CRAC Team / Mbed 2 deprecated carte_esclave_PETIT_ROBOT_2019

carte esclave Petit Robot

Dependencies:   mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

main.cpp@4:4a79942713fa, 2019-05-10 (annotated)

Committer:
Artiom
Date:
Fri May 10 19:16:33 2019 +0000
Revision:
4:4a79942713fa
Parent:
2:9e63099cca99
Child:
5:6e198cdd99ad
ajout d'un debut d'automate avec ack ventouse;

Who changed what in which revision?

UserRevisionLine numberNew 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 0:bc74da1c502f 7
Artiom 0:bc74da1c502f 8 #define SIZE_FIFO 50
Artiom 0:bc74da1c502f 9
Artiom 0:bc74da1c502f 10 CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN
Artiom 0:bc74da1c502f 11
Artiom 0:bc74da1c502f 12
Artiom 0:bc74da1c502f 13 CANMessage msgRxBuffer[SIZE_FIFO];
Artiom 0:bc74da1c502f 14 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Artiom 0:bc74da1c502f 15 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
Artiom 0:bc74da1c502f 16 unsigned char EtatGameEnd=0;
Artiom 0:bc74da1c502f 17
Artiom 4:4a79942713fa 18 char fpresentoir_avant=0;
Artiom 4:4a79942713fa 19
Artiom 4:4a79942713fa 20 char status_pompe=0;
Artiom 4:4a79942713fa 21
Artiom 0:bc74da1c502f 22 void canRx_ISR (void);
Artiom 0:bc74da1c502f 23 void SendAck(unsigned short id, unsigned short from);
Artiom 0:bc74da1c502f 24 void SendRawId (unsigned short id);
Artiom 0:bc74da1c502f 25 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
Artiom 0:bc74da1c502f 26 void canProcessRx(void);
Artiom 4:4a79942713fa 27 void automate_ventouse_presentoir_avant(void);
Artiom 0:bc74da1c502f 28
Artiom 0:bc74da1c502f 29 /*********************************************************************************************/
Artiom 0:bc74da1c502f 30 /* FUNCTION NAME: canRx_ISR */
Artiom 0:bc74da1c502f 31 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
Artiom 0:bc74da1c502f 32 /*********************************************************************************************/
Artiom 0:bc74da1c502f 33 void canRx_ISR (void)
Artiom 0:bc74da1c502f 34 {
Artiom 0:bc74da1c502f 35 if (can.read(msgRxBuffer[FIFO_ecriture])) {
Artiom 0:bc74da1c502f 36 if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) {
Artiom 0:bc74da1c502f 37
Artiom 0:bc74da1c502f 38 }
Artiom 0:bc74da1c502f 39 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
Artiom 0:bc74da1c502f 40
Artiom 0:bc74da1c502f 41 }
Artiom 0:bc74da1c502f 42
Artiom 0:bc74da1c502f 43 }
Artiom 0:bc74da1c502f 44 /*********************************************************************************************/
Artiom 0:bc74da1c502f 45 /* FUNCTION NAME: SendAck */
Artiom 0:bc74da1c502f 46 /* DESCRIPTION : */
Artiom 0:bc74da1c502f 47 /*********************************************************************************************/
Artiom 0:bc74da1c502f 48 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 49 {
Artiom 0:bc74da1c502f 50 CANMessage msgTx=CANMessage();
Artiom 0:bc74da1c502f 51 msgTx.id=from; //waitingAckFrom
Artiom 0:bc74da1c502f 52 msgTx.len=2;
Artiom 0:bc74da1c502f 53 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 54 msgTx.type=CANData;
Artiom 0:bc74da1c502f 55 // from sur 2 octets
Artiom 0:bc74da1c502f 56 msgTx.data[0]=(unsigned char)id; //waitingAckID
Artiom 0:bc74da1c502f 57 msgTx.data[1]=(unsigned char)(id>>8);
Artiom 0:bc74da1c502f 58 can.write(msgTx);
Artiom 0:bc74da1c502f 59 }
Artiom 0:bc74da1c502f 60 /*********************************************************************************************/
Artiom 0:bc74da1c502f 61 /* FUNCTION NAME: SendRawId */
Artiom 0:bc74da1c502f 62 /* DESCRIPTION : */
Artiom 0:bc74da1c502f 63 /*********************************************************************************************/
Artiom 0:bc74da1c502f 64 void SendRawId (unsigned short id)
Artiom 0:bc74da1c502f 65 {
Artiom 0:bc74da1c502f 66 CANMessage msgTx=CANMessage();
Artiom 0:bc74da1c502f 67 msgTx.id=id;
Artiom 0:bc74da1c502f 68 msgTx.len=0;
Artiom 0:bc74da1c502f 69 can.write(msgTx); //carte esclave f446re
Artiom 0:bc74da1c502f 70 wait_us(200);
Artiom 0:bc74da1c502f 71 }
Artiom 0:bc74da1c502f 72
Artiom 0:bc74da1c502f 73 /*********************************************************************************************/
Artiom 0:bc74da1c502f 74 /* FUNCTION NAME: GoStraight */
Artiom 0:bc74da1c502f 75 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
Artiom 0:bc74da1c502f 76 /* recalage : 0 => pas de recalage */
Artiom 0:bc74da1c502f 77 /* 1 => recalage en X */
Artiom 0:bc74da1c502f 78 /* 2 => Recalage en Y */
Artiom 0:bc74da1c502f 79 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
Artiom 0:bc74da1c502f 80 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
Artiom 0:bc74da1c502f 81 /* 0 => non */
Artiom 0:bc74da1c502f 82 /* 1 => oui */
Artiom 0:bc74da1c502f 83 /* 2 => dernière instruction de l'enchainement */
Artiom 0:bc74da1c502f 84 /*********************************************************************************************/
Artiom 0:bc74da1c502f 85 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement)
Artiom 0:bc74da1c502f 86 {
Artiom 0:bc74da1c502f 87 CANMessage msgTx=CANMessage();
Artiom 0:bc74da1c502f 88 msgTx.id=ASSERVISSEMENT_RECALAGE;
Artiom 0:bc74da1c502f 89 msgTx.len=6;
Artiom 0:bc74da1c502f 90 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 91 msgTx.type=CANData;
Artiom 0:bc74da1c502f 92 // x sur 2 octets
Artiom 0:bc74da1c502f 93 msgTx.data[0]=(unsigned char)distance;
Artiom 0:bc74da1c502f 94 msgTx.data[1]=(unsigned char)(distance>>8);
Artiom 0:bc74da1c502f 95 //Recalage sur 1 octet
Artiom 0:bc74da1c502f 96 msgTx.data[2]=recalage;
Artiom 0:bc74da1c502f 97 //Valeur du recalage sur 2 octets
Artiom 0:bc74da1c502f 98 msgTx.data[3]=(unsigned char)newValue;
Artiom 0:bc74da1c502f 99 msgTx.data[4]=(unsigned char)(newValue>>8);
Artiom 0:bc74da1c502f 100 //Enchainement sur 1 octet
Artiom 0:bc74da1c502f 101 msgTx.data[5]=isEnchainement;
Artiom 0:bc74da1c502f 102
Artiom 0:bc74da1c502f 103 can.write(msgTx);
Artiom 0:bc74da1c502f 104 //wait_ms(500);
Artiom 0:bc74da1c502f 105 }
Artiom 0:bc74da1c502f 106
Artiom 0:bc74da1c502f 107 int main()
Artiom 0:bc74da1c502f 108 {
Artiom 0:bc74da1c502f 109 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
Artiom 0:bc74da1c502f 110 servo_interrupt_en(); //permettre les interuptions
Artiom 0:bc74da1c502f 111 wait(1);//attente servo boot
Artiom 2:9e63099cca99 112 gabarit_petit_robot();
Artiom 0:bc74da1c502f 113
Artiom 0:bc74da1c502f 114 while(1) {
Artiom 0:bc74da1c502f 115 canProcessRx();
Artiom 4:4a79942713fa 116 automate_ventouse_presentoir_avant();
Artiom 0:bc74da1c502f 117 if(EtatGameEnd==1) {
Artiom 0:bc74da1c502f 118 while(1);
Artiom 0:bc74da1c502f 119 }
Artiom 0:bc74da1c502f 120
Artiom 0:bc74da1c502f 121 }
Artiom 0:bc74da1c502f 122 }
Artiom 0:bc74da1c502f 123
Artiom 0:bc74da1c502f 124 /****************************************************************************************/
Artiom 0:bc74da1c502f 125 /* FUNCTION NAME: canProcessRx */
Artiom 0:bc74da1c502f 126 /* DESCRIPTION : Fonction de traitement des messages CAN */
Artiom 0:bc74da1c502f 127 /****************************************************************************************/
Artiom 0:bc74da1c502f 128 void canProcessRx(void)
Artiom 0:bc74da1c502f 129 {
Artiom 0:bc74da1c502f 130 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Artiom 0:bc74da1c502f 131 CANMessage msgTx=CANMessage();
Artiom 0:bc74da1c502f 132 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
Artiom 0:bc74da1c502f 133 if(FIFO_occupation<0)
Artiom 0:bc74da1c502f 134 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
Artiom 0:bc74da1c502f 135 if(FIFO_max_occupation<FIFO_occupation)
Artiom 0:bc74da1c502f 136 FIFO_max_occupation=FIFO_occupation;
Artiom 0:bc74da1c502f 137 if(FIFO_occupation!=0) {
Artiom 0:bc74da1c502f 138 int identifiant=msgRxBuffer[FIFO_lecture].id;
Artiom 0:bc74da1c502f 139
Artiom 0:bc74da1c502f 140 switch(identifiant) {
Artiom 0:bc74da1c502f 141
Artiom 0:bc74da1c502f 142 case GLOBAL_GAME_END:
Artiom 0:bc74da1c502f 143 EtatGameEnd = 1;
Artiom 0:bc74da1c502f 144 break;
Artiom 0:bc74da1c502f 145
Artiom 0:bc74da1c502f 146 case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN
Artiom 0:bc74da1c502f 147 char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0];
Artiom 0:bc74da1c502f 148 short distance=lecture_telemetre(numero_telemetre);
Artiom 0:bc74da1c502f 149
Artiom 0:bc74da1c502f 150
Artiom 0:bc74da1c502f 151 msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1
Artiom 0:bc74da1c502f 152 msgTx.len=2;
Artiom 0:bc74da1c502f 153 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 154 msgTx.type=CANData;
Artiom 0:bc74da1c502f 155 // Rayon sur 2 octets
Artiom 0:bc74da1c502f 156 msgTx.data[0]=(unsigned char)distance;
Artiom 0:bc74da1c502f 157 msgTx.data[1]=(unsigned char)(distance>>8);
Artiom 0:bc74da1c502f 158
Artiom 0:bc74da1c502f 159 can.write(msgTx);
Artiom 0:bc74da1c502f 160 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA);
Artiom 0:bc74da1c502f 161 break;
Artiom 0:bc74da1c502f 162
Artiom 0:bc74da1c502f 163 case DATA_RECALAGE:
Artiom 0:bc74da1c502f 164 short distance1=lecture_telemetre(1);
Artiom 0:bc74da1c502f 165 short distance2=lecture_telemetre(2);
Artiom 0:bc74da1c502f 166 short distance3=lecture_telemetre(3);
Artiom 0:bc74da1c502f 167 short distance4=lecture_telemetre(4);
Artiom 0:bc74da1c502f 168
Artiom 0:bc74da1c502f 169 msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1
Artiom 0:bc74da1c502f 170 msgTx.len=8;
Artiom 0:bc74da1c502f 171 msgTx.format=CANStandard;
Artiom 0:bc74da1c502f 172 msgTx.type=CANData;
Artiom 0:bc74da1c502f 173 // Rayon sur 2 octets
Artiom 0:bc74da1c502f 174 msgTx.data[0]=(unsigned char)distance1;
Artiom 0:bc74da1c502f 175 msgTx.data[1]=(unsigned char)(distance1>>8);
Artiom 0:bc74da1c502f 176 msgTx.data[2]=(unsigned char)distance2;
Artiom 0:bc74da1c502f 177 msgTx.data[3]=(unsigned char)(distance2>>8);
Artiom 0:bc74da1c502f 178 msgTx.data[4]=(unsigned char)distance3;
Artiom 0:bc74da1c502f 179 msgTx.data[5]=(unsigned char)(distance3>>8);
Artiom 0:bc74da1c502f 180 msgTx.data[6]=(unsigned char)distance4;
Artiom 0:bc74da1c502f 181 msgTx.data[7]=(unsigned char)(distance4>>8);
Artiom 0:bc74da1c502f 182 can.write(msgTx);
Artiom 0:bc74da1c502f 183 SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
Artiom 0:bc74da1c502f 184 break;
Artiom 0:bc74da1c502f 185
Artiom 0:bc74da1c502f 186 #ifdef ROBOT_SMALL
Artiom 4:4a79942713fa 187 //-------------------------------------------------------------------------Actions petit robot----------------------------------------------
Artiom 2:9e63099cca99 188 case GABARIT_PETIT_ROBOT:
Artiom 2:9e63099cca99 189 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 190 gabarit_petit_robot();
Artiom 2:9e63099cca99 191 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 0:bc74da1c502f 192 break;
Artiom 0:bc74da1c502f 193
Artiom 0:bc74da1c502f 194 case PRESENTOIR_AVANT:
Artiom 4:4a79942713fa 195 fpresentoir_avant=1;
Artiom 0:bc74da1c502f 196 break;
Artiom 0:bc74da1c502f 197
Artiom 0:bc74da1c502f 198 case PRESENTOIR_ARRIERE:
Artiom 2:9e63099cca99 199 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 0:bc74da1c502f 200 presentoir_arriere();
Artiom 2:9e63099cca99 201 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 0:bc74da1c502f 202 break;
Artiom 0:bc74da1c502f 203
Artiom 0:bc74da1c502f 204 case BALANCE_AVANT:
Artiom 2:9e63099cca99 205 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 0:bc74da1c502f 206 balance_avant();
Artiom 2:9e63099cca99 207 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 0:bc74da1c502f 208 break;
Artiom 0:bc74da1c502f 209
Artiom 0:bc74da1c502f 210 case BALANCE_ARRIERE:
Artiom 2:9e63099cca99 211 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 0:bc74da1c502f 212 balance_arriere();
Artiom 2:9e63099cca99 213 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 214 break;
Artiom 2:9e63099cca99 215
Artiom 2:9e63099cca99 216 case ACCELERATEUR_AVANT:
Artiom 2:9e63099cca99 217 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 218 accelerateur_avant();
Artiom 2:9e63099cca99 219 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 220 break;
Artiom 2:9e63099cca99 221
Artiom 2:9e63099cca99 222 case ACCELERATEUR_ARRIERE:
Artiom 2:9e63099cca99 223 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 224 accelerateur_arriere();
Artiom 2:9e63099cca99 225 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 226 break;
Artiom 2:9e63099cca99 227 case GOLDENIUM_AVANT:
Artiom 2:9e63099cca99 228 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 229 balance_avant();
Artiom 2:9e63099cca99 230 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 231 break;
Artiom 2:9e63099cca99 232
Artiom 2:9e63099cca99 233 case GOLDENIUM_ARRIERE:
Artiom 2:9e63099cca99 234 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 235 balance_arriere();
Artiom 2:9e63099cca99 236 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 237 break;
Artiom 2:9e63099cca99 238 case SOL_AVANT:
Artiom 2:9e63099cca99 239 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 240 sol_avant();
Artiom 2:9e63099cca99 241 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 242 break;
Artiom 2:9e63099cca99 243
Artiom 2:9e63099cca99 244 case SOL_ARRIERE:
Artiom 2:9e63099cca99 245 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 246 sol_arriere();
Artiom 2:9e63099cca99 247 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 248 break;
Artiom 2:9e63099cca99 249
Artiom 2:9e63099cca99 250 case SOL_AVANT_RELACHE:
Artiom 2:9e63099cca99 251 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 252 sol_avant_relache();
Artiom 2:9e63099cca99 253 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 2:9e63099cca99 254 break;
Artiom 2:9e63099cca99 255
Artiom 2:9e63099cca99 256 case SOL_ARRIERE_RELACHE:
Artiom 2:9e63099cca99 257 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 2:9e63099cca99 258 sol_arriere_relache();
Artiom 2:9e63099cca99 259 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 0:bc74da1c502f 260 break;
Artiom 4:4a79942713fa 261 //--------------------------------------------------------------------------ACK carte pompe----------------------------------------------
Artiom 4:4a79942713fa 262
Artiom 4:4a79942713fa 263
Artiom 4:4a79942713fa 264 case HACHEUR_STATUT_VENTOUSES:
Artiom 4:4a79942713fa 265 status_pompe = msgRxBuffer[FIFO_lecture].data[1];
Artiom 4:4a79942713fa 266
Artiom 4:4a79942713fa 267 break;
Artiom 4:4a79942713fa 268
Artiom 4:4a79942713fa 269 case HACHEUR_GET_ATOM_ACK:
Artiom 4:4a79942713fa 270 status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]);
Artiom 4:4a79942713fa 271 break;
Artiom 4:4a79942713fa 272
Artiom 4:4a79942713fa 273 case HACHEUR_RELEASE_ATOM_ACK :
Artiom 4:4a79942713fa 274 status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
Artiom 4:4a79942713fa 275 break;
Artiom 4:4a79942713fa 276 //-------------------------------------------------------------------------------------------------------------------------------------------
Artiom 4:4a79942713fa 277
Artiom 0:bc74da1c502f 278
Artiom 0:bc74da1c502f 279 #endif
Artiom 0:bc74da1c502f 280 #ifdef ROBOT_BIG
Artiom 0:bc74da1c502f 281 case 3:
Artiom 0:bc74da1c502f 282
Artiom 0:bc74da1c502f 283 break;
Artiom 0:bc74da1c502f 284
Artiom 0:bc74da1c502f 285 case 5:
Artiom 0:bc74da1c502f 286
Artiom 0:bc74da1c502f 287 break;
Artiom 0:bc74da1c502f 288
Artiom 0:bc74da1c502f 289 #endif
Artiom 0:bc74da1c502f 290 }
Artiom 0:bc74da1c502f 291 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
Artiom 0:bc74da1c502f 292
Artiom 0:bc74da1c502f 293 }
Artiom 4:4a79942713fa 294
Artiom 4:4a79942713fa 295
Artiom 4:4a79942713fa 296 }
Artiom 4:4a79942713fa 297
Artiom 4:4a79942713fa 298 void automate_ventouse_presentoir_avant (void)
Artiom 4:4a79942713fa 299 {
Artiom 4:4a79942713fa 300
Artiom 4:4a79942713fa 301 typedef enum {init,envoi_instruction,attente_ack_ventouse} type_etat;
Artiom 4:4a79942713fa 302 static type_etat etat = init;
Artiom 4:4a79942713fa 303
Artiom 4:4a79942713fa 304 switch(etat) {
Artiom 4:4a79942713fa 305 case init: //attente d'initialisation
Artiom 4:4a79942713fa 306 if(fpresentoir_avant)
Artiom 4:4a79942713fa 307 etat=envoi_instruction;
Artiom 4:4a79942713fa 308 break;
Artiom 4:4a79942713fa 309
Artiom 4:4a79942713fa 310 case envoi_instruction://envoi instruction
Artiom 4:4a79942713fa 311 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
Artiom 4:4a79942713fa 312 presentoir_avant();
Artiom 4:4a79942713fa 313 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
Artiom 4:4a79942713fa 314
Artiom 4:4a79942713fa 315 etat = attente_ack_ventouse;
Artiom 4:4a79942713fa 316 break;
Artiom 4:4a79942713fa 317
Artiom 4:4a79942713fa 318 case attente_ack_ventouse:
Artiom 4:4a79942713fa 319 if(status_pompe&MASK_PRESENTOIR_AV==MASK_PRESENTOIR_AV) {
Artiom 4:4a79942713fa 320 fpresentoir_avant=0;
Artiom 4:4a79942713fa 321 etat = init;
Artiom 4:4a79942713fa 322 } else {
Artiom 4:4a79942713fa 323 SendRawId(HACHEUR_STATUT_VENTOUSES);
Artiom 4:4a79942713fa 324 }
Artiom 4:4a79942713fa 325 break;
Artiom 4:4a79942713fa 326
Artiom 4:4a79942713fa 327 }
Artiom 4:4a79942713fa 328
Artiom 4:4a79942713fa 329
Artiom 4:4a79942713fa 330
Artiom 0:bc74da1c502f 331 }