carte_esclave201_petit_rob - carte esclave petit robot

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CRAC Team / Mbed 2 deprecated carte_esclave201_petit_rob

carte esclave petit robot

Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

main.cpp@45:85dda95dbc87, 2019-05-25 (annotated)

Committer:: Artiom
Date:: Sat May 25 15:24:20 2019 +0000
Revision:: 45:85dda95dbc87
Parent:: 41:832128353732

Who changed what in which revision?

User	Revision	Line number	New contents of line
kyxstark	27:9627700d989f	1
Artiom	1:568955af8c2b	2	#include "main.h"
Artiom	0:bc74da1c502f	3
Artiom	0:bc74da1c502f	4	#define SIZE_FIFO 50
Artiom	0:bc74da1c502f	5
Artiom	30:d034f469359e	6
Artiom	0:bc74da1c502f	7	CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN
Artiom	0:bc74da1c502f	8
kyxstark	22:9e92a2b941ba	9	Serial pc(USBTX,USBRX);
Artiom	0:bc74da1c502f	10
Artiom	0:bc74da1c502f	11	CANMessage msgRxBuffer[SIZE_FIFO];
Artiom	0:bc74da1c502f	12	unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Artiom	0:bc74da1c502f	13	signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
Artiom	0:bc74da1c502f	14	unsigned char EtatGameEnd=0;
Artiom	0:bc74da1c502f	15
Artiom	32:e9947815c4d7	16	char cote;
Artiom	41:832128353732	17	unsigned short distance_recalage,distance_revenir;
Artiom	41:832128353732	18	unsigned short distance_goldenium;
Artiom	32:e9947815c4d7	19
Artiom	41:832128353732	20	Timer timeout;
Artiom	32:e9947815c4d7	21
kyxstark	21:edf6d03fdb20	22	void canProcessRx(void);
Artiom	12:191486ba5118	23
Artiom	12:191486ba5118	24
Artiom	0:bc74da1c502f	25	/*********************************************************************************************/
Artiom	0:bc74da1c502f	26	/* FUNCTION NAME: canRx_ISR */
Artiom	0:bc74da1c502f	27	/* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
Artiom	0:bc74da1c502f	28	/*********************************************************************************************/
Artiom	0:bc74da1c502f	29	void canRx_ISR (void)
Artiom	0:bc74da1c502f	30	{
Artiom	0:bc74da1c502f	31	if (can.read(msgRxBuffer[FIFO_ecriture])) {
Artiom	0:bc74da1c502f	32	if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) {
Artiom	0:bc74da1c502f	33
Artiom	0:bc74da1c502f	34	}
Artiom	0:bc74da1c502f	35	FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
Artiom	0:bc74da1c502f	36
Artiom	0:bc74da1c502f	37	}
Artiom	0:bc74da1c502f	38
Artiom	0:bc74da1c502f	39	}
Artiom	0:bc74da1c502f	40
Artiom	0:bc74da1c502f	41	int main()
Artiom	0:bc74da1c502f	42	{
Artiom	0:bc74da1c502f	43	can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
Artiom	0:bc74da1c502f	44	servo_interrupt_en(); //permettre les interuptions
Artiom	11:6c11c081c855	45
Artiom	0:bc74da1c502f	46	wait(1);//attente servo boot
Artiom	31:29500874c1cc	47
Artiom	31:29500874c1cc	48
kyxstark	21:edf6d03fdb20	49	#ifdef ROBOT_SMALL
kyxstark	22:9e92a2b941ba	50	pc.printf("\nPetit robot\n\n");
Artiom	32:e9947815c4d7	51	deverouillage_torque();
kyxstark	21:edf6d03fdb20	52	#endif
kyxstark	21:edf6d03fdb20	53
kyxstark	21:edf6d03fdb20	54
Artiom	31:29500874c1cc	55
kyxstark	21:edf6d03fdb20	56	#ifdef ROBOT_BIG
kyxstark	22:9e92a2b941ba	57	pc.printf("\nGros robot\n\n");
kyxstark	38:9295a9721acb	58	//clear(doigt,2);
kyxstark	38:9295a9721acb	59	//setTorque(doigt, TORQUE_ON,2);
kyxstark	38:9295a9721acb	60	deverouillage_torque();
kyxstark	21:edf6d03fdb20	61	positionControl(doigt,384,100,BLED_ON,2);
kyxstark	21:edf6d03fdb20	62	wait(1.0);
kyxstark	21:edf6d03fdb20	63	#endif
kyxstark	21:edf6d03fdb20	64
kyxstark	38:9295a9721acb	65	gabarit_robot();
kyxstark	38:9295a9721acb	66
kyxstark	21:edf6d03fdb20	67
kyxstark	22:9e92a2b941ba	68	pc.printf("\nLAUNCHED");
Artiom	0:bc74da1c502f	69	while(1) {
Artiom	0:bc74da1c502f	70	canProcessRx();
Artiom	41:832128353732	71	f_mesure();//dt35 distance
Artiom	11:6c11c081c855	72
kyxstark	21:edf6d03fdb20	73
kyxstark	21:edf6d03fdb20	74	#ifdef ROBOT_SMALL
Artiom	5:6e198cdd99ad	75	automate_ventouse_presentoir_arriere();
kyxstark	26:33c7ff467bd9	76	automate_ventouse_presentoir_avant();
Artiom	7:553f3f1c2c53	77
Artiom	6:45f9cf44718a	78	automate_ventouse_goldenium_arriere();
kyxstark	26:33c7ff467bd9	79	automate_ventouse_goldenium_avant();
Artiom	31:29500874c1cc	80
Artiom	6:45f9cf44718a	81	automate_ventouse_sol_avant();
Artiom	7:553f3f1c2c53	82	automate_ventouse_sol_arriere();
Artiom	7:553f3f1c2c53	83
kyxstark	26:33c7ff467bd9	84	automate_ventouse_balance_avant();
Artiom	12:191486ba5118	85	automate_ventouse_balance_arriere();
Artiom	12:191486ba5118	86
Artiom	12:191486ba5118	87	automate_ventouse_relache_arriere();
kyxstark	26:33c7ff467bd9	88	automate_ventouse_relache_avant();
Artiom	14:b1abd2f6df75	89
Artiom	13:9e19048eb065	90	automate_ventouse_sol_avant_relache();
Artiom	14:b1abd2f6df75	91	automate_ventouse_sol_arriere_relache();
Artiom	14:b1abd2f6df75	92
Artiom	14:b1abd2f6df75	93	automate_ventouse_accelerateur_arriere();
kyxstark	26:33c7ff467bd9	94	automate_ventouse_accelerateur_avant();
kyxstark	21:edf6d03fdb20	95	#endif
kyxstark	21:edf6d03fdb20	96
kyxstark	21:edf6d03fdb20	97	#ifdef ROBOT_BIG
kyxstark	38:9295a9721acb	98	automate_ventouse_presentoir_avant();
kyxstark	26:33c7ff467bd9	99	automate_ventouse_goldenium_avant();
kyxstark	26:33c7ff467bd9	100	automate_ventouse_relache_avant();
kyxstark	38:9295a9721acb	101	automate_ventouse_accelerateur_avant();
Artiom	31:29500874c1cc	102
kyxstark	21:edf6d03fdb20	103	fifo_couleur();
kyxstark	21:edf6d03fdb20	104	ascenseur();
kyxstark	21:edf6d03fdb20	105
kyxstark	21:edf6d03fdb20	106	#endif
Artiom	13:9e19048eb065	107
Artiom	0:bc74da1c502f	108	if(EtatGameEnd==1) {
Artiom	0:bc74da1c502f	109	while(1);
Artiom	0:bc74da1c502f	110	}
Artiom	0:bc74da1c502f	111
Artiom	0:bc74da1c502f	112	}
Artiom	0:bc74da1c502f	113	}
Artiom	0:bc74da1c502f	114	/****************************************************************************************/
Artiom	0:bc74da1c502f	115	/* FUNCTION NAME: canProcessRx */
Artiom	0:bc74da1c502f	116	/* DESCRIPTION : Fonction de traitement des messages CAN */
Artiom	0:bc74da1c502f	117	/****************************************************************************************/
Artiom	0:bc74da1c502f	118	void canProcessRx(void)
Artiom	0:bc74da1c502f	119	{
Artiom	0:bc74da1c502f	120	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Artiom	0:bc74da1c502f	121	CANMessage msgTx=CANMessage();
Artiom	0:bc74da1c502f	122	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
Artiom	0:bc74da1c502f	123	if(FIFO_occupation<0)
Artiom	0:bc74da1c502f	124	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
Artiom	0:bc74da1c502f	125	if(FIFO_max_occupation<FIFO_occupation)
Artiom	0:bc74da1c502f	126	FIFO_max_occupation=FIFO_occupation;
Artiom	0:bc74da1c502f	127	if(FIFO_occupation!=0) {
Artiom	0:bc74da1c502f	128	int identifiant=msgRxBuffer[FIFO_lecture].id;
Artiom	0:bc74da1c502f	129
Artiom	0:bc74da1c502f	130	switch(identifiant) {
Artiom	32:e9947815c4d7	131
Artiom	32:e9947815c4d7	132
Artiom	32:e9947815c4d7	133	case CHOICE_COLOR:
Artiom	32:e9947815c4d7	134	cote = msgRxBuffer[FIFO_lecture].data[0];
Artiom	35:04c3ad41064d	135	/SendMsgCan(0x788, (unsigned char)&cote, 1);
Artiom	35:04c3ad41064d	136	if(cote) printf("\nCote violet : %d",cote);
Artiom	35:04c3ad41064d	137	else printf("\nCote jaune : %d", cote);*/
Artiom	32:e9947815c4d7	138	break;
Artiom	32:e9947815c4d7	139
Artiom	0:bc74da1c502f	140	case GLOBAL_GAME_END:
Artiom	0:bc74da1c502f	141	EtatGameEnd = 1;
Artiom	0:bc74da1c502f	142	break;
Artiom	0:bc74da1c502f	143
Artiom	0:bc74da1c502f	144	case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN
Artiom	0:bc74da1c502f	145	char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0];
Artiom	0:bc74da1c502f	146	short distance=lecture_telemetre(numero_telemetre);
Artiom	0:bc74da1c502f	147
Artiom	0:bc74da1c502f	148
Artiom	0:bc74da1c502f	149	msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1
Artiom	0:bc74da1c502f	150	msgTx.len=2;
Artiom	0:bc74da1c502f	151	msgTx.format=CANStandard;
Artiom	0:bc74da1c502f	152	msgTx.type=CANData;
Artiom	0:bc74da1c502f	153	// Rayon sur 2 octets
Artiom	0:bc74da1c502f	154	msgTx.data[0]=(unsigned char)distance;
Artiom	0:bc74da1c502f	155	msgTx.data[1]=(unsigned char)(distance>>8);
Artiom	0:bc74da1c502f	156
Artiom	0:bc74da1c502f	157	can.write(msgTx);
Artiom	0:bc74da1c502f	158	SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA);
Artiom	0:bc74da1c502f	159	break;
Artiom	0:bc74da1c502f	160
Artiom	41:832128353732	161	case DATA_TELEMETRE_LOGIQUE:
Artiom	41:832128353732	162	msgTx.id=RECEPTION_TELEMETRE_LOGIQUE; // tx Valeur Telemetre1
Artiom	41:832128353732	163	msgTx.len=4;
Artiom	41:832128353732	164	msgTx.format=CANStandard;
Artiom	41:832128353732	165	msgTx.type=CANData;
Artiom	41:832128353732	166	msgTx.data[0]=(unsigned char)DT1_interrupt_Ex;
Artiom	41:832128353732	167	msgTx.data[1]=(unsigned char)DT2_interrupt_Ex;
Artiom	41:832128353732	168	msgTx.data[2]=(unsigned char)DT3_interrupt_Ex;
Artiom	41:832128353732	169	msgTx.data[3]=(unsigned char)DT4_interrupt_Ex;
Artiom	41:832128353732	170	can.write(msgTx);
Artiom	41:832128353732	171	SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_TELEMETRE_LOGIQUE);
Artiom	41:832128353732	172	break;
Artiom	41:832128353732	173
Artiom	0:bc74da1c502f	174	case DATA_RECALAGE:
Artiom	0:bc74da1c502f	175	short distance1=lecture_telemetre(1);
Artiom	0:bc74da1c502f	176	short distance2=lecture_telemetre(2);
Artiom	0:bc74da1c502f	177	short distance3=lecture_telemetre(3);
Artiom	0:bc74da1c502f	178	short distance4=lecture_telemetre(4);
Artiom	41:832128353732	179
Artiom	0:bc74da1c502f	180	msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1
Artiom	0:bc74da1c502f	181	msgTx.len=8;
Artiom	0:bc74da1c502f	182	msgTx.format=CANStandard;
Artiom	0:bc74da1c502f	183	msgTx.type=CANData;
Artiom	0:bc74da1c502f	184	// Rayon sur 2 octets
Artiom	0:bc74da1c502f	185	msgTx.data[0]=(unsigned char)distance1;
Artiom	0:bc74da1c502f	186	msgTx.data[1]=(unsigned char)(distance1>>8);
Artiom	0:bc74da1c502f	187	msgTx.data[2]=(unsigned char)distance2;
Artiom	0:bc74da1c502f	188	msgTx.data[3]=(unsigned char)(distance2>>8);
Artiom	0:bc74da1c502f	189	msgTx.data[4]=(unsigned char)distance3;
Artiom	0:bc74da1c502f	190	msgTx.data[5]=(unsigned char)(distance3>>8);
Artiom	0:bc74da1c502f	191	msgTx.data[6]=(unsigned char)distance4;
Artiom	0:bc74da1c502f	192	msgTx.data[7]=(unsigned char)(distance4>>8);
Artiom	0:bc74da1c502f	193	can.write(msgTx);
Artiom	0:bc74da1c502f	194	SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
Artiom	0:bc74da1c502f	195	break;
Artiom	31:29500874c1cc	196
kyxstark	27:9627700d989f	197
kyxstark	27:9627700d989f	198	//--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
kyxstark	27:9627700d989f	199
kyxstark	27:9627700d989f	200
kyxstark	27:9627700d989f	201	case HACHEUR_STATUT_VENTOUSES:
kyxstark	27:9627700d989f	202	status_pompe = msgRxBuffer[FIFO_lecture].data[1];
kyxstark	27:9627700d989f	203	//can.write(CANMessage(0x529, &status_pompe,1));
kyxstark	27:9627700d989f	204	break;
kyxstark	27:9627700d989f	205
kyxstark	27:9627700d989f	206	case HACHEUR_GET_ATOM_ACK:
kyxstark	27:9627700d989f	207	status_pompe \|= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
kyxstark	27:9627700d989f	208	//can.write(CANMessage(0x529, &status_pompe,1));
kyxstark	27:9627700d989f	209	break;
kyxstark	27:9627700d989f	210
kyxstark	27:9627700d989f	211	case HACHEUR_RELEASE_ATOM_ACK :
kyxstark	27:9627700d989f	212	status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
kyxstark	27:9627700d989f	213	break;
kyxstark	27:9627700d989f	214
kyxstark	27:9627700d989f	215	//-------------------------------------------------------------------------------------------------------------------------------------------
kyxstark	27:9627700d989f	216
kyxstark	38:9295a9721acb	217	case PRESENTOIR_AVANT:
kyxstark	38:9295a9721acb	218	fpresentoir_avant=1;
kyxstark	38:9295a9721acb	219	break;
kyxstark	38:9295a9721acb	220
kyxstark	38:9295a9721acb	221	case GABARIT_ROBOT:
kyxstark	38:9295a9721acb	222	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
kyxstark	38:9295a9721acb	223	gabarit_robot();
kyxstark	38:9295a9721acb	224	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
kyxstark	38:9295a9721acb	225	break;
kyxstark	38:9295a9721acb	226
kyxstark	40:124575240d09	227	case AVANT_RELACHE:
kyxstark	40:124575240d09	228	favant_relache=1;
kyxstark	40:124575240d09	229	break;
kyxstark	38:9295a9721acb	230
kyxstark	38:9295a9721acb	231
kyxstark	27:9627700d989f	232	#ifdef ROBOT_SMALL
kyxstark	23:93a427b242ce	233
kyxstark	23:93a427b242ce	234
Artiom	4:4a79942713fa	235	//-------------------------------------------------------------------------Actions petit robot----------------------------------------------
Artiom	32:e9947815c4d7	236
kyxstark	38:9295a9721acb	237
Artiom	0:bc74da1c502f	238
Artiom	0:bc74da1c502f	239	case PRESENTOIR_ARRIERE:
Artiom	5:6e198cdd99ad	240	fpresentoir_arriere=1;
Artiom	0:bc74da1c502f	241	break;
Artiom	0:bc74da1c502f	242
Artiom	31:29500874c1cc	243	case BALANCE_AVANT:
Artiom	31:29500874c1cc	244	fbalance_avant=1;
Artiom	31:29500874c1cc	245	break;
Artiom	32:e9947815c4d7	246
Artiom	0:bc74da1c502f	247	case BALANCE_ARRIERE:
Artiom	12:191486ba5118	248	fbalance_arriere=1;
Artiom	2:9e63099cca99	249	break;
Artiom	32:e9947815c4d7	250
Artiom	31:29500874c1cc	251	case ACCELERATEUR_AVANT:
Artiom	31:29500874c1cc	252	faccelerateur_avant=1;
Artiom	41:832128353732	253	distance_recalage=msgRxBuffer[FIFO_lecture].data[0]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
Artiom	41:832128353732	254	distance_revenir=msgRxBuffer[FIFO_lecture].data[2]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
Artiom	31:29500874c1cc	255	break;
Artiom	2:9e63099cca99	256
Artiom	2:9e63099cca99	257	case ACCELERATEUR_ARRIERE:
Artiom	14:b1abd2f6df75	258	faccelerateur_arriere=1;
Artiom	2:9e63099cca99	259	break;
Artiom	6:45f9cf44718a	260
Artiom	31:29500874c1cc	261	case GOLDENIUM_AVANT:
Artiom	31:29500874c1cc	262	fgoldenium_avant=1;
Artiom	41:832128353732	263	distance_goldenium=msgRxBuffer[FIFO_lecture].data[0]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
Artiom	41:832128353732	264
Artiom	31:29500874c1cc	265	break;
Artiom	32:e9947815c4d7	266
Artiom	2:9e63099cca99	267	case GOLDENIUM_ARRIERE:
Artiom	6:45f9cf44718a	268	fgoldenium_arriere=1;
Artiom	2:9e63099cca99	269	break;
Artiom	6:45f9cf44718a	270
Artiom	2:9e63099cca99	271	case SOL_AVANT:
Artiom	6:45f9cf44718a	272	fsol_avant=1;
Artiom	2:9e63099cca99	273	break;
Artiom	2:9e63099cca99	274
Artiom	2:9e63099cca99	275	case SOL_ARRIERE:
Artiom	6:45f9cf44718a	276	fsol_arriere=1;
Artiom	2:9e63099cca99	277	break;
Artiom	2:9e63099cca99	278
Artiom	2:9e63099cca99	279	case SOL_AVANT_RELACHE:
Artiom	7:553f3f1c2c53	280	fsol_avant_relache=1;
Artiom	2:9e63099cca99	281	break;
Artiom	2:9e63099cca99	282
Artiom	2:9e63099cca99	283	case SOL_ARRIERE_RELACHE:
Artiom	7:553f3f1c2c53	284	fsol_arriere_relache=1;
Artiom	0:bc74da1c502f	285	break;
Artiom	12:191486ba5118	286
Artiom	31:29500874c1cc	287
Artiom	32:e9947815c4d7	288
Artiom	12:191486ba5118	289	case ARRIERE_RELACHE:
Artiom	12:191486ba5118	290	farriere_relache=1;
Artiom	12:191486ba5118	291	break;
Artiom	14:b1abd2f6df75	292	case RECROQUEVILLER:
Artiom	14:b1abd2f6df75	293	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	14:b1abd2f6df75	294	recroqueviller_avant();
Artiom	14:b1abd2f6df75	295	recroqueviller_arriere();
Artiom	14:b1abd2f6df75	296	verification();
Artiom	14:b1abd2f6df75	297	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	14:b1abd2f6df75	298	break;
Artiom	13:9e19048eb065	299
Artiom	31:29500874c1cc	300	case VENTOUSE_AV_CENTRE_BALANCE:
Artiom	31:29500874c1cc	301	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	31:29500874c1cc	302	goldenium_avant();
Artiom	31:29500874c1cc	303	verification();
Artiom	31:29500874c1cc	304	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	31:29500874c1cc	305	break;
Artiom	31:29500874c1cc	306
Artiom	20:42f8ec726ac8	307	case VENTOUSE_AR_CENTRE_BALANCE:
Artiom	20:42f8ec726ac8	308	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	20:42f8ec726ac8	309	goldenium_arriere();
Artiom	20:42f8ec726ac8	310	positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur
Artiom	20:42f8ec726ac8	311	verification();
Artiom	20:42f8ec726ac8	312	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	20:42f8ec726ac8	313	break;
Artiom	32:e9947815c4d7	314
Artiom	31:29500874c1cc	315	case ACCELERATEUR_INSERTION_AVANT_GAUCHE:
Artiom	31:29500874c1cc	316	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	31:29500874c1cc	317	accelerateur_insertion_avant_gauche();
Artiom	31:29500874c1cc	318	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	31:29500874c1cc	319	break;
Artiom	32:e9947815c4d7	320
Artiom	35:04c3ad41064d	321	case ACCELERATEUR_INSERTION_ARRIERE_GAUCHE :
Artiom	31:29500874c1cc	322	SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom	31:29500874c1cc	323	accelerateur_insertion_arriere_gauche();
Artiom	31:29500874c1cc	324	SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom	31:29500874c1cc	325	break;
Artiom	0:bc74da1c502f	326
Artiom	0:bc74da1c502f	327	#endif
kyxstark	23:93a427b242ce	328
Artiom	0:bc74da1c502f	329	#ifdef ROBOT_BIG
kyxstark	38:9295a9721acb	330
kyxstark	38:9295a9721acb	331
kyxstark	21:edf6d03fdb20	332	case ASCENSEUR:
kyxstark	22:9e92a2b941ba	333	flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0];
Artiom	0:bc74da1c502f	334	break;
Artiom	0:bc74da1c502f	335
Artiom	0:bc74da1c502f	336	#endif
Artiom	0:bc74da1c502f	337	}
Artiom	0:bc74da1c502f	338	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
Artiom	0:bc74da1c502f	339
Artiom	0:bc74da1c502f	340	}
Artiom	4:4a79942713fa	341
Artiom	4:4a79942713fa	342
Artiom	4:4a79942713fa	343	}
Artiom	4:4a79942713fa	344
Artiom	4:4a79942713fa	345
Artiom	4:4a79942713fa	346
Artiom	11:6c11c081c855	347

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 May 2019
Imports:	0
Forks:	0
Commits:	46
Dependents:	0
Dependencies:	5
Followers:	96

main.cpp@45:85dda95dbc87, 2019-05-25 (annotated)

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