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carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
main.cpp@18:0ea0d887966f, 2019-05-21 (annotated)
- Committer:
- kyxstark
- Date:
- Tue May 21 15:29:11 2019 +0000
- Revision:
- 18:0ea0d887966f
- Parent:
- 16:2a66cfe37262
- Child:
- 19:511ff570c2f5
;
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 | 9:9833e788942b | 7 | #include "dt.h" |
Artiom | 0:bc74da1c502f | 8 | |
Artiom | 0:bc74da1c502f | 9 | #define SIZE_FIFO 50 |
Artiom | 0:bc74da1c502f | 10 | |
Artiom | 0:bc74da1c502f | 11 | CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN |
Artiom | 0:bc74da1c502f | 12 | |
Artiom | 0:bc74da1c502f | 13 | |
Artiom | 0:bc74da1c502f | 14 | CANMessage msgRxBuffer[SIZE_FIFO]; |
Artiom | 0:bc74da1c502f | 15 | unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
Artiom | 0:bc74da1c502f | 16 | signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
Artiom | 0:bc74da1c502f | 17 | unsigned char EtatGameEnd=0; |
Artiom | 0:bc74da1c502f | 18 | |
Artiom | 6:45f9cf44718a | 19 | char fpresentoir_avant=0, fpresentoir_arriere=0; |
Artiom | 14:b1abd2f6df75 | 20 | char fgoldenium_avant=0, fgoldenium_arriere=0; |
Artiom | 6:45f9cf44718a | 21 | char fsol_avant=0,fsol_arriere=0; |
Artiom | 7:553f3f1c2c53 | 22 | char fsol_avant_relache=0,fsol_arriere_relache=0; |
Artiom | 12:191486ba5118 | 23 | char fbalance_avant=0,fbalance_arriere=0; |
Artiom | 12:191486ba5118 | 24 | char favant_relache=0,farriere_relache=0; |
Artiom | 14:b1abd2f6df75 | 25 | char faccelerateur_avant=0,faccelerateur_arriere=0;; |
Artiom | 12:191486ba5118 | 26 | |
Artiom | 12:191486ba5118 | 27 | |
Artiom | 13:9e19048eb065 | 28 | |
Artiom | 4:4a79942713fa | 29 | char status_pompe=0; |
Artiom | 4:4a79942713fa | 30 | |
Artiom | 0:bc74da1c502f | 31 | void canRx_ISR (void); |
Artiom | 0:bc74da1c502f | 32 | void SendAck(unsigned short id, unsigned short from); |
Artiom | 0:bc74da1c502f | 33 | void SendRawId (unsigned short id); |
Artiom | 0:bc74da1c502f | 34 | void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement); |
Artiom | 0:bc74da1c502f | 35 | void canProcessRx(void); |
Artiom | 6:45f9cf44718a | 36 | |
Artiom | 4:4a79942713fa | 37 | void automate_ventouse_presentoir_avant(void); |
Artiom | 5:6e198cdd99ad | 38 | void automate_ventouse_presentoir_arriere (void); |
Artiom | 0:bc74da1c502f | 39 | |
Artiom | 6:45f9cf44718a | 40 | void automate_ventouse_goldenium_avant (void); |
Artiom | 6:45f9cf44718a | 41 | void automate_ventouse_goldenium_arriere (void); |
Artiom | 6:45f9cf44718a | 42 | |
Artiom | 6:45f9cf44718a | 43 | void automate_ventouse_sol_avant (void); |
Artiom | 6:45f9cf44718a | 44 | void automate_ventouse_sol_arriere(void); |
Artiom | 6:45f9cf44718a | 45 | |
Artiom | 7:553f3f1c2c53 | 46 | void automate_ventouse_sol_avant_relache(void); |
Artiom | 7:553f3f1c2c53 | 47 | void automate_ventouse_sol_arriere_relache(void); |
Artiom | 11:6c11c081c855 | 48 | |
Artiom | 11:6c11c081c855 | 49 | void automate_ventouse_balance_avant (void); |
Artiom | 12:191486ba5118 | 50 | void automate_ventouse_balance_arriere(void); |
Artiom | 12:191486ba5118 | 51 | |
Artiom | 13:9e19048eb065 | 52 | void automate_ventouse_relache_avant(void); |
Artiom | 13:9e19048eb065 | 53 | void automate_ventouse_relache_arriere (void); |
Artiom | 12:191486ba5118 | 54 | |
Artiom | 14:b1abd2f6df75 | 55 | void automate_ventouse_accelerateur_avant(void); |
Artiom | 14:b1abd2f6df75 | 56 | void automate_ventouse_accelerateur_arriere(void); |
Artiom | 14:b1abd2f6df75 | 57 | |
Artiom | 14:b1abd2f6df75 | 58 | |
Artiom | 0:bc74da1c502f | 59 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 60 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 61 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 62 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 63 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 64 | { |
Artiom | 0:bc74da1c502f | 65 | if (can.read(msgRxBuffer[FIFO_ecriture])) { |
Artiom | 0:bc74da1c502f | 66 | if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) { |
Artiom | 0:bc74da1c502f | 67 | |
Artiom | 0:bc74da1c502f | 68 | } |
Artiom | 0:bc74da1c502f | 69 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 70 | |
Artiom | 0:bc74da1c502f | 71 | } |
Artiom | 0:bc74da1c502f | 72 | |
Artiom | 0:bc74da1c502f | 73 | } |
Artiom | 0:bc74da1c502f | 74 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 75 | /* FUNCTION NAME: SendAck */ |
Artiom | 0:bc74da1c502f | 76 | /* DESCRIPTION : */ |
Artiom | 0:bc74da1c502f | 77 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 78 | 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 | 79 | { |
Artiom | 0:bc74da1c502f | 80 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 81 | msgTx.id=from; //waitingAckFrom |
Artiom | 0:bc74da1c502f | 82 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 83 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 84 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 85 | // from sur 2 octets |
Artiom | 0:bc74da1c502f | 86 | msgTx.data[0]=(unsigned char)id; //waitingAckID |
Artiom | 0:bc74da1c502f | 87 | msgTx.data[1]=(unsigned char)(id>>8); |
Artiom | 0:bc74da1c502f | 88 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 89 | } |
Artiom | 0:bc74da1c502f | 90 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 91 | /* FUNCTION NAME: SendRawId */ |
Artiom | 0:bc74da1c502f | 92 | /* DESCRIPTION : */ |
Artiom | 0:bc74da1c502f | 93 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 94 | void SendRawId (unsigned short id) |
Artiom | 0:bc74da1c502f | 95 | { |
Artiom | 0:bc74da1c502f | 96 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 97 | msgTx.id=id; |
Artiom | 0:bc74da1c502f | 98 | msgTx.len=0; |
Artiom | 0:bc74da1c502f | 99 | can.write(msgTx); //carte esclave f446re |
Artiom | 0:bc74da1c502f | 100 | wait_us(200); |
Artiom | 0:bc74da1c502f | 101 | } |
Artiom | 0:bc74da1c502f | 102 | |
Artiom | 0:bc74da1c502f | 103 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 104 | /* FUNCTION NAME: GoStraight */ |
Artiom | 0:bc74da1c502f | 105 | /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */ |
Artiom | 0:bc74da1c502f | 106 | /* recalage : 0 => pas de recalage */ |
Artiom | 0:bc74da1c502f | 107 | /* 1 => recalage en X */ |
Artiom | 0:bc74da1c502f | 108 | /* 2 => Recalage en Y */ |
Artiom | 0:bc74da1c502f | 109 | /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */ |
Artiom | 0:bc74da1c502f | 110 | /* isEnchainement : Indique si il faut executer l'instruction en enchainement */ |
Artiom | 0:bc74da1c502f | 111 | /* 0 => non */ |
Artiom | 0:bc74da1c502f | 112 | /* 1 => oui */ |
Artiom | 0:bc74da1c502f | 113 | /* 2 => dernière instruction de l'enchainement */ |
Artiom | 0:bc74da1c502f | 114 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 115 | void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement) |
Artiom | 0:bc74da1c502f | 116 | { |
Artiom | 0:bc74da1c502f | 117 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 118 | msgTx.id=ASSERVISSEMENT_RECALAGE; |
Artiom | 0:bc74da1c502f | 119 | msgTx.len=6; |
Artiom | 0:bc74da1c502f | 120 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 121 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 122 | // x sur 2 octets |
Artiom | 0:bc74da1c502f | 123 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 124 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 125 | //Recalage sur 1 octet |
Artiom | 0:bc74da1c502f | 126 | msgTx.data[2]=recalage; |
Artiom | 0:bc74da1c502f | 127 | //Valeur du recalage sur 2 octets |
Artiom | 0:bc74da1c502f | 128 | msgTx.data[3]=(unsigned char)newValue; |
Artiom | 0:bc74da1c502f | 129 | msgTx.data[4]=(unsigned char)(newValue>>8); |
Artiom | 0:bc74da1c502f | 130 | //Enchainement sur 1 octet |
Artiom | 0:bc74da1c502f | 131 | msgTx.data[5]=isEnchainement; |
Artiom | 0:bc74da1c502f | 132 | |
Artiom | 0:bc74da1c502f | 133 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 134 | //wait_ms(500); |
Artiom | 0:bc74da1c502f | 135 | } |
Artiom | 12:191486ba5118 | 136 | /****************************************************************************************/ |
Artiom | 12:191486ba5118 | 137 | /* FUNCTION NAME: Rotate */ |
Artiom | 12:191486ba5118 | 138 | /* DESCRIPTION : Transmission CAN correspondant à une rotation */ |
Artiom | 12:191486ba5118 | 139 | /****************************************************************************************/ |
Artiom | 12:191486ba5118 | 140 | void Rotate (signed short angle) |
Artiom | 12:191486ba5118 | 141 | { |
Artiom | 12:191486ba5118 | 142 | CANMessage msgTx=CANMessage(); |
Artiom | 12:191486ba5118 | 143 | msgTx.id=ASSERVISSEMENT_ROTATION; // Tx rotation autour du centre du robot |
Artiom | 12:191486ba5118 | 144 | msgTx.len=2; |
Artiom | 12:191486ba5118 | 145 | msgTx.format=CANStandard; |
Artiom | 12:191486ba5118 | 146 | msgTx.type=CANData; |
Artiom | 12:191486ba5118 | 147 | // Angle signé sur 2 octets |
Artiom | 12:191486ba5118 | 148 | msgTx.data[0]=(unsigned char)angle; |
Artiom | 12:191486ba5118 | 149 | msgTx.data[1]=(unsigned char)(angle>>8); |
Artiom | 12:191486ba5118 | 150 | |
Artiom | 12:191486ba5118 | 151 | can.write(msgTx); |
Artiom | 12:191486ba5118 | 152 | } |
Artiom | 0:bc74da1c502f | 153 | |
Artiom | 0:bc74da1c502f | 154 | int main() |
Artiom | 0:bc74da1c502f | 155 | { |
Artiom | 0:bc74da1c502f | 156 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
Artiom | 0:bc74da1c502f | 157 | servo_interrupt_en(); //permettre les interuptions |
Artiom | 11:6c11c081c855 | 158 | |
Artiom | 0:bc74da1c502f | 159 | wait(1);//attente servo boot |
Artiom | 2:9e63099cca99 | 160 | gabarit_petit_robot(); |
Artiom | 0:bc74da1c502f | 161 | while(1) { |
Artiom | 0:bc74da1c502f | 162 | canProcessRx(); |
Artiom | 10:48c0d1b8aed9 | 163 | f_mesure();//dt35 |
Artiom | 11:6c11c081c855 | 164 | |
Artiom | 4:4a79942713fa | 165 | automate_ventouse_presentoir_avant(); |
Artiom | 5:6e198cdd99ad | 166 | automate_ventouse_presentoir_arriere(); |
Artiom | 7:553f3f1c2c53 | 167 | |
Artiom | 6:45f9cf44718a | 168 | automate_ventouse_goldenium_avant(); |
Artiom | 6:45f9cf44718a | 169 | automate_ventouse_goldenium_arriere(); |
Artiom | 7:553f3f1c2c53 | 170 | |
Artiom | 6:45f9cf44718a | 171 | automate_ventouse_sol_avant(); |
Artiom | 7:553f3f1c2c53 | 172 | automate_ventouse_sol_arriere(); |
Artiom | 7:553f3f1c2c53 | 173 | |
Artiom | 11:6c11c081c855 | 174 | automate_ventouse_balance_avant(); |
Artiom | 12:191486ba5118 | 175 | automate_ventouse_balance_arriere(); |
Artiom | 12:191486ba5118 | 176 | |
Artiom | 13:9e19048eb065 | 177 | automate_ventouse_relache_avant(); |
Artiom | 12:191486ba5118 | 178 | automate_ventouse_relache_arriere(); |
Artiom | 14:b1abd2f6df75 | 179 | |
Artiom | 13:9e19048eb065 | 180 | automate_ventouse_sol_avant_relache(); |
Artiom | 14:b1abd2f6df75 | 181 | automate_ventouse_sol_arriere_relache(); |
Artiom | 14:b1abd2f6df75 | 182 | |
Artiom | 14:b1abd2f6df75 | 183 | automate_ventouse_accelerateur_avant(); |
Artiom | 14:b1abd2f6df75 | 184 | automate_ventouse_accelerateur_arriere(); |
Artiom | 13:9e19048eb065 | 185 | |
Artiom | 0:bc74da1c502f | 186 | if(EtatGameEnd==1) { |
Artiom | 0:bc74da1c502f | 187 | while(1); |
Artiom | 0:bc74da1c502f | 188 | } |
Artiom | 0:bc74da1c502f | 189 | |
Artiom | 0:bc74da1c502f | 190 | } |
Artiom | 0:bc74da1c502f | 191 | } |
Artiom | 0:bc74da1c502f | 192 | |
Artiom | 0:bc74da1c502f | 193 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 194 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 195 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 196 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 197 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 198 | { |
Artiom | 0:bc74da1c502f | 199 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 200 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 201 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 202 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 203 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 204 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 205 | FIFO_max_occupation=FIFO_occupation; |
Artiom | 0:bc74da1c502f | 206 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 207 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 208 | |
Artiom | 0:bc74da1c502f | 209 | switch(identifiant) { |
Artiom | 0:bc74da1c502f | 210 | |
Artiom | 0:bc74da1c502f | 211 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 212 | EtatGameEnd = 1; |
Artiom | 0:bc74da1c502f | 213 | break; |
Artiom | 0:bc74da1c502f | 214 | |
Artiom | 0:bc74da1c502f | 215 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 216 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 217 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 218 | |
Artiom | 0:bc74da1c502f | 219 | |
Artiom | 0:bc74da1c502f | 220 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 221 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 222 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 223 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 224 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 225 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 226 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 227 | |
Artiom | 0:bc74da1c502f | 228 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 229 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 230 | break; |
Artiom | 0:bc74da1c502f | 231 | |
Artiom | 0:bc74da1c502f | 232 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 233 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 234 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 235 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 236 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 237 | |
Artiom | 0:bc74da1c502f | 238 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 239 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 240 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 241 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 242 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 243 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 244 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 245 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 246 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 247 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 248 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 249 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 250 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 251 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 252 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 253 | break; |
Artiom | 0:bc74da1c502f | 254 | |
Artiom | 0:bc74da1c502f | 255 | #ifdef ROBOT_SMALL |
Artiom | 4:4a79942713fa | 256 | //-------------------------------------------------------------------------Actions petit robot---------------------------------------------- |
Artiom | 2:9e63099cca99 | 257 | case GABARIT_PETIT_ROBOT: |
Artiom | 2:9e63099cca99 | 258 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 259 | gabarit_petit_robot(); |
Artiom | 2:9e63099cca99 | 260 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 0:bc74da1c502f | 261 | break; |
Artiom | 0:bc74da1c502f | 262 | |
Artiom | 0:bc74da1c502f | 263 | case PRESENTOIR_AVANT: |
Artiom | 4:4a79942713fa | 264 | fpresentoir_avant=1; |
Artiom | 0:bc74da1c502f | 265 | break; |
Artiom | 0:bc74da1c502f | 266 | |
Artiom | 0:bc74da1c502f | 267 | case PRESENTOIR_ARRIERE: |
Artiom | 5:6e198cdd99ad | 268 | fpresentoir_arriere=1; |
Artiom | 0:bc74da1c502f | 269 | break; |
Artiom | 0:bc74da1c502f | 270 | |
Artiom | 0:bc74da1c502f | 271 | case BALANCE_AVANT: |
Artiom | 11:6c11c081c855 | 272 | fbalance_avant=1; |
Artiom | 0:bc74da1c502f | 273 | break; |
Artiom | 0:bc74da1c502f | 274 | |
Artiom | 0:bc74da1c502f | 275 | case BALANCE_ARRIERE: |
Artiom | 12:191486ba5118 | 276 | fbalance_arriere=1; |
Artiom | 2:9e63099cca99 | 277 | break; |
Artiom | 2:9e63099cca99 | 278 | |
Artiom | 2:9e63099cca99 | 279 | case ACCELERATEUR_AVANT: |
Artiom | 14:b1abd2f6df75 | 280 | faccelerateur_avant=1; |
Artiom | 2:9e63099cca99 | 281 | break; |
Artiom | 2:9e63099cca99 | 282 | |
Artiom | 2:9e63099cca99 | 283 | case ACCELERATEUR_ARRIERE: |
Artiom | 14:b1abd2f6df75 | 284 | faccelerateur_arriere=1; |
Artiom | 2:9e63099cca99 | 285 | break; |
Artiom | 6:45f9cf44718a | 286 | |
Artiom | 2:9e63099cca99 | 287 | case GOLDENIUM_AVANT: |
Artiom | 6:45f9cf44718a | 288 | fgoldenium_avant=1; |
Artiom | 2:9e63099cca99 | 289 | break; |
Artiom | 2:9e63099cca99 | 290 | |
Artiom | 2:9e63099cca99 | 291 | case GOLDENIUM_ARRIERE: |
Artiom | 6:45f9cf44718a | 292 | fgoldenium_arriere=1; |
Artiom | 2:9e63099cca99 | 293 | break; |
Artiom | 6:45f9cf44718a | 294 | |
Artiom | 2:9e63099cca99 | 295 | case SOL_AVANT: |
Artiom | 6:45f9cf44718a | 296 | fsol_avant=1; |
Artiom | 2:9e63099cca99 | 297 | break; |
Artiom | 2:9e63099cca99 | 298 | |
Artiom | 2:9e63099cca99 | 299 | case SOL_ARRIERE: |
Artiom | 6:45f9cf44718a | 300 | fsol_arriere=1; |
Artiom | 2:9e63099cca99 | 301 | break; |
Artiom | 2:9e63099cca99 | 302 | |
Artiom | 2:9e63099cca99 | 303 | case SOL_AVANT_RELACHE: |
Artiom | 7:553f3f1c2c53 | 304 | fsol_avant_relache=1; |
Artiom | 2:9e63099cca99 | 305 | break; |
Artiom | 2:9e63099cca99 | 306 | |
Artiom | 2:9e63099cca99 | 307 | case SOL_ARRIERE_RELACHE: |
Artiom | 7:553f3f1c2c53 | 308 | fsol_arriere_relache=1; |
Artiom | 0:bc74da1c502f | 309 | break; |
Artiom | 12:191486ba5118 | 310 | case AVANT_RELACHE: |
Artiom | 12:191486ba5118 | 311 | favant_relache=1; |
Artiom | 12:191486ba5118 | 312 | break; |
Artiom | 12:191486ba5118 | 313 | |
Artiom | 12:191486ba5118 | 314 | case ARRIERE_RELACHE: |
Artiom | 12:191486ba5118 | 315 | farriere_relache=1; |
Artiom | 12:191486ba5118 | 316 | break; |
Artiom | 14:b1abd2f6df75 | 317 | case RECROQUEVILLER: |
Artiom | 14:b1abd2f6df75 | 318 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 14:b1abd2f6df75 | 319 | recroqueviller_avant(); |
Artiom | 14:b1abd2f6df75 | 320 | recroqueviller_arriere(); |
Artiom | 14:b1abd2f6df75 | 321 | verification(); |
Artiom | 14:b1abd2f6df75 | 322 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 14:b1abd2f6df75 | 323 | break; |
Artiom | 13:9e19048eb065 | 324 | |
Artiom | 13:9e19048eb065 | 325 | |
Artiom | 4:4a79942713fa | 326 | //--------------------------------------------------------------------------ACK carte pompe---------------------------------------------- |
Artiom | 4:4a79942713fa | 327 | |
Artiom | 4:4a79942713fa | 328 | |
Artiom | 4:4a79942713fa | 329 | case HACHEUR_STATUT_VENTOUSES: |
Artiom | 4:4a79942713fa | 330 | status_pompe = msgRxBuffer[FIFO_lecture].data[1]; |
Artiom | 5:6e198cdd99ad | 331 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 332 | break; |
Artiom | 4:4a79942713fa | 333 | |
Artiom | 4:4a79942713fa | 334 | case HACHEUR_GET_ATOM_ACK: |
Artiom | 4:4a79942713fa | 335 | status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 5:6e198cdd99ad | 336 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 337 | break; |
Artiom | 4:4a79942713fa | 338 | |
Artiom | 4:4a79942713fa | 339 | case HACHEUR_RELEASE_ATOM_ACK : |
Artiom | 4:4a79942713fa | 340 | status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 4:4a79942713fa | 341 | break; |
Artiom | 13:9e19048eb065 | 342 | |
Artiom | 13:9e19048eb065 | 343 | |
Artiom | 4:4a79942713fa | 344 | //------------------------------------------------------------------------------------------------------------------------------------------- |
Artiom | 4:4a79942713fa | 345 | |
Artiom | 0:bc74da1c502f | 346 | |
Artiom | 0:bc74da1c502f | 347 | #endif |
Artiom | 0:bc74da1c502f | 348 | #ifdef ROBOT_BIG |
kyxstark | 18:0ea0d887966f | 349 | case COUROIES: |
kyxstark | 18:0ea0d887966f | 350 | rotation_couroies = msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 351 | break; |
Artiom | 0:bc74da1c502f | 352 | |
Artiom | 0:bc74da1c502f | 353 | case 5: |
Artiom | 0:bc74da1c502f | 354 | |
Artiom | 0:bc74da1c502f | 355 | break; |
Artiom | 0:bc74da1c502f | 356 | |
Artiom | 0:bc74da1c502f | 357 | #endif |
Artiom | 0:bc74da1c502f | 358 | } |
Artiom | 0:bc74da1c502f | 359 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 360 | |
Artiom | 0:bc74da1c502f | 361 | } |
Artiom | 4:4a79942713fa | 362 | |
Artiom | 4:4a79942713fa | 363 | |
Artiom | 4:4a79942713fa | 364 | } |
Artiom | 4:4a79942713fa | 365 | |
Artiom | 4:4a79942713fa | 366 | void automate_ventouse_presentoir_avant (void) |
Artiom | 4:4a79942713fa | 367 | { |
Artiom | 4:4a79942713fa | 368 | |
Artiom | 4:4a79942713fa | 369 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 4:4a79942713fa | 370 | static type_etat etat = init; |
Artiom | 4:4a79942713fa | 371 | |
Artiom | 4:4a79942713fa | 372 | switch(etat) { |
Artiom | 4:4a79942713fa | 373 | case init: //attente d'initialisation |
Artiom | 4:4a79942713fa | 374 | if(fpresentoir_avant) |
Artiom | 4:4a79942713fa | 375 | etat=envoi_instruction; |
Artiom | 4:4a79942713fa | 376 | break; |
Artiom | 4:4a79942713fa | 377 | |
Artiom | 4:4a79942713fa | 378 | case envoi_instruction://envoi instruction |
Artiom | 4:4a79942713fa | 379 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 4:4a79942713fa | 380 | presentoir_avant(); |
Artiom | 5:6e198cdd99ad | 381 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 4:4a79942713fa | 382 | etat = attente_ack_ventouse; |
Artiom | 4:4a79942713fa | 383 | break; |
Artiom | 4:4a79942713fa | 384 | |
Artiom | 4:4a79942713fa | 385 | case attente_ack_ventouse: |
Artiom | 5:6e198cdd99ad | 386 | if((status_pompe&MASK_PRESENTOIR_AV)==MASK_PRESENTOIR_AV) { |
Artiom | 4:4a79942713fa | 387 | fpresentoir_avant=0; |
Artiom | 5:6e198cdd99ad | 388 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 4:4a79942713fa | 389 | etat = init; |
Artiom | 5:6e198cdd99ad | 390 | } |
Artiom | 5:6e198cdd99ad | 391 | break; |
Artiom | 5:6e198cdd99ad | 392 | |
Artiom | 5:6e198cdd99ad | 393 | } |
Artiom | 5:6e198cdd99ad | 394 | } |
Artiom | 5:6e198cdd99ad | 395 | void automate_ventouse_presentoir_arriere (void) |
Artiom | 5:6e198cdd99ad | 396 | { |
Artiom | 5:6e198cdd99ad | 397 | |
Artiom | 5:6e198cdd99ad | 398 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 5:6e198cdd99ad | 399 | static type_etat etat = init; |
Artiom | 5:6e198cdd99ad | 400 | |
Artiom | 5:6e198cdd99ad | 401 | switch(etat) { |
Artiom | 5:6e198cdd99ad | 402 | case init: //attente d'initialisation |
Artiom | 5:6e198cdd99ad | 403 | if(fpresentoir_arriere) |
Artiom | 5:6e198cdd99ad | 404 | etat=envoi_instruction; |
Artiom | 5:6e198cdd99ad | 405 | break; |
Artiom | 5:6e198cdd99ad | 406 | |
Artiom | 5:6e198cdd99ad | 407 | case envoi_instruction://envoi instruction |
Artiom | 5:6e198cdd99ad | 408 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 5:6e198cdd99ad | 409 | presentoir_arriere(); |
Artiom | 5:6e198cdd99ad | 410 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 5:6e198cdd99ad | 411 | etat = attente_ack_ventouse; |
Artiom | 5:6e198cdd99ad | 412 | break; |
Artiom | 5:6e198cdd99ad | 413 | |
Artiom | 5:6e198cdd99ad | 414 | case attente_ack_ventouse: |
Artiom | 5:6e198cdd99ad | 415 | if((status_pompe&MASK_PRESENTOIR_AR)==MASK_PRESENTOIR_AR) { |
Artiom | 5:6e198cdd99ad | 416 | fpresentoir_arriere=0; |
Artiom | 5:6e198cdd99ad | 417 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 5:6e198cdd99ad | 418 | etat = init; |
Artiom | 4:4a79942713fa | 419 | } |
Artiom | 4:4a79942713fa | 420 | break; |
Artiom | 4:4a79942713fa | 421 | |
Artiom | 4:4a79942713fa | 422 | } |
Artiom | 6:45f9cf44718a | 423 | } |
Artiom | 6:45f9cf44718a | 424 | void automate_ventouse_goldenium_avant (void) |
Artiom | 6:45f9cf44718a | 425 | { |
Artiom | 4:4a79942713fa | 426 | |
Artiom | 6:45f9cf44718a | 427 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 428 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 429 | |
Artiom | 6:45f9cf44718a | 430 | switch(etat) { |
Artiom | 6:45f9cf44718a | 431 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 432 | if(fgoldenium_avant) |
Artiom | 6:45f9cf44718a | 433 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 434 | break; |
Artiom | 6:45f9cf44718a | 435 | |
Artiom | 6:45f9cf44718a | 436 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 437 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 438 | goldenium_avant(); |
Artiom | 14:b1abd2f6df75 | 439 | char pompe=AV_CENTRE; |
Artiom | 14:b1abd2f6df75 | 440 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
Artiom | 16:2a66cfe37262 | 441 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 442 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 443 | break; |
Artiom | 6:45f9cf44718a | 444 | |
Artiom | 16:2a66cfe37262 | 445 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 446 | if((status_pompe&MASK_GOLDENIUM_AV)== MASK_GOLDENIUM_AV) { |
Artiom | 6:45f9cf44718a | 447 | fgoldenium_avant=0; |
Artiom | 6:45f9cf44718a | 448 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 449 | etat = init; |
Artiom | 6:45f9cf44718a | 450 | } |
Artiom | 6:45f9cf44718a | 451 | break; |
Artiom | 6:45f9cf44718a | 452 | |
Artiom | 6:45f9cf44718a | 453 | } |
Artiom | 6:45f9cf44718a | 454 | } |
Artiom | 6:45f9cf44718a | 455 | |
Artiom | 6:45f9cf44718a | 456 | void automate_ventouse_goldenium_arriere (void) |
Artiom | 6:45f9cf44718a | 457 | { |
Artiom | 6:45f9cf44718a | 458 | |
Artiom | 6:45f9cf44718a | 459 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 460 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 461 | |
Artiom | 6:45f9cf44718a | 462 | switch(etat) { |
Artiom | 6:45f9cf44718a | 463 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 464 | if(fgoldenium_arriere) |
Artiom | 6:45f9cf44718a | 465 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 466 | break; |
Artiom | 6:45f9cf44718a | 467 | |
Artiom | 6:45f9cf44718a | 468 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 469 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 470 | goldenium_arriere(); |
Artiom | 14:b1abd2f6df75 | 471 | char pompe=AR_CENTRE; |
Artiom | 14:b1abd2f6df75 | 472 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
Artiom | 16:2a66cfe37262 | 473 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 474 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 475 | break; |
Artiom | 6:45f9cf44718a | 476 | |
Artiom | 16:2a66cfe37262 | 477 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 478 | if((status_pompe&MASK_GOLDENIUM_AR)== MASK_GOLDENIUM_AR) { |
Artiom | 6:45f9cf44718a | 479 | fgoldenium_arriere=0; |
Artiom | 6:45f9cf44718a | 480 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 481 | etat = init; |
Artiom | 6:45f9cf44718a | 482 | } |
Artiom | 6:45f9cf44718a | 483 | break; |
Artiom | 6:45f9cf44718a | 484 | |
Artiom | 6:45f9cf44718a | 485 | } |
Artiom | 6:45f9cf44718a | 486 | |
Artiom | 6:45f9cf44718a | 487 | |
Artiom | 6:45f9cf44718a | 488 | } |
Artiom | 6:45f9cf44718a | 489 | |
Artiom | 6:45f9cf44718a | 490 | void automate_ventouse_sol_avant (void) |
Artiom | 6:45f9cf44718a | 491 | { |
Artiom | 6:45f9cf44718a | 492 | |
Artiom | 6:45f9cf44718a | 493 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 494 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 495 | |
Artiom | 6:45f9cf44718a | 496 | switch(etat) { |
Artiom | 6:45f9cf44718a | 497 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 498 | if(fsol_avant) |
Artiom | 6:45f9cf44718a | 499 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 500 | break; |
Artiom | 6:45f9cf44718a | 501 | |
Artiom | 6:45f9cf44718a | 502 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 503 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 504 | sol_avant_baisser(); |
Artiom | 13:9e19048eb065 | 505 | char pompe=AV_BAS; |
Artiom | 13:9e19048eb065 | 506 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
Artiom | 6:45f9cf44718a | 507 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 508 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 509 | break; |
Artiom | 6:45f9cf44718a | 510 | |
Artiom | 6:45f9cf44718a | 511 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 512 | if((status_pompe&MASK_SOL_AV)== MASK_SOL_AV) { |
Artiom | 6:45f9cf44718a | 513 | sol_avant_remonter(); |
Artiom | 6:45f9cf44718a | 514 | fsol_avant=0; |
Artiom | 6:45f9cf44718a | 515 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 516 | etat = init; |
Artiom | 6:45f9cf44718a | 517 | } |
Artiom | 6:45f9cf44718a | 518 | break; |
Artiom | 6:45f9cf44718a | 519 | |
Artiom | 6:45f9cf44718a | 520 | } |
Artiom | 6:45f9cf44718a | 521 | |
Artiom | 6:45f9cf44718a | 522 | |
Artiom | 6:45f9cf44718a | 523 | } |
Artiom | 6:45f9cf44718a | 524 | void automate_ventouse_sol_arriere (void) |
Artiom | 6:45f9cf44718a | 525 | { |
Artiom | 6:45f9cf44718a | 526 | |
Artiom | 6:45f9cf44718a | 527 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 6:45f9cf44718a | 528 | static type_etat etat = init; |
Artiom | 6:45f9cf44718a | 529 | |
Artiom | 6:45f9cf44718a | 530 | switch(etat) { |
Artiom | 6:45f9cf44718a | 531 | case init: //attente d'initialisation |
Artiom | 6:45f9cf44718a | 532 | if(fsol_arriere) |
Artiom | 6:45f9cf44718a | 533 | etat=envoi_instruction; |
Artiom | 6:45f9cf44718a | 534 | break; |
Artiom | 6:45f9cf44718a | 535 | |
Artiom | 6:45f9cf44718a | 536 | case envoi_instruction://envoi instruction |
Artiom | 6:45f9cf44718a | 537 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 6:45f9cf44718a | 538 | sol_arriere_baisser(); |
Artiom | 13:9e19048eb065 | 539 | char pompe=AR_BAS; |
Artiom | 13:9e19048eb065 | 540 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
Artiom | 6:45f9cf44718a | 541 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 6:45f9cf44718a | 542 | etat = attente_ack_ventouse; |
Artiom | 6:45f9cf44718a | 543 | break; |
Artiom | 6:45f9cf44718a | 544 | |
Artiom | 6:45f9cf44718a | 545 | case attente_ack_ventouse: |
Artiom | 6:45f9cf44718a | 546 | if((status_pompe&MASK_SOL_AR)== MASK_SOL_AR) { |
Artiom | 6:45f9cf44718a | 547 | sol_arriere_remonter(); |
Artiom | 6:45f9cf44718a | 548 | fsol_arriere=0; |
Artiom | 6:45f9cf44718a | 549 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 6:45f9cf44718a | 550 | etat = init; |
Artiom | 6:45f9cf44718a | 551 | } |
Artiom | 6:45f9cf44718a | 552 | break; |
Artiom | 6:45f9cf44718a | 553 | |
Artiom | 6:45f9cf44718a | 554 | } |
Artiom | 4:4a79942713fa | 555 | |
Artiom | 4:4a79942713fa | 556 | |
Artiom | 11:6c11c081c855 | 557 | } |
Artiom | 11:6c11c081c855 | 558 | void automate_ventouse_balance_avant (void) |
Artiom | 11:6c11c081c855 | 559 | { |
Artiom | 11:6c11c081c855 | 560 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 11:6c11c081c855 | 561 | static type_etat etat = init; |
Artiom | 11:6c11c081c855 | 562 | |
Artiom | 11:6c11c081c855 | 563 | switch(etat) { |
Artiom | 11:6c11c081c855 | 564 | case init: //attente d'initialisation |
Artiom | 11:6c11c081c855 | 565 | if(fbalance_avant) |
Artiom | 11:6c11c081c855 | 566 | etat=envoi_instruction; |
Artiom | 11:6c11c081c855 | 567 | break; |
Artiom | 11:6c11c081c855 | 568 | |
Artiom | 11:6c11c081c855 | 569 | case envoi_instruction://envoi instruction |
Artiom | 11:6c11c081c855 | 570 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 15:119fc452dcaf | 571 | presentoir_avant(); |
Artiom | 12:191486ba5118 | 572 | balance_avant_placement(); |
Artiom | 12:191486ba5118 | 573 | Rotate(200); |
Artiom | 12:191486ba5118 | 574 | wait(0.5); |
Artiom | 11:6c11c081c855 | 575 | balance_avant(); |
Artiom | 12:191486ba5118 | 576 | Rotate(-200); |
Artiom | 12:191486ba5118 | 577 | wait(0.5); |
Artiom | 16:2a66cfe37262 | 578 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 11:6c11c081c855 | 579 | etat = attente_ack_ventouse; |
Artiom | 11:6c11c081c855 | 580 | break; |
Artiom | 11:6c11c081c855 | 581 | |
Artiom | 11:6c11c081c855 | 582 | case attente_ack_ventouse: |
Artiom | 12:191486ba5118 | 583 | char pompe=AV_DROIT; |
Artiom | 12:191486ba5118 | 584 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 11:6c11c081c855 | 585 | if((status_pompe&MASK_AV_DROIT)== 0) { |
Artiom | 11:6c11c081c855 | 586 | fbalance_avant=0; |
Artiom | 12:191486ba5118 | 587 | presentoir_arriere(); |
Artiom | 12:191486ba5118 | 588 | presentoir_avant(); |
Artiom | 12:191486ba5118 | 589 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));//on arrete la pompe car elle est réactivé par presentoir_avant(); |
Artiom | 12:191486ba5118 | 590 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 12:191486ba5118 | 591 | etat = init; |
Artiom | 12:191486ba5118 | 592 | } |
Artiom | 12:191486ba5118 | 593 | break; |
Artiom | 12:191486ba5118 | 594 | |
Artiom | 12:191486ba5118 | 595 | } |
Artiom | 12:191486ba5118 | 596 | |
Artiom | 12:191486ba5118 | 597 | |
Artiom | 12:191486ba5118 | 598 | } |
Artiom | 12:191486ba5118 | 599 | void automate_ventouse_balance_arriere (void) |
Artiom | 12:191486ba5118 | 600 | { |
Artiom | 12:191486ba5118 | 601 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 12:191486ba5118 | 602 | static type_etat etat = init; |
Artiom | 12:191486ba5118 | 603 | |
Artiom | 12:191486ba5118 | 604 | switch(etat) { |
Artiom | 12:191486ba5118 | 605 | case init: //attente d'initialisation |
Artiom | 12:191486ba5118 | 606 | if(fbalance_arriere) |
Artiom | 12:191486ba5118 | 607 | etat=envoi_instruction; |
Artiom | 12:191486ba5118 | 608 | break; |
Artiom | 12:191486ba5118 | 609 | |
Artiom | 12:191486ba5118 | 610 | case envoi_instruction://envoi instruction |
Artiom | 12:191486ba5118 | 611 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 15:119fc452dcaf | 612 | presentoir_arriere(); |
Artiom | 12:191486ba5118 | 613 | balance_arriere_placement(); |
Artiom | 12:191486ba5118 | 614 | Rotate(200); |
Artiom | 12:191486ba5118 | 615 | wait(0.5); |
Artiom | 12:191486ba5118 | 616 | balance_arriere(); |
Artiom | 12:191486ba5118 | 617 | Rotate(-200); |
Artiom | 12:191486ba5118 | 618 | wait(0.5); |
Artiom | 16:2a66cfe37262 | 619 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 12:191486ba5118 | 620 | etat = attente_ack_ventouse; |
Artiom | 12:191486ba5118 | 621 | break; |
Artiom | 12:191486ba5118 | 622 | |
Artiom | 12:191486ba5118 | 623 | case attente_ack_ventouse: |
Artiom | 12:191486ba5118 | 624 | char pompe=AR_DROIT; |
Artiom | 12:191486ba5118 | 625 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 12:191486ba5118 | 626 | if((status_pompe&MASK_AR_DROIT)== 0) { |
Artiom | 12:191486ba5118 | 627 | fbalance_arriere=0; |
Artiom | 12:191486ba5118 | 628 | presentoir_arriere(); |
Artiom | 12:191486ba5118 | 629 | presentoir_avant(); |
Artiom | 12:191486ba5118 | 630 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));//on arrete la pompe car elle est réactivé par presentoir_avant(); |
Artiom | 12:191486ba5118 | 631 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 12:191486ba5118 | 632 | etat = init; |
Artiom | 12:191486ba5118 | 633 | } |
Artiom | 12:191486ba5118 | 634 | break; |
Artiom | 12:191486ba5118 | 635 | |
Artiom | 12:191486ba5118 | 636 | } |
Artiom | 12:191486ba5118 | 637 | |
Artiom | 12:191486ba5118 | 638 | |
Artiom | 12:191486ba5118 | 639 | } |
Artiom | 13:9e19048eb065 | 640 | void automate_ventouse_relache_avant (void) |
Artiom | 13:9e19048eb065 | 641 | { |
Artiom | 13:9e19048eb065 | 642 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 13:9e19048eb065 | 643 | static type_etat etat = init; |
Artiom | 13:9e19048eb065 | 644 | |
Artiom | 13:9e19048eb065 | 645 | switch(etat) { |
Artiom | 13:9e19048eb065 | 646 | case init: //attente d'initialisation |
Artiom | 13:9e19048eb065 | 647 | if(favant_relache) |
Artiom | 13:9e19048eb065 | 648 | etat=envoi_instruction; |
Artiom | 13:9e19048eb065 | 649 | break; |
Artiom | 13:9e19048eb065 | 650 | |
Artiom | 13:9e19048eb065 | 651 | case envoi_instruction://envoi instruction |
Artiom | 13:9e19048eb065 | 652 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 16:2a66cfe37262 | 653 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 13:9e19048eb065 | 654 | etat = attente_ack_ventouse; |
Artiom | 13:9e19048eb065 | 655 | break; |
Artiom | 13:9e19048eb065 | 656 | |
Artiom | 13:9e19048eb065 | 657 | case attente_ack_ventouse: |
Artiom | 13:9e19048eb065 | 658 | SendRawId(HACHEUR_RELEASE_AV); |
Artiom | 13:9e19048eb065 | 659 | if((status_pompe&MASK_PRESENTOIR_AV)== 0) { |
Artiom | 13:9e19048eb065 | 660 | favant_relache=0; |
Artiom | 13:9e19048eb065 | 661 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 13:9e19048eb065 | 662 | etat = init; |
Artiom | 13:9e19048eb065 | 663 | } |
Artiom | 13:9e19048eb065 | 664 | break; |
Artiom | 13:9e19048eb065 | 665 | |
Artiom | 13:9e19048eb065 | 666 | } |
Artiom | 13:9e19048eb065 | 667 | |
Artiom | 13:9e19048eb065 | 668 | |
Artiom | 13:9e19048eb065 | 669 | } |
Artiom | 12:191486ba5118 | 670 | void automate_ventouse_relache_arriere (void) |
Artiom | 12:191486ba5118 | 671 | { |
Artiom | 12:191486ba5118 | 672 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 12:191486ba5118 | 673 | static type_etat etat = init; |
Artiom | 12:191486ba5118 | 674 | |
Artiom | 12:191486ba5118 | 675 | switch(etat) { |
Artiom | 12:191486ba5118 | 676 | case init: //attente d'initialisation |
Artiom | 12:191486ba5118 | 677 | if(farriere_relache) |
Artiom | 12:191486ba5118 | 678 | etat=envoi_instruction; |
Artiom | 12:191486ba5118 | 679 | break; |
Artiom | 12:191486ba5118 | 680 | |
Artiom | 12:191486ba5118 | 681 | case envoi_instruction://envoi instruction |
Artiom | 12:191486ba5118 | 682 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 16:2a66cfe37262 | 683 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 12:191486ba5118 | 684 | etat = attente_ack_ventouse; |
Artiom | 12:191486ba5118 | 685 | break; |
Artiom | 12:191486ba5118 | 686 | |
Artiom | 12:191486ba5118 | 687 | case attente_ack_ventouse: |
Artiom | 16:2a66cfe37262 | 688 | SendRawId(HACHEUR_RELEASE_AR); |
Artiom | 12:191486ba5118 | 689 | if((status_pompe&MASK_PRESENTOIR_AR)== 0) { |
Artiom | 12:191486ba5118 | 690 | farriere_relache=0; |
Artiom | 11:6c11c081c855 | 691 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 11:6c11c081c855 | 692 | etat = init; |
Artiom | 11:6c11c081c855 | 693 | } |
Artiom | 11:6c11c081c855 | 694 | break; |
Artiom | 11:6c11c081c855 | 695 | } |
Artiom | 11:6c11c081c855 | 696 | |
Artiom | 13:9e19048eb065 | 697 | } |
Artiom | 13:9e19048eb065 | 698 | void automate_ventouse_sol_avant_relache (void) |
Artiom | 13:9e19048eb065 | 699 | { |
Artiom | 13:9e19048eb065 | 700 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 13:9e19048eb065 | 701 | static type_etat etat = init; |
Artiom | 13:9e19048eb065 | 702 | |
Artiom | 13:9e19048eb065 | 703 | switch(etat) { |
Artiom | 13:9e19048eb065 | 704 | case init: //attente d'initialisation |
Artiom | 13:9e19048eb065 | 705 | if(fsol_avant_relache) |
Artiom | 13:9e19048eb065 | 706 | etat=envoi_instruction; |
Artiom | 13:9e19048eb065 | 707 | break; |
Artiom | 13:9e19048eb065 | 708 | |
Artiom | 13:9e19048eb065 | 709 | case envoi_instruction://envoi instruction |
Artiom | 13:9e19048eb065 | 710 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 13:9e19048eb065 | 711 | positionControl(AV_sol,520,1,BLED_ON,4);//baisser |
Artiom | 13:9e19048eb065 | 712 | verification(); |
Artiom | 16:2a66cfe37262 | 713 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 13:9e19048eb065 | 714 | etat = attente_ack_ventouse; |
Artiom | 13:9e19048eb065 | 715 | break; |
Artiom | 13:9e19048eb065 | 716 | |
Artiom | 13:9e19048eb065 | 717 | case attente_ack_ventouse: |
Artiom | 13:9e19048eb065 | 718 | char pompe=AV_BAS; |
Artiom | 13:9e19048eb065 | 719 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 13:9e19048eb065 | 720 | if((status_pompe&MASK_SOL_AV)== 0) { |
Artiom | 13:9e19048eb065 | 721 | sol_avant_remonter(); |
Artiom | 13:9e19048eb065 | 722 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 13:9e19048eb065 | 723 | fsol_avant_relache=0; |
Artiom | 13:9e19048eb065 | 724 | etat = init; |
Artiom | 13:9e19048eb065 | 725 | } |
Artiom | 13:9e19048eb065 | 726 | break; |
Artiom | 13:9e19048eb065 | 727 | |
Artiom | 13:9e19048eb065 | 728 | } |
Artiom | 13:9e19048eb065 | 729 | |
Artiom | 13:9e19048eb065 | 730 | |
Artiom | 13:9e19048eb065 | 731 | } |
Artiom | 13:9e19048eb065 | 732 | |
Artiom | 13:9e19048eb065 | 733 | void automate_ventouse_sol_arriere_relache (void) |
Artiom | 13:9e19048eb065 | 734 | { |
Artiom | 13:9e19048eb065 | 735 | typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat; |
Artiom | 13:9e19048eb065 | 736 | static type_etat etat = init; |
Artiom | 13:9e19048eb065 | 737 | |
Artiom | 13:9e19048eb065 | 738 | switch(etat) { |
Artiom | 13:9e19048eb065 | 739 | case init: //attente d'initialisation |
Artiom | 13:9e19048eb065 | 740 | if(fsol_arriere_relache) |
Artiom | 13:9e19048eb065 | 741 | etat=envoi_instruction; |
Artiom | 13:9e19048eb065 | 742 | break; |
Artiom | 13:9e19048eb065 | 743 | |
Artiom | 13:9e19048eb065 | 744 | case envoi_instruction://envoi instruction |
Artiom | 13:9e19048eb065 | 745 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 13:9e19048eb065 | 746 | positionControl(AR_sol,480,1,BLED_ON,4);//baisser |
Artiom | 13:9e19048eb065 | 747 | verification(); |
Artiom | 16:2a66cfe37262 | 748 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 13:9e19048eb065 | 749 | etat = attente_ack_ventouse; |
Artiom | 13:9e19048eb065 | 750 | break; |
Artiom | 13:9e19048eb065 | 751 | |
Artiom | 13:9e19048eb065 | 752 | case attente_ack_ventouse: |
Artiom | 13:9e19048eb065 | 753 | char pompe=AR_BAS; |
Artiom | 13:9e19048eb065 | 754 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 13:9e19048eb065 | 755 | if((status_pompe&MASK_SOL_AR)== 0) { |
Artiom | 13:9e19048eb065 | 756 | sol_arriere_remonter(); |
Artiom | 13:9e19048eb065 | 757 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 13:9e19048eb065 | 758 | fsol_arriere_relache=0; |
Artiom | 13:9e19048eb065 | 759 | etat = init; |
Artiom | 13:9e19048eb065 | 760 | } |
Artiom | 13:9e19048eb065 | 761 | break; |
Artiom | 13:9e19048eb065 | 762 | |
Artiom | 13:9e19048eb065 | 763 | } |
Artiom | 13:9e19048eb065 | 764 | |
Artiom | 13:9e19048eb065 | 765 | |
Artiom | 14:b1abd2f6df75 | 766 | } |
Artiom | 14:b1abd2f6df75 | 767 | void automate_ventouse_accelerateur_avant (void) |
Artiom | 14:b1abd2f6df75 | 768 | { |
Artiom | 16:2a66cfe37262 | 769 | typedef enum {init,envoi_instruction,attente_ack_ventouse_droite_gauche,attente_ack_ventouse_centre} type_etat; |
Artiom | 14:b1abd2f6df75 | 770 | static type_etat etat = init; |
Artiom | 14:b1abd2f6df75 | 771 | |
Artiom | 14:b1abd2f6df75 | 772 | switch(etat) { |
Artiom | 14:b1abd2f6df75 | 773 | case init: //attente d'initialisation |
Artiom | 14:b1abd2f6df75 | 774 | if(faccelerateur_avant) |
Artiom | 14:b1abd2f6df75 | 775 | etat=envoi_instruction; |
Artiom | 14:b1abd2f6df75 | 776 | break; |
Artiom | 14:b1abd2f6df75 | 777 | |
Artiom | 14:b1abd2f6df75 | 778 | case envoi_instruction://envoi instruction |
Artiom | 14:b1abd2f6df75 | 779 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 14:b1abd2f6df75 | 780 | accelerateur_avant(); |
Artiom | 14:b1abd2f6df75 | 781 | GoStraight(200,1,35,0);//35epaisseur accelerateur |
Artiom | 16:2a66cfe37262 | 782 | SendRawId(HACHEUR_STATUT_VENTOUSES); |
Artiom | 16:2a66cfe37262 | 783 | etat = attente_ack_ventouse_droite_gauche; |
Artiom | 14:b1abd2f6df75 | 784 | break; |
Artiom | 14:b1abd2f6df75 | 785 | |
Artiom | 16:2a66cfe37262 | 786 | case attente_ack_ventouse_droite_gauche: |
Artiom | 14:b1abd2f6df75 | 787 | char pompe=AV_DROIT; |
Artiom | 14:b1abd2f6df75 | 788 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 14:b1abd2f6df75 | 789 | pompe=AV_GAUCHE; |
Artiom | 14:b1abd2f6df75 | 790 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 16:2a66cfe37262 | 791 | if((status_pompe&MASK_AV_DROIT_GAUCHE)== 0) { |
Artiom | 16:2a66cfe37262 | 792 | GoStraight(-20,0,0,0); |
Artiom | 16:2a66cfe37262 | 793 | wait(1); |
Artiom | 16:2a66cfe37262 | 794 | presentoir_avant(); |
Artiom | 16:2a66cfe37262 | 795 | etat = attente_ack_ventouse_centre; |
Artiom | 16:2a66cfe37262 | 796 | } |
Artiom | 16:2a66cfe37262 | 797 | case attente_ack_ventouse_centre: |
Artiom | 16:2a66cfe37262 | 798 | pompe=AV_CENTRE; |
Artiom | 16:2a66cfe37262 | 799 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
Artiom | 14:b1abd2f6df75 | 800 | if((status_pompe&MASK_AV_DROIT_GAUCHE)== 0) { |
Artiom | 14:b1abd2f6df75 | 801 | faccelerateur_avant=0; |
Artiom | 14:b1abd2f6df75 | 802 | presentoir_avant(); |
Artiom | 14:b1abd2f6df75 | 803 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));//on arrete la pompe car elle est réactivé par presentoir_avant(); |
Artiom | 14:b1abd2f6df75 | 804 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 14:b1abd2f6df75 | 805 | etat = init; |
Artiom | 14:b1abd2f6df75 | 806 | } |
Artiom | 16:2a66cfe37262 | 807 | |
Artiom | 14:b1abd2f6df75 | 808 | break; |
Artiom | 14:b1abd2f6df75 | 809 | |
Artiom | 14:b1abd2f6df75 | 810 | } |
Artiom | 14:b1abd2f6df75 | 811 | |
Artiom | 14:b1abd2f6df75 | 812 | |
Artiom | 14:b1abd2f6df75 | 813 | } |
Artiom | 14:b1abd2f6df75 | 814 | |
Artiom | 14:b1abd2f6df75 | 815 | |
Artiom | 14:b1abd2f6df75 | 816 | void automate_ventouse_accelerateur_arriere (void) |
Artiom | 14:b1abd2f6df75 | 817 | { |
Artiom | 14:b1abd2f6df75 | 818 | |
Artiom | 14:b1abd2f6df75 | 819 | |
Artiom | 14:b1abd2f6df75 | 820 | } |
Artiom | 14:b1abd2f6df75 | 821 | |
Artiom | 14:b1abd2f6df75 | 822 |