////////////////
Artiom 0:bc74da1c502f 71 #define MONTER_IMMEUBLE_DOUBLE 0x090 // Monte deux immeubles selon un code couleur
Artiom 0:bc74da1c502f 72 #define MONTER_IMMEUBLE 0x091
Artiom 0:bc74da1c502f 73 #define ACK_ACTION 0x99 //autre action possible via les herkulex, ne peut pas passer en sendrawid
Artiom 0:bc74da1c502f 74
Artiom 0:bc74da1c502f 75
Artiom 0:bc74da1c502f 76
Artiom 0:bc74da1c502f 77 /////////////////////////////////////////////////////////ACKS////////////////////////////////////////////////////////////
Artiom 0:bc74da1c502f 78 #define ACKNOWLEDGE_BALISE 0x100 // Acknowledge balise
Artiom 0:bc74da1c502f 79 #define ACKNOWLEDGE_MOTEUR 0x101 // Acknowledge moteur
Artiom 0:bc74da1c502f 80 #define ACKNOWLEDGE_IHM 0x102 // Acknowledge ecran tactile
Artiom 0:bc74da1c502f 81 #define ACKNOWLEDGE_ACTIONNEURS 0x103 // Acknowledge actionneurs
Artiom 0:bc74da1c502f 82 #define ACKNOWLEDGE_POMPES 0x104 // Acknowledge pompes
Artiom 0:bc74da1c502f 83 #define ACKNOWLEDGE_TELEMETRE 0x105 // Acknowledge telemetre
Artiom 0:bc74da1c502f 84 #define ACKNOWLEDGE_HERKULEX 0x106 // Ack ax12
Artiom 4:4a79942713fa 85 #define ACKNOWLEGDE_
Artiom 0:bc74da1c502f 86 #define ACKNOWLEDGE_STRAT 0x10A // Acknowledge pompes
Artiom 0:bc74da1c502f 87 #define ACKNOWLEDGE_CAMERA 0x108 //Acknowledge couleur caméra
Artiom 0:bc74da1c502f 88
Artiom 0:bc74da1c502f 89
Artiom 0:bc74da1c502f 90 #define INSTRUCTION_END_BALISE 0x110 // Fin instruction balise (Indique que l'instruction est terminée)
Artiom 0:bc74da1c502f 91 #define INSTRUCTION_END_MOTEUR 0x111 // Fin instruction moteur (Indique que l'instruction est terminée)
Artiom 0:bc74da1c502f 92 #define INSTRUCTION_END_IHM 0x112 // Fin instruction ecran tactile (Indique que l'instruction est terminée)
Artiom 0:bc74da1c502f 93 #define INSTRUCTION_END_ACTIONNEURS 0x113 // Fin instruction actionneurs (Indique que l'instruction est terminée)
Artiom 0:bc74da1c502f 94 #define ACK_FIN_ACTION 0x116
Artiom 0:bc74da1c502f 95
Artiom 0:bc74da1c502f 96
Artiom 0:bc74da1c502f 97
Artiom 0:bc74da1c502f 98 /////////////////////////////////////////////////////////ERREURS////////////////////////////////////////////////////////
Artiom 0:bc74da1c502f 99 #define ERROR_OVERFLOW_BALISE 0x040 // Overflow odométrie
Artiom 0:bc74da1c502f 100 #define ERROR_OVERFLOW_MOTEUR 0x041 // Overflow asservissement
Artiom 0:bc74da1c502f 101 #define ERROR_OVERFLOW_IHM 0x042 // Overflow balise
Artiom 0:bc74da1c502f 102 #define ERROR_OVERFLOW_STRAT 0x043 // Overflow stratégie
Artiom 0:bc74da1c502f 103 #define ERROR_BALISE 0x785 // Bug balise
Artiom 0:bc74da1c502f 104 #define ERROR_RTC 0x786 // Bug RTC
Artiom 0:bc74da1c502f 105 #define ERROR_MOTEUR 0x787 // Bug moteur
Artiom 0:bc74da1c502f 106 #define ERROR_TELEMETRIE 0x788 // Bug télémètre
Artiom 0:bc74da1c502f 107 #define ERROR_STRATEGIE 0x789 // Bug stratégie
Artiom 0:bc74da1c502f 108
Artiom 0:bc74da1c502f 109
Artiom 0:bc74da1c502f 110
Artiom 0:bc74da1c502f 111 /////////////////////////////////////////////////ACTIONS SIMPLES DU ROBOT/////////////////////////////////////////////
Artiom 0:bc74da1c502f 112 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Artiom 3:e2336813297b 113 #define GABARIT_PETIT_ROBOT 0x200
Artiom 0:bc74da1c502f 114
Artiom 3:e2336813297b 115 #define PRESENTOIR_AVANT 0x201
Artiom 3:e2336813297b 116 #define PRESENTOIR_ARRIERE 0x202
Artiom 0:bc74da1c502f 117
Artiom 3:e2336813297b 118 #define BALANCE_AVANT 0x203
Artiom 3:e2336813297b 119 #define BALANCE_ARRIERE 0x204
Artiom 0:bc74da1c502f 120
Artiom 3:e2336813297b 121 #define ACCELERATEUR_AVANT 0x205
Artiom 3:e2336813297b 122 #define ACCELERATEUR_ARRIERE 0x206
Artiom 2:9e63099cca99 123
Artiom 3:e2336813297b 124 #define GOLDENIUM_AVANT 0x207
Artiom 3:e2336813297b 125 #define GOLDENIUM_ARRIERE 0x208
Artiom 0:bc74da1c502f 126
Artiom 3:e2336813297b 127 #define SOL_AVANT 0x209
Artiom 3:e2336813297b 128 #define SOL_ARRIERE 0x210
Artiom 2:9e63099cca99 129
Artiom 3:e2336813297b 130 #define SOL_AVANT_RELACHE 0x211
Artiom 3:e2336813297b 131 #define SOL_ARRIERE_RELACHE 0x212
Artiom 2:9e63099cca99 132
Artiom 12:191486ba5118 133 #define AVANT_RELACHE 0x213
Artiom 12:191486ba5118 134 #define ARRIERE_RELACHE 0x214
Artiom 12:191486ba5118 135
Artiom 0:bc74da1c502f 136
Artiom 0:bc74da1c502f 137 ///////////////////////////////////////////CAPTEURS///////////////////////////////////////////////////////////////////
Artiom 3:e2336813297b 138 #define DATA_TELEMETRE 0x310 // Demande sa valeur à un télémètre parmis les
Artiom 3:e2336813297b 139 #define RECEPTION_DATA 0x311 // envoi de la valeur d'un des télémètres
Artiom 3:e2336813297b 140 #define TELEMETRE_OBJET 0x312
Artiom 3:e2336813297b 141 #define OBJET_SUR_TABLE 0x313
Artiom 3:e2336813297b 142 #define RECEPTION_RECALAGE 0x315 //Valeur des télémètres
Artiom 3:e2336813297b 143 #define DATA_RECALAGE 0x316 //Demande de la valeur de tous les télémètres afin de procèder au récalage
Artiom 3:e2336813297b 144 #define LIRE_PANNEAU 0x317
Artiom 3:e2336813297b 145 #define VIBRO 0x318
Artiom 0:bc74da1c502f 146 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Artiom 2:9e63099cca99 147 #define HACHEUR_GET_ATOM 0x520
Artiom 2:9e63099cca99 148 #define HACHEUR_GET_ATOM_ACK 0x521
Artiom 2:9e63099cca99 149
Artiom 2:9e63099cca99 150 #define HACHEUR_RELEASE_ATOM 0x522
Artiom 2:9e63099cca99 151 #define HACHEUR_RELEASE_ATOM_ACK 0x523
Artiom 2:9e63099cca99 152
Artiom 1:568955af8c2b 153 #define HACHEUR_GET_PRESENTOIR_AV 0x524
Artiom 2:9e63099cca99 154 #define HACHEUR_RELEASE_AV 0x525
Artiom 0:bc74da1c502f 155
Artiom 2:9e63099cca99 156 #define HACHEUR_GET_PRESENTOIR_AR 0x526
Artiom 2:9e63099cca99 157 #define HACHEUR_RELEASE_AR 0x527
Artiom 2:9e63099cca99 158
Artiom 2:9e63099cca99 159 #define HACHEUR_STATUT_VENTOUSES 0x528
Artiom 2:9e63099cca99 160
Artiom 4:4a79942713fa 161
Artiom 1:568955af8c2b 162
Artiom 4:4a79942713fa 163
Artiom 0:bc74da1c502f 164 ///////////////////////////////////////////////////ENVOI DE PARAMETRES//////////////////////////////////////////////////
Artiom 0:bc74da1c502f 165 #define CHOICE_COLOR 0x602 // Couleur (0->VERT;1->ORANGE)
Artiom 0:bc74da1c502f 166 #define RECEPTION_COULEUR 0x603 //Code Couleur
Artiom 0:bc74da1c502f 167 #define ECRAN_ALL_CHECK 0x620 // Carte all check (Si provient de carte strat => toutes les cartes sont en ligne, Si provient IHM => forcer le lancement)
Artiom 0:bc74da1c502f 168
Artiom 0:bc74da1c502f 169 ///////////////////////////////////////////////////////////DEBUGS///////////////////////////////////////////////////////
Artiom 0:bc74da1c502f 170 #define DEBUG_STRATEGIE_AUTOMATE 0x760 // Etat automate stratégie (Permet de savoir l'etat de l'automate)
Artiom 0:bc74da1c502f 171 #define DEBUG_FAKE_JAKE 0x761 // Fake jack (Permet d'outre passerr le JACk du robot)
Artiom 0:bc74da1c502f 172 #define DEBUG_ASSERV 0x762 // Info debug carte moteur
Artiom 0:bc74da1c502f 173
Artiom 0:bc74da1c502f 174
Artiom 0:bc74da1c502f 175
Artiom 0:bc74da1c502f 176 #define POMPE_PWM 0x9A // pwm des pompes (pwm entre 0 et 100)
Artiom 0:bc74da1c502f 177
Artiom 0:bc74da1c502f 178
Artiom 0:bc74da1c502f 179 #define ASSERVISSEMENT_INFO_CONSIGNE 0x1F0 // Info Consigne et Commande moteur
Artiom 0:bc74da1c502f 180 #define ASSERVISSEMENT_CONFIG_KPP_DROITE 0x1F1 // Config coef KPP_Droit
Artiom 0:bc74da1c502f 181 #define ASSERVISSEMENT_CONFIG_KPI_DROITE 0x1F2 // Config coef KPI_Droit
Artiom 0:bc74da1c502f 182 #define ASSERVISSEMENT_CONFIG_KPD_DROITE 0x1F3 // Config coef KPD_Droit
Artiom 0:bc74da1c502f 183 #define ASSERVISSEMENT_CONFIG_KPP_GAUCHE 0x1F4 // Config coef KPP_Gauche
Artiom 0:bc74da1c502f 184 #define ASSERVISSEMENT_CONFIG_KPI_GAUCHE 0x1F5 // Config coef KPI_Gauche
Artiom 0:bc74da1c502f 185 #define ASSERVISSEMENT_CONFIG_KPD_GAUCHE 0x1F6 // Config coef KPD_Gauche
Artiom 0:bc74da1c502f 186 #define ASSERVISSEMENT_ENABLE 0x1F7 // Activation asservissement (0 : désactivation, 1 : activation)
Artiom 2:9e63099cca99 187
Artiom 0:bc74da1c502f 188 #endif