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carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
main.cpp@39:124575240d09, 2019-05-23 (annotated)
- Committer:
- kyxstark
- Date:
- Thu May 23 18:42:51 2019 +0000
- Revision:
- 39:124575240d09
- Parent:
- 38:9295a9721acb
- Child:
- 41:a71d06f292ac
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kyxstark | 25:9627700d989f | 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 | 24:33c7ff467bd9 | 73 | automate_ventouse_presentoir_avant(); |
Artiom | 7:553f3f1c2c53 | 74 | |
Artiom | 6:45f9cf44718a | 75 | automate_ventouse_goldenium_arriere(); |
kyxstark | 24:33c7ff467bd9 | 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 | 24:33c7ff467bd9 | 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 | 24:33c7ff467bd9 | 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 | 24:33c7ff467bd9 | 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 | 24:33c7ff467bd9 | 96 | automate_ventouse_goldenium_avant(); |
kyxstark | 24:33c7ff467bd9 | 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 | 36:04c3ad41064d | 133 | /*SendMsgCan(0x788, (unsigned char*)&cote, 1); |
Artiom | 36:04c3ad41064d | 134 | if(cote) printf("\nCote violet : %d",cote); |
Artiom | 36:04c3ad41064d | 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 | 25:9627700d989f | 182 | |
kyxstark | 25:9627700d989f | 183 | |
kyxstark | 25:9627700d989f | 184 | //--------------------------------------------------------------------------ACK carte pompe---------------------------------------------- |
kyxstark | 25:9627700d989f | 185 | |
kyxstark | 25:9627700d989f | 186 | |
kyxstark | 25:9627700d989f | 187 | case HACHEUR_STATUT_VENTOUSES: |
kyxstark | 25:9627700d989f | 188 | status_pompe = msgRxBuffer[FIFO_lecture].data[1]; |
kyxstark | 25:9627700d989f | 189 | //can.write(CANMessage(0x529, &status_pompe,1)); |
kyxstark | 25:9627700d989f | 190 | break; |
kyxstark | 25:9627700d989f | 191 | |
kyxstark | 25:9627700d989f | 192 | case HACHEUR_GET_ATOM_ACK: |
kyxstark | 25:9627700d989f | 193 | status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
kyxstark | 25:9627700d989f | 194 | //can.write(CANMessage(0x529, &status_pompe,1)); |
kyxstark | 25:9627700d989f | 195 | break; |
kyxstark | 25:9627700d989f | 196 | |
kyxstark | 25:9627700d989f | 197 | case HACHEUR_RELEASE_ATOM_ACK : |
kyxstark | 25:9627700d989f | 198 | status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
kyxstark | 25:9627700d989f | 199 | break; |
kyxstark | 25:9627700d989f | 200 | |
kyxstark | 25:9627700d989f | 201 | //------------------------------------------------------------------------------------------------------------------------------------------- |
kyxstark | 25:9627700d989f | 202 | |
Artiom | 31:29500874c1cc | 203 | |
kyxstark | 25:9627700d989f | 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 | 39:124575240d09 | 216 | case AVANT_RELACHE: |
kyxstark | 39:124575240d09 | 217 | favant_relache=1; |
kyxstark | 39:124575240d09 | 218 | break; |
kyxstark | 38:9295a9721acb | 219 | |
kyxstark | 38:9295a9721acb | 220 | |
kyxstark | 25:9627700d989f | 221 | #ifdef ROBOT_SMALL |
kyxstark | 23:93a427b242ce | 222 | |
kyxstark | 23:93a427b242ce | 223 | |
Artiom | 4:4a79942713fa | 224 | //-------------------------------------------------------------------------Actions petit robot---------------------------------------------- |
Artiom | 32:e9947815c4d7 | 225 | |
kyxstark | 38:9295a9721acb | 226 | |
Artiom | 0:bc74da1c502f | 227 | |
Artiom | 0:bc74da1c502f | 228 | case PRESENTOIR_ARRIERE: |
Artiom | 5:6e198cdd99ad | 229 | fpresentoir_arriere=1; |
Artiom | 0:bc74da1c502f | 230 | break; |
Artiom | 0:bc74da1c502f | 231 | |
Artiom | 31:29500874c1cc | 232 | case BALANCE_AVANT: |
Artiom | 31:29500874c1cc | 233 | fbalance_avant=1; |
Artiom | 31:29500874c1cc | 234 | break; |
Artiom | 32:e9947815c4d7 | 235 | |
Artiom | 0:bc74da1c502f | 236 | case BALANCE_ARRIERE: |
Artiom | 12:191486ba5118 | 237 | fbalance_arriere=1; |
Artiom | 2:9e63099cca99 | 238 | break; |
Artiom | 32:e9947815c4d7 | 239 | |
Artiom | 31:29500874c1cc | 240 | case ACCELERATEUR_AVANT: |
Artiom | 31:29500874c1cc | 241 | faccelerateur_avant=1; |
Artiom | 31:29500874c1cc | 242 | break; |
Artiom | 2:9e63099cca99 | 243 | |
Artiom | 2:9e63099cca99 | 244 | case ACCELERATEUR_ARRIERE: |
Artiom | 14:b1abd2f6df75 | 245 | faccelerateur_arriere=1; |
Artiom | 2:9e63099cca99 | 246 | break; |
Artiom | 6:45f9cf44718a | 247 | |
Artiom | 31:29500874c1cc | 248 | case GOLDENIUM_AVANT: |
Artiom | 31:29500874c1cc | 249 | fgoldenium_avant=1; |
Artiom | 31:29500874c1cc | 250 | break; |
Artiom | 32:e9947815c4d7 | 251 | |
Artiom | 2:9e63099cca99 | 252 | case GOLDENIUM_ARRIERE: |
Artiom | 6:45f9cf44718a | 253 | fgoldenium_arriere=1; |
Artiom | 2:9e63099cca99 | 254 | break; |
Artiom | 6:45f9cf44718a | 255 | |
Artiom | 2:9e63099cca99 | 256 | case SOL_AVANT: |
Artiom | 6:45f9cf44718a | 257 | fsol_avant=1; |
Artiom | 2:9e63099cca99 | 258 | break; |
Artiom | 2:9e63099cca99 | 259 | |
Artiom | 2:9e63099cca99 | 260 | case SOL_ARRIERE: |
Artiom | 6:45f9cf44718a | 261 | fsol_arriere=1; |
Artiom | 2:9e63099cca99 | 262 | break; |
Artiom | 2:9e63099cca99 | 263 | |
Artiom | 2:9e63099cca99 | 264 | case SOL_AVANT_RELACHE: |
Artiom | 7:553f3f1c2c53 | 265 | fsol_avant_relache=1; |
Artiom | 2:9e63099cca99 | 266 | break; |
Artiom | 2:9e63099cca99 | 267 | |
Artiom | 2:9e63099cca99 | 268 | case SOL_ARRIERE_RELACHE: |
Artiom | 7:553f3f1c2c53 | 269 | fsol_arriere_relache=1; |
Artiom | 0:bc74da1c502f | 270 | break; |
Artiom | 12:191486ba5118 | 271 | |
Artiom | 31:29500874c1cc | 272 | |
kyxstark | 39:124575240d09 | 273 | |
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 | 36:04c3ad41064d | 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 |