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@38:9295a9721acb, 2019-05-23 (annotated)

Committer:
kyxstark
Date:
Thu May 23 17:23:10 2019 +0000
Revision:
38:9295a9721acb
Parent:
35:04c3ad41064d
Child:
40:124575240d09
edit can processrx et while(1)

Who changed what in which revision?

UserRevisionLine numberNew 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 32:e9947815c4d7 17
Artiom 32:e9947815c4d7 18
kyxstark 21:edf6d03fdb20 19 void canProcessRx(void);
Artiom 12:191486ba5118 20
Artiom 12:191486ba5118 21
Artiom 0:bc74da1c502f 22 /*********************************************************************************************/
Artiom 0:bc74da1c502f 23 /* FUNCTION NAME: canRx_ISR */
Artiom 0:bc74da1c502f 24 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
Artiom 0:bc74da1c502f 25 /*********************************************************************************************/
Artiom 0:bc74da1c502f 26 void canRx_ISR (void)
Artiom 0:bc74da1c502f 27 {
Artiom 0:bc74da1c502f 28 if (can.read(msgRxBuffer[FIFO_ecriture])) {
Artiom 0:bc74da1c502f 29 if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) {
Artiom 0:bc74da1c502f 30
Artiom 0:bc74da1c502f 31 }
Artiom 0:bc74da1c502f 32 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
Artiom 0:bc74da1c502f 33
Artiom 0:bc74da1c502f 34 }
Artiom 0:bc74da1c502f 35
Artiom 0:bc74da1c502f 36 }
Artiom 0:bc74da1c502f 37
Artiom 0:bc74da1c502f 38 int main()
Artiom 0:bc74da1c502f 39 {
Artiom 0:bc74da1c502f 40 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
Artiom 0:bc74da1c502f 41 servo_interrupt_en(); //permettre les interuptions
Artiom 11:6c11c081c855 42
Artiom 0:bc74da1c502f 43 wait(1);//attente servo boot
Artiom 31:29500874c1cc 44
Artiom 31:29500874c1cc 45
kyxstark 21:edf6d03fdb20 46 #ifdef ROBOT_SMALL
kyxstark 22:9e92a2b941ba 47 pc.printf("\nPetit robot\n\n");
Artiom 32:e9947815c4d7 48 deverouillage_torque();
kyxstark 21:edf6d03fdb20 49 #endif
kyxstark 21:edf6d03fdb20 50
kyxstark 21:edf6d03fdb20 51
Artiom 31:29500874c1cc 52
kyxstark 21:edf6d03fdb20 53 #ifdef ROBOT_BIG
kyxstark 22:9e92a2b941ba 54 pc.printf("\nGros robot\n\n");
kyxstark 38:9295a9721acb 55 //clear(doigt,2);
kyxstark 38:9295a9721acb 56 //setTorque(doigt, TORQUE_ON,2);
kyxstark 38:9295a9721acb 57 deverouillage_torque();
kyxstark 21:edf6d03fdb20 58 positionControl(doigt,384,100,BLED_ON,2);
kyxstark 21:edf6d03fdb20 59 wait(1.0);
kyxstark 21:edf6d03fdb20 60 #endif
kyxstark 21:edf6d03fdb20 61
kyxstark 38:9295a9721acb 62 gabarit_robot();
kyxstark 38:9295a9721acb 63
kyxstark 21:edf6d03fdb20 64
kyxstark 22:9e92a2b941ba 65 pc.printf("\nLAUNCHED");
Artiom 0:bc74da1c502f 66 while(1) {
Artiom 0:bc74da1c502f 67 canProcessRx();
Artiom 10:48c0d1b8aed9 68 f_mesure();//dt35
Artiom 11:6c11c081c855 69
kyxstark 21:edf6d03fdb20 70
kyxstark 21:edf6d03fdb20 71 #ifdef ROBOT_SMALL
Artiom 5:6e198cdd99ad 72 automate_ventouse_presentoir_arriere();
kyxstark 26:33c7ff467bd9 73 automate_ventouse_presentoir_avant();
Artiom 7:553f3f1c2c53 74
Artiom 6:45f9cf44718a 75 automate_ventouse_goldenium_arriere();
kyxstark 26:33c7ff467bd9 76 automate_ventouse_goldenium_avant();
Artiom 31:29500874c1cc 77
Artiom 6:45f9cf44718a 78 automate_ventouse_sol_avant();
Artiom 7:553f3f1c2c53 79 automate_ventouse_sol_arriere();
Artiom 7:553f3f1c2c53 80
kyxstark 26:33c7ff467bd9 81 automate_ventouse_balance_avant();
Artiom 12:191486ba5118 82 automate_ventouse_balance_arriere();
Artiom 12:191486ba5118 83
Artiom 12:191486ba5118 84 automate_ventouse_relache_arriere();
kyxstark 26:33c7ff467bd9 85 automate_ventouse_relache_avant();
Artiom 14:b1abd2f6df75 86
Artiom 13:9e19048eb065 87 automate_ventouse_sol_avant_relache();
Artiom 14:b1abd2f6df75 88 automate_ventouse_sol_arriere_relache();
Artiom 14:b1abd2f6df75 89
Artiom 14:b1abd2f6df75 90 automate_ventouse_accelerateur_arriere();
kyxstark 26:33c7ff467bd9 91 automate_ventouse_accelerateur_avant();
kyxstark 21:edf6d03fdb20 92 #endif
kyxstark 21:edf6d03fdb20 93
kyxstark 21:edf6d03fdb20 94 #ifdef ROBOT_BIG
kyxstark 38:9295a9721acb 95 automate_ventouse_presentoir_avant();
kyxstark 26:33c7ff467bd9 96 automate_ventouse_goldenium_avant();
kyxstark 26:33c7ff467bd9 97 automate_ventouse_relache_avant();
kyxstark 38:9295a9721acb 98 automate_ventouse_accelerateur_avant();
Artiom 31:29500874c1cc 99
kyxstark 21:edf6d03fdb20 100 fifo_couleur();
kyxstark 21:edf6d03fdb20 101 ascenseur();
kyxstark 21:edf6d03fdb20 102
kyxstark 21:edf6d03fdb20 103 #endif
Artiom 13:9e19048eb065 104
Artiom 0:bc74da1c502f 105 if(EtatGameEnd==1) {
Artiom 0:bc74da1c502f 106 while(1);
Artiom 0:bc74da1c502f 107 }
Artiom 0:bc74da1c502f 108
Artiom 0:bc74da1c502f 109 }
Artiom 0:bc74da1c502f 110 }
Artiom 0:bc74da1c502f 111
Artiom 0:bc74da1c502f 112 /****************************************************************************************/
Artiom 0:bc74da1c502f 113 /* FUNCTION NAME: canProcessRx */
Artiom 0:bc74da1c502f 114 /* DESCRIPTION : Fonction de traitement des messages CAN */
Artiom 0:bc74da1c502f 115 /****************************************************************************************/
Artiom 0:bc74da1c502f 116 void canProcessRx(void)
Artiom 0:bc74da1c502f 117 {
Artiom 0:bc74da1c502f 118 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Artiom 0:bc74da1c502f 119 CANMessage msgTx=CANMessage();
Artiom 0:bc74da1c502f 120 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
Artiom 0:bc74da1c502f 121 if(FIFO_occupation<0)
Artiom 0:bc74da1c502f 122 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
Artiom 0:bc74da1c502f 123 if(FIFO_max_occupation<FIFO_occupation)
Artiom 0:bc74da1c502f 124 FIFO_max_occupation=FIFO_occupation;
Artiom 0:bc74da1c502f 125 if(FIFO_occupation!=0) {
Artiom 0:bc74da1c502f 126 int identifiant=msgRxBuffer[FIFO_lecture].id;
Artiom 0:bc74da1c502f 127
Artiom 0:bc74da1c502f 128 switch(identifiant) {
Artiom 32:e9947815c4d7 129
Artiom 32:e9947815c4d7 130
Artiom 32:e9947815c4d7 131 case CHOICE_COLOR:
Artiom 32:e9947815c4d7 132 cote = msgRxBuffer[FIFO_lecture].data[0];
Artiom 35:04c3ad41064d 133 /*SendMsgCan(0x788, (unsigned char*)&cote, 1);
Artiom 35:04c3ad41064d 134 if(cote) printf("\nCote violet : %d",cote);
Artiom 35:04c3ad41064d 135 else printf("\nCote jaune : %d", cote);*/
Artiom 32:e9947815c4d7 136 break;
Artiom 32:e9947815c4d7 137
Artiom 0:bc74da1c502f 138 case GLOBAL_GAME_END:
Artiom 0:bc74da1c502f 139 EtatGameEnd = 1;
Artiom 0:bc74da1c502f 140 break;
Artiom 0:bc74da1c502f 141
Artiom 0:bc74da1c502f 142 case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN
Artiom 0:bc74da1c502f 143 char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0];
Artiom 0:bc74da1c502f 144 short distance=lecture_telemetre(numero_telemetre);
Artiom 0:bc74da1c502f 145
Artiom 0:bc74da1c502f 146
Artiom 0:bc74da1c502f 147 msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1
Artiom 0:bc74da1c502f 148 msgTx.len=2;
Artiom 0:bc74da1c502f 149 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 150 msgTx.type=CANData;
Artiom 0:bc74da1c502f 151 // Rayon sur 2 octets
Artiom 0:bc74da1c502f 152 msgTx.data[0]=(unsigned char)distance;
Artiom 0:bc74da1c502f 153 msgTx.data[1]=(unsigned char)(distance>>8);
Artiom 0:bc74da1c502f 154
Artiom 0:bc74da1c502f 155 can.write(msgTx);
Artiom 0:bc74da1c502f 156 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA);
Artiom 0:bc74da1c502f 157 break;
Artiom 0:bc74da1c502f 158
Artiom 0:bc74da1c502f 159 case DATA_RECALAGE:
Artiom 0:bc74da1c502f 160 short distance1=lecture_telemetre(1);
Artiom 0:bc74da1c502f 161 short distance2=lecture_telemetre(2);
Artiom 0:bc74da1c502f 162 short distance3=lecture_telemetre(3);
Artiom 0:bc74da1c502f 163 short distance4=lecture_telemetre(4);
Artiom 0:bc74da1c502f 164
Artiom 0:bc74da1c502f 165 msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1
Artiom 0:bc74da1c502f 166 msgTx.len=8;
Artiom 0:bc74da1c502f 167 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 168 msgTx.type=CANData;
Artiom 0:bc74da1c502f 169 // Rayon sur 2 octets
Artiom 0:bc74da1c502f 170 msgTx.data[0]=(unsigned char)distance1;
Artiom 0:bc74da1c502f 171 msgTx.data[1]=(unsigned char)(distance1>>8);
Artiom 0:bc74da1c502f 172 msgTx.data[2]=(unsigned char)distance2;
Artiom 0:bc74da1c502f 173 msgTx.data[3]=(unsigned char)(distance2>>8);
Artiom 0:bc74da1c502f 174 msgTx.data[4]=(unsigned char)distance3;
Artiom 0:bc74da1c502f 175 msgTx.data[5]=(unsigned char)(distance3>>8);
Artiom 0:bc74da1c502f 176 msgTx.data[6]=(unsigned char)distance4;
Artiom 0:bc74da1c502f 177 msgTx.data[7]=(unsigned char)(distance4>>8);
Artiom 0:bc74da1c502f 178 can.write(msgTx);
Artiom 0:bc74da1c502f 179 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
Artiom 0:bc74da1c502f 180 break;
Artiom 31:29500874c1cc 181
kyxstark 27:9627700d989f 182
kyxstark 27:9627700d989f 183
kyxstark 27:9627700d989f 184 //--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
kyxstark 27:9627700d989f 185
kyxstark 27:9627700d989f 186
kyxstark 27:9627700d989f 187 case HACHEUR_STATUT_VENTOUSES:
kyxstark 27:9627700d989f 188 status_pompe = msgRxBuffer[FIFO_lecture].data[1];
kyxstark 27:9627700d989f 189 //can.write(CANMessage(0x529, &status_pompe,1));
kyxstark 27:9627700d989f 190 break;
kyxstark 27:9627700d989f 191
kyxstark 27:9627700d989f 192 case HACHEUR_GET_ATOM_ACK:
kyxstark 27:9627700d989f 193 status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
kyxstark 27:9627700d989f 194 //can.write(CANMessage(0x529, &status_pompe,1));
kyxstark 27:9627700d989f 195 break;
kyxstark 27:9627700d989f 196
kyxstark 27:9627700d989f 197 case HACHEUR_RELEASE_ATOM_ACK :
kyxstark 27:9627700d989f 198 status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
kyxstark 27:9627700d989f 199 break;
kyxstark 27:9627700d989f 200
kyxstark 27:9627700d989f 201 //-------------------------------------------------------------------------------------------------------------------------------------------
kyxstark 27:9627700d989f 202
Artiom 31:29500874c1cc 203
kyxstark 27:9627700d989f 204
kyxstark 38:9295a9721acb 205 case PRESENTOIR_AVANT:
kyxstark 38:9295a9721acb 206 fpresentoir_avant=1;
kyxstark 38:9295a9721acb 207 break;
kyxstark 38:9295a9721acb 208
kyxstark 38:9295a9721acb 209 case GABARIT_ROBOT:
kyxstark 38:9295a9721acb 210 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
kyxstark 38:9295a9721acb 211 gabarit_robot();
kyxstark 38:9295a9721acb 212
kyxstark 38:9295a9721acb 213 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
kyxstark 38:9295a9721acb 214 break;
kyxstark 38:9295a9721acb 215
kyxstark 38:9295a9721acb 216
kyxstark 38:9295a9721acb 217
kyxstark 38:9295a9721acb 218
kyxstark 27:9627700d989f 219 #ifdef ROBOT_SMALL
kyxstark 23:93a427b242ce 220
kyxstark 23:93a427b242ce 221
Artiom 4:4a79942713fa 222 //-------------------------------------------------------------------------Actions petit robot----------------------------------------------
Artiom 32:e9947815c4d7 223
kyxstark 38:9295a9721acb 224
Artiom 0:bc74da1c502f 225
Artiom 0:bc74da1c502f 226 case PRESENTOIR_ARRIERE:
Artiom 5:6e198cdd99ad 227 fpresentoir_arriere=1;
Artiom 0:bc74da1c502f 228 break;
Artiom 0:bc74da1c502f 229
Artiom 31:29500874c1cc 230 case BALANCE_AVANT:
Artiom 31:29500874c1cc 231 fbalance_avant=1;
Artiom 31:29500874c1cc 232 break;
Artiom 32:e9947815c4d7 233
Artiom 0:bc74da1c502f 234 case BALANCE_ARRIERE:
Artiom 12:191486ba5118 235 fbalance_arriere=1;
Artiom 2:9e63099cca99 236 break;
Artiom 32:e9947815c4d7 237
Artiom 31:29500874c1cc 238 case ACCELERATEUR_AVANT:
Artiom 31:29500874c1cc 239 faccelerateur_avant=1;
Artiom 31:29500874c1cc 240 break;
Artiom 2:9e63099cca99 241
Artiom 2:9e63099cca99 242 case ACCELERATEUR_ARRIERE:
Artiom 14:b1abd2f6df75 243 faccelerateur_arriere=1;
Artiom 2:9e63099cca99 244 break;
Artiom 6:45f9cf44718a 245
Artiom 31:29500874c1cc 246 case GOLDENIUM_AVANT:
Artiom 31:29500874c1cc 247 fgoldenium_avant=1;
Artiom 31:29500874c1cc 248 break;
Artiom 32:e9947815c4d7 249
Artiom 2:9e63099cca99 250 case GOLDENIUM_ARRIERE:
Artiom 6:45f9cf44718a 251 fgoldenium_arriere=1;
Artiom 2:9e63099cca99 252 break;
Artiom 6:45f9cf44718a 253
Artiom 2:9e63099cca99 254 case SOL_AVANT:
Artiom 6:45f9cf44718a 255 fsol_avant=1;
Artiom 2:9e63099cca99 256 break;
Artiom 2:9e63099cca99 257
Artiom 2:9e63099cca99 258 case SOL_ARRIERE:
Artiom 6:45f9cf44718a 259 fsol_arriere=1;
Artiom 2:9e63099cca99 260 break;
Artiom 2:9e63099cca99 261
Artiom 2:9e63099cca99 262 case SOL_AVANT_RELACHE:
Artiom 7:553f3f1c2c53 263 fsol_avant_relache=1;
Artiom 2:9e63099cca99 264 break;
Artiom 2:9e63099cca99 265
Artiom 2:9e63099cca99 266 case SOL_ARRIERE_RELACHE:
Artiom 7:553f3f1c2c53 267 fsol_arriere_relache=1;
Artiom 0:bc74da1c502f 268 break;
Artiom 12:191486ba5118 269
Artiom 31:29500874c1cc 270
Artiom 31:29500874c1cc 271 case AVANT_RELACHE:
Artiom 31:29500874c1cc 272 favant_relache=1;
Artiom 31:29500874c1cc 273 break;
Artiom 32:e9947815c4d7 274
Artiom 12:191486ba5118 275 case ARRIERE_RELACHE:
Artiom 12:191486ba5118 276 farriere_relache=1;
Artiom 12:191486ba5118 277 break;
Artiom 14:b1abd2f6df75 278 case RECROQUEVILLER:
Artiom 14:b1abd2f6df75 279 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 14:b1abd2f6df75 280 recroqueviller_avant();
Artiom 14:b1abd2f6df75 281 recroqueviller_arriere();
Artiom 14:b1abd2f6df75 282 verification();
Artiom 14:b1abd2f6df75 283 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 14:b1abd2f6df75 284 break;
Artiom 13:9e19048eb065 285
Artiom 31:29500874c1cc 286 case VENTOUSE_AV_CENTRE_BALANCE:
Artiom 31:29500874c1cc 287 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 31:29500874c1cc 288 goldenium_avant();
Artiom 31:29500874c1cc 289 verification();
Artiom 31:29500874c1cc 290 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 31:29500874c1cc 291 break;
Artiom 31:29500874c1cc 292
Artiom 20:42f8ec726ac8 293 case VENTOUSE_AR_CENTRE_BALANCE:
Artiom 20:42f8ec726ac8 294 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 20:42f8ec726ac8 295 goldenium_arriere();
Artiom 20:42f8ec726ac8 296 positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur
Artiom 20:42f8ec726ac8 297 verification();
Artiom 20:42f8ec726ac8 298 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 20:42f8ec726ac8 299 break;
Artiom 32:e9947815c4d7 300
Artiom 31:29500874c1cc 301 case ACCELERATEUR_INSERTION_AVANT_GAUCHE:
Artiom 31:29500874c1cc 302 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 31:29500874c1cc 303 accelerateur_insertion_avant_gauche();
Artiom 31:29500874c1cc 304 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 31:29500874c1cc 305 break;
Artiom 32:e9947815c4d7 306
Artiom 35:04c3ad41064d 307 case ACCELERATEUR_INSERTION_ARRIERE_GAUCHE :
Artiom 31:29500874c1cc 308 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 31:29500874c1cc 309 accelerateur_insertion_arriere_gauche();
Artiom 31:29500874c1cc 310 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 31:29500874c1cc 311 break;
Artiom 0:bc74da1c502f 312
Artiom 0:bc74da1c502f 313 #endif
kyxstark 23:93a427b242ce 314
Artiom 0:bc74da1c502f 315 #ifdef ROBOT_BIG
kyxstark 38:9295a9721acb 316
kyxstark 38:9295a9721acb 317
kyxstark 21:edf6d03fdb20 318 case ASCENSEUR:
kyxstark 22:9e92a2b941ba 319 flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0];
Artiom 0:bc74da1c502f 320 break;
Artiom 0:bc74da1c502f 321
Artiom 0:bc74da1c502f 322 #endif
Artiom 0:bc74da1c502f 323 }
Artiom 0:bc74da1c502f 324 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
Artiom 0:bc74da1c502f 325
Artiom 0:bc74da1c502f 326 }
Artiom 4:4a79942713fa 327
Artiom 4:4a79942713fa 328
Artiom 4:4a79942713fa 329 }
Artiom 4:4a79942713fa 330
Artiom 4:4a79942713fa 331
Artiom 4:4a79942713fa 332
Artiom 11:6c11c081c855 333