Diff: main.cpp

Revision:

6:45f9cf44718a

Parent:

5:6e198cdd99ad

Child:

7:553f3f1c2c53

--- a/main.cpp	Tue May 14 15:09:14 2019 +0000
+++ b/main.cpp	Tue May 14 15:41:32 2019 +0000
@@ -15,8 +15,9 @@
 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
 unsigned char EtatGameEnd=0;
 
-char fpresentoir_avant=0;
-char fpresentoir_arriere=0;
+char fpresentoir_avant=0, fpresentoir_arriere=0;
+char  fgoldenium_avant=0, fgoldenium_arriere=0;
+char fsol_avant=0,fsol_arriere=0;
 
 char status_pompe=0;
 
@@ -25,9 +26,16 @@
 void SendRawId (unsigned short id);
 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
 void canProcessRx(void);
+
 void automate_ventouse_presentoir_avant(void);
 void automate_ventouse_presentoir_arriere (void);
 
+void automate_ventouse_goldenium_avant (void);
+void automate_ventouse_goldenium_arriere (void);
+
+void automate_ventouse_sol_avant (void);
+void automate_ventouse_sol_arriere(void);
+
 /*********************************************************************************************/
 /* FUNCTION NAME: canRx_ISR                                                                  */
 /* DESCRIPTION  : lit les messages sur le can et les stocke dans la FIFO                     */
@@ -117,6 +125,10 @@
         canProcessRx();
         automate_ventouse_presentoir_avant();
         automate_ventouse_presentoir_arriere();
+        automate_ventouse_goldenium_avant();
+        automate_ventouse_goldenium_arriere();
+        automate_ventouse_sol_avant();
+        automate_ventouse_sol_arriere(); 
         if(EtatGameEnd==1) {
             while(1);
         }
@@ -225,27 +237,21 @@
                 accelerateur_arriere();
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;
+
             case GOLDENIUM_AVANT:
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
-                balance_avant();
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                fgoldenium_avant=1;
                 break;
 
             case GOLDENIUM_ARRIERE:
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
-                balance_arriere();
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                fgoldenium_arriere=1;
                 break;
+
             case SOL_AVANT:
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
-                sol_avant();
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                fsol_avant=1;
                 break;
 
             case SOL_ARRIERE:
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
-                sol_arriere();
-                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                fsol_arriere=1;
                 break;
 
             case SOL_AVANT_RELACHE:
@@ -354,7 +360,130 @@
             break;
 
     }
+}
+void automate_ventouse_goldenium_avant (void)
+{
 
+    typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
+    static type_etat etat = init;
+
+    switch(etat) {
+        case init: //attente d'initialisation
+            if(fgoldenium_avant)
+                etat=envoi_instruction;
+            break;
+
+        case envoi_instruction://envoi instruction
+            SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+            goldenium_avant();
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
+            etat = attente_ack_ventouse;
+            break;
+
+        case attente_ack_ventouse:
+            if((status_pompe&MASK_GOLDENIUM_AV)== MASK_GOLDENIUM_AV) {
+                fgoldenium_avant=0;
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                etat = init;
+            }
+            break;
+
+    }
+}
+
+void automate_ventouse_goldenium_arriere (void)
+{
+
+    typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
+    static type_etat etat = init;
+
+    switch(etat) {
+        case init: //attente d'initialisation
+            if(fgoldenium_arriere)
+                etat=envoi_instruction;
+            break;
+
+        case envoi_instruction://envoi instruction
+            SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+            goldenium_arriere();
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
+            etat = attente_ack_ventouse;
+            break;
+
+        case attente_ack_ventouse:
+            if((status_pompe&MASK_GOLDENIUM_AR)== MASK_GOLDENIUM_AR) {
+                fgoldenium_arriere=0;
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                etat = init;
+            }
+            break;
+
+    }
+
+
+}
+
+void automate_ventouse_sol_avant (void)
+{
+
+    typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
+    static type_etat etat = init;
+
+    switch(etat) {
+        case init: //attente d'initialisation
+            if(fsol_avant)
+                etat=envoi_instruction;
+            break;
+
+        case envoi_instruction://envoi instruction
+            SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+            sol_avant_baisser();
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
+            etat = attente_ack_ventouse;
+            break;
+
+        case attente_ack_ventouse:
+            if((status_pompe&MASK_SOL_AV)== MASK_SOL_AV) {
+                sol_avant_remonter();
+                fsol_avant=0;
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                etat = init;
+            }
+            break;
+
+    }
+
+
+}
+void automate_ventouse_sol_arriere (void)
+{
+
+    typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
+    static type_etat etat = init;
+
+    switch(etat) {
+        case init: //attente d'initialisation
+            if(fsol_arriere)
+                etat=envoi_instruction;
+            break;
+
+        case envoi_instruction://envoi instruction
+            SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+            sol_arriere_baisser();
+            SendRawId(HACHEUR_STATUT_VENTOUSES);
+            etat = attente_ack_ventouse;
+            break;
+
+        case attente_ack_ventouse:
+            if((status_pompe&MASK_SOL_AR)== MASK_SOL_AR) {
+                sol_arriere_remonter();
+                fsol_arriere=0;
+                SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+                etat = init;
+            }
+            break;
+
+    }
 
 
 }
\ No newline at end of file