carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
Diff: main.cpp
- Revision:
- 20:42f8ec726ac8
- Parent:
- 19:511ff570c2f5
- Child:
- 21:edf6d03fdb20
--- a/main.cpp Tue May 21 15:34:48 2019 +0000 +++ b/main.cpp Wed May 22 08:25:51 2019 +0000 @@ -322,6 +322,21 @@ SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); break; + case VENTOUSE_AV_CENTRE_BALANCE: + SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); + goldenium_avant(); + positionControl(AV_poigne_D, 270,1,BLED_ON,1);//actionneur + verification(); + SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); + break; + + case VENTOUSE_AR_CENTRE_BALANCE: + SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); + goldenium_arriere(); + positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur + verification(); + SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); + break; //--------------------------------------------------------------------------ACK carte pompe---------------------------------------------- @@ -378,6 +393,7 @@ case envoi_instruction://envoi instruction SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); presentoir_avant(); + can.write(CANMessage(HACHEUR_GET_PRESENTOIR_AV)); SendRawId(HACHEUR_STATUT_VENTOUSES); etat = attente_ack_ventouse; break; @@ -407,6 +423,7 @@ case envoi_instruction://envoi instruction SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); presentoir_arriere(); + can.write(CANMessage(HACHEUR_GET_PRESENTOIR_AR)); SendRawId(HACHEUR_STATUT_VENTOUSES); etat = attente_ack_ventouse; break; @@ -438,11 +455,11 @@ goldenium_avant(); char pompe=AV_CENTRE; can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); - SendRawId(HACHEUR_STATUT_VENTOUSES); + SendRawId(HACHEUR_STATUT_VENTOUSES); etat = attente_ack_ventouse; break; - case attente_ack_ventouse: + case attente_ack_ventouse: if((status_pompe&MASK_GOLDENIUM_AV)== MASK_GOLDENIUM_AV) { fgoldenium_avant=0; SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); @@ -470,11 +487,11 @@ goldenium_arriere(); char pompe=AR_CENTRE; can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); - SendRawId(HACHEUR_STATUT_VENTOUSES); + SendRawId(HACHEUR_STATUT_VENTOUSES); etat = attente_ack_ventouse; break; - case attente_ack_ventouse: + case attente_ack_ventouse: if((status_pompe&MASK_GOLDENIUM_AR)== MASK_GOLDENIUM_AR) { fgoldenium_arriere=0; SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); @@ -569,13 +586,14 @@ case envoi_instruction://envoi instruction SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); presentoir_avant(); + verification(); balance_avant_placement(); Rotate(200); wait(0.5); balance_avant(); Rotate(-200); wait(0.5); - SendRawId(HACHEUR_STATUT_VENTOUSES); + SendRawId(HACHEUR_STATUT_VENTOUSES); etat = attente_ack_ventouse; break; @@ -610,6 +628,7 @@ case envoi_instruction://envoi instruction SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); presentoir_arriere(); + verification(); balance_arriere_placement(); Rotate(200); wait(0.5); @@ -685,7 +704,7 @@ break; case attente_ack_ventouse: - SendRawId(HACHEUR_RELEASE_AR); + SendRawId(HACHEUR_RELEASE_AR); if((status_pompe&MASK_PRESENTOIR_AR)== 0) { farriere_relache=0; SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); @@ -745,7 +764,7 @@ SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); positionControl(AR_sol,480,1,BLED_ON,4);//baisser verification(); - SendRawId(HACHEUR_STATUT_VENTOUSES); + SendRawId(HACHEUR_STATUT_VENTOUSES); etat = attente_ack_ventouse; break; @@ -795,8 +814,8 @@ etat = attente_ack_ventouse_centre; } case attente_ack_ventouse_centre: - pompe=AV_CENTRE; - can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); + pompe=AV_CENTRE; + can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); if((status_pompe&MASK_AV_DROIT_GAUCHE)== 0) { faccelerateur_avant=0; presentoir_avant(); @@ -804,7 +823,7 @@ SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); etat = init; } - + break; } @@ -815,7 +834,6 @@ void automate_ventouse_accelerateur_arriere (void) { -int test_merge = 0; }