CRAC Team / Mbed 2 deprecated carte_straegie_2019

Programme carte strategie (disco)

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Robots/Strategie_small.cpp@45:4f93e99bac6e, 2019-05-09 (annotated)

Committer:
Villanut
Date:
Thu May 09 08:38:45 2019 +0000
Revision:
45:4f93e99bac6e
Parent:
42:657b6a573e11
Child:
46:a9b6bcb30b1c
v2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 38:76f886a1c8e6 2
antbig 3:19f2285a4757 3 #ifdef ROBOT_SMALL
Sitkah 29:41e02746041d 4
antbig 3:19f2285a4757 5
antbig 12:14729d584500 6 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
ClementBreteau 21:590cdacb6a35 7 //unsigned short telemetreDistance;
ClementBreteau 18:cc5fec34ed9c 8
antbig 12:14729d584500 9
antbig 3:19f2285a4757 10 /****************************************************************************************/
antbig 3:19f2285a4757 11 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 12 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 13 /****************************************************************************************/
antbig 3:19f2285a4757 14 void doFunnyAction(void) {
antbig 3:19f2285a4757 15
antbig 3:19f2285a4757 16
antbig 3:19f2285a4757 17 }
antbig 3:19f2285a4757 18
ClementBreteau 18:cc5fec34ed9c 19
Sitkah 42:657b6a573e11 20 /*************************************************************************************************/
Sitkah 42:657b6a573e11 21 /* FUNCTION NAME: doAction */
Sitkah 42:657b6a573e11 22 /* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
Sitkah 42:657b6a573e11 23 /*************************************************************************************************/
Sitkah 34:6aa4b46b102e 24 unsigned char doAction(unsigned char id, unsigned short arg1, short arg2) {
ClementBreteau 18:cc5fec34ed9c 25 int retour = 1;
Sitkah 34:6aa4b46b102e 26 CANMessage msgTx=CANMessage();
Sitkah 34:6aa4b46b102e 27 msgTx.format=CANStandard;
Sitkah 34:6aa4b46b102e 28 msgTx.type=CANData;
antbig 3:19f2285a4757 29 switch(id) {
Villanut 45:4f93e99bac6e 30 case 101: //bras gabarit
Villanut 45:4f93e99bac6e 31 SendRawId(GABARIT_PETIT_ROBOT);
Sitkah 30:a1e37af4bbde 32 break;
Villanut 45:4f93e99bac6e 33 case 102: //attraper presentoir avant
Villanut 45:4f93e99bac6e 34 SendRawId(PRESENTOIR_AVANT);
Sitkah 30:a1e37af4bbde 35 break;
Villanut 45:4f93e99bac6e 36 case 103: //attraper presentoir arriere
Villanut 45:4f93e99bac6e 37 SendRawId(PRESENTOIR_ARRIERE);
Sitkah 30:a1e37af4bbde 38 break;
Villanut 45:4f93e99bac6e 39 case 104: //balance avant
Villanut 45:4f93e99bac6e 40 SendRawId(BALANCE_AVANT);
Sitkah 30:a1e37af4bbde 41 break;
Villanut 45:4f93e99bac6e 42 case 105: //balance arriere
Villanut 45:4f93e99bac6e 43 SendRawId(BALANCE_ARRIERE);
Sitkah 30:a1e37af4bbde 44 break;
Villanut 45:4f93e99bac6e 45 case 106: //accelerateur avant
Villanut 45:4f93e99bac6e 46 SendRawId(ACCELERATEUR_AVANT);
Sitkah 30:a1e37af4bbde 47 break;
Villanut 45:4f93e99bac6e 48 case 107: //accelerateur arriere
Villanut 45:4f93e99bac6e 49 SendRawId(ACCELERATEUR_ARRIERE);
Sitkah 30:a1e37af4bbde 50 break;
Villanut 45:4f93e99bac6e 51 case 108: //goldenium avant
Villanut 45:4f93e99bac6e 52 SendRawId(GOLDENIUM_AVANT);
Sitkah 30:a1e37af4bbde 53 break;
Villanut 45:4f93e99bac6e 54 case 109: //goldenium arriere
Villanut 45:4f93e99bac6e 55 SendRawId(GOLDENIUM_ARRIERE);
Sitkah 30:a1e37af4bbde 56 break;
Villanut 45:4f93e99bac6e 57 case 110: //sol avant
Villanut 45:4f93e99bac6e 58 SendRawId(SOL_AVANT);
Sitkah 30:a1e37af4bbde 59 break;
Villanut 45:4f93e99bac6e 60 case 111: //sol arriere
Villanut 45:4f93e99bac6e 61 SendRawId(SOL_ARRIERE);
Sitkah 34:6aa4b46b102e 62 break;
Sitkah 34:6aa4b46b102e 63
Sitkah 38:76f886a1c8e6 64 case 150:
Sitkah 38:76f886a1c8e6 65 SCORE_PR+=arg1;
Sitkah 38:76f886a1c8e6 66 liaison_Tx.envoyer_short(0x30,SCORE_PR);
Sitkah 38:76f886a1c8e6 67 waitingAckFrom = 0;
Sitkah 38:76f886a1c8e6 68 waitingAckID = 0;
Sitkah 38:76f886a1c8e6 69 break;
Sitkah 38:76f886a1c8e6 70
ClementBreteau 16:7321fb3bb396 71
ClementBreteau 18:cc5fec34ed9c 72 case 200 :
Sitkah 30:a1e37af4bbde 73 SendRawId(DATA_TELEMETRE);
Sitkah 30:a1e37af4bbde 74 /*telemetreDistance = dataTelemetre();
ClementBreteau 18:cc5fec34ed9c 75 wait_ms(1);
ClementBreteau 18:cc5fec34ed9c 76 telemetreDistance = dataTelemetre();
Sitkah 30:a1e37af4bbde 77 telemetreDistance = telemetreDistance - 170;*/
ClementBreteau 18:cc5fec34ed9c 78 break;
ClementBreteau 18:cc5fec34ed9c 79
ClementBreteau 18:cc5fec34ed9c 80 case 201 :
Sitkah 30:a1e37af4bbde 81 SendRawId(0x99);
ClementBreteau 18:cc5fec34ed9c 82 retour = 2;
antbig 10:a788d9cf60f2 83 break;
ClementBreteau 15:c2fc239e85df 84
antbig 12:14729d584500 85 case 10://Désactiver le stop
antbig 12:14729d584500 86 isStopEnable = 0;
antbig 12:14729d584500 87 break;
antbig 12:14729d584500 88 case 11://Activer le stop
antbig 12:14729d584500 89 isStopEnable = 1;
antbig 12:14729d584500 90 break;
antbig 12:14729d584500 91 case 20://Désactiver l'asservissement
antbig 12:14729d584500 92 setAsservissementEtat(0);
antbig 12:14729d584500 93 break;
antbig 12:14729d584500 94 case 21://Activer l'asservissement
antbig 12:14729d584500 95 setAsservissementEtat(1);
ClementBreteau 16:7321fb3bb396 96 break;
ClementBreteau 16:7321fb3bb396 97
Sitkah 34:6aa4b46b102e 98 case 22://Changer la vitesse du robot
Sitkah 34:6aa4b46b102e 99 SendSpeed(arg1,(unsigned short)arg2);
ClementBreteau 18:cc5fec34ed9c 100 wait_us(200);
antbig 28:acd18776ed2d 101 waitingAckFrom = 0;
antbig 28:acd18776ed2d 102 waitingAckID = 0;
antbig 28:acd18776ed2d 103 break;
antbig 28:acd18776ed2d 104
antbig 28:acd18776ed2d 105 case 19: // CHANGER LA VITESSE + DECELERATION
Sitkah 34:6aa4b46b102e 106 SendSpeedDecel(arg1,(unsigned short) arg2);
antbig 28:acd18776ed2d 107 wait_us(200);
antbig 28:acd18776ed2d 108 waitingAckFrom = 0;
antbig 28:acd18776ed2d 109 waitingAckID =0;
ClementBreteau 16:7321fb3bb396 110 break;
ClementBreteau 16:7321fb3bb396 111
ClementBreteau 16:7321fb3bb396 112 case 30://Action tempo
Sitkah 34:6aa4b46b102e 113 wait_ms(arg1);
antbig 12:14729d584500 114 break;
Sitkah 34:6aa4b46b102e 115
antbig 3:19f2285a4757 116 default:
ClementBreteau 18:cc5fec34ed9c 117 retour = 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 3:19f2285a4757 118
antbig 3:19f2285a4757 119 }
ClementBreteau 18:cc5fec34ed9c 120 return retour;//L'action est spécifique.
antbig 3:19f2285a4757 121
antbig 3:19f2285a4757 122 }
antbig 3:19f2285a4757 123
antbig 3:19f2285a4757 124
antbig 4:88431b537477 125
antbig 12:14729d584500 126 /****************************************************************************************/
antbig 12:14729d584500 127 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 128 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 129 /****************************************************************************************/
antbig 12:14729d584500 130 unsigned char needToStop(void)
antbig 12:14729d584500 131 {
antbig 12:14729d584500 132 return isStopEnable;
antbig 12:14729d584500 133 }
antbig 12:14729d584500 134
antbig 12:14729d584500 135 /****************************************************************************************/
antbig 12:14729d584500 136 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 137 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 138 /****************************************************************************************/
antbig 12:14729d584500 139 void doBeforeEndAction(void)
antbig 12:14729d584500 140 {
antbig 12:14729d584500 141
antbig 12:14729d584500 142 }
antbig 12:14729d584500 143
antbig 3:19f2285a4757 144 #endif