carte_straegie_2019 - Programme carte strategie (disco)

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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@59:500271ac0881, 2019-05-23 (annotated)

Committer:: kyxstark
Date:: Thu May 23 14:28:01 2019 +0000
Revision:: 59:500271ac0881
Parent:: 55:1e3dab1f90f4

Who changed what in which revision?

User	Revision	Line number	New 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	/****************************************************************************************/
Artiom	46:a9b6bcb30b1c	14	void doFunnyAction(void)
Artiom	46:a9b6bcb30b1c	15	{
Artiom	46:a9b6bcb30b1c	16
Artiom	46:a9b6bcb30b1c	17
antbig	3:19f2285a4757	18	}
antbig	3:19f2285a4757	19
ClementBreteau	18:cc5fec34ed9c	20
Sitkah	42:657b6a573e11	21	/*************************************************************************************************/
Sitkah	42:657b6a573e11	22	/* FUNCTION NAME: doAction */
Sitkah	42:657b6a573e11	23	/* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
Sitkah	42:657b6a573e11	24	/*************************************************************************************************/
Artiom	46:a9b6bcb30b1c	25	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
Artiom	46:a9b6bcb30b1c	26	{
ClementBreteau	18:cc5fec34ed9c	27	int retour = 1;
Sitkah	34:6aa4b46b102e	28	CANMessage msgTx=CANMessage();
Sitkah	34:6aa4b46b102e	29	msgTx.format=CANStandard;
Sitkah	34:6aa4b46b102e	30	msgTx.type=CANData;
antbig	3:19f2285a4757	31	switch(id) {
Villanut	45:4f93e99bac6e	32	case 101: //bras gabarit
Artiom	46:a9b6bcb30b1c	33	SendRawId(GABARIT_PETIT_ROBOT);
Sitkah	30:a1e37af4bbde	34	break;
Villanut	45:4f93e99bac6e	35	case 102: //attraper presentoir avant
Artiom	46:a9b6bcb30b1c	36	SendRawId(PRESENTOIR_AVANT);
Sitkah	30:a1e37af4bbde	37	break;
Villanut	45:4f93e99bac6e	38	case 103: //attraper presentoir arriere
Villanut	45:4f93e99bac6e	39	SendRawId(PRESENTOIR_ARRIERE);
Sitkah	30:a1e37af4bbde	40	break;
Villanut	45:4f93e99bac6e	41	case 104: //balance avant
Villanut	45:4f93e99bac6e	42	SendRawId(BALANCE_AVANT);
Sitkah	30:a1e37af4bbde	43	break;
Villanut	45:4f93e99bac6e	44	case 105: //balance arriere
Villanut	45:4f93e99bac6e	45	SendRawId(BALANCE_ARRIERE);
Sitkah	30:a1e37af4bbde	46	break;
Villanut	45:4f93e99bac6e	47	case 106: //accelerateur avant
Villanut	45:4f93e99bac6e	48	SendRawId(ACCELERATEUR_AVANT);
Sitkah	30:a1e37af4bbde	49	break;
Villanut	45:4f93e99bac6e	50	case 107: //accelerateur arriere
Villanut	45:4f93e99bac6e	51	SendRawId(ACCELERATEUR_ARRIERE);
Sitkah	30:a1e37af4bbde	52	break;
Villanut	45:4f93e99bac6e	53	case 108: //goldenium avant
Villanut	45:4f93e99bac6e	54	SendRawId(GOLDENIUM_AVANT);
Sitkah	30:a1e37af4bbde	55	break;
Villanut	45:4f93e99bac6e	56	case 109: //goldenium arriere
Villanut	45:4f93e99bac6e	57	SendRawId(GOLDENIUM_ARRIERE);
Sitkah	30:a1e37af4bbde	58	break;
Villanut	45:4f93e99bac6e	59	case 110: //sol avant
Villanut	45:4f93e99bac6e	60	SendRawId(SOL_AVANT);
Sitkah	30:a1e37af4bbde	61	break;
Villanut	45:4f93e99bac6e	62	case 111: //sol arriere
Villanut	45:4f93e99bac6e	63	SendRawId(SOL_ARRIERE);
Sitkah	34:6aa4b46b102e	64	break;
Artiom	46:a9b6bcb30b1c	65	case 112: //sol avant relache
Artiom	46:a9b6bcb30b1c	66	SendRawId(SOL_AVANT_RELACHE);
Artiom	46:a9b6bcb30b1c	67	break;
Artiom	46:a9b6bcb30b1c	68	case 113: //sol arriere relache
Artiom	46:a9b6bcb30b1c	69	SendRawId(SOL_ARRIERE_RELACHE);
Artiom	46:a9b6bcb30b1c	70	break;
Artiom	52:a47350923b5e	71	case 114:
Artiom	52:a47350923b5e	72	SendRawId(AVANT_RELACHE);
Artiom	52:a47350923b5e	73	break;
Artiom	52:a47350923b5e	74
Artiom	52:a47350923b5e	75	case 115:
Artiom	52:a47350923b5e	76	SendRawId(ARRIERE_RELACHE);
Artiom	52:a47350923b5e	77	break;
Artiom	52:a47350923b5e	78
Artiom	52:a47350923b5e	79	case 116:
kyxstark	59:500271ac0881	80	unsigned char arg_tempo;
kyxstark	59:500271ac0881	81	if(InversStrat == 1)
kyxstark	59:500271ac0881	82	{
kyxstark	59:500271ac0881	83	switch(arg1){
kyxstark	59:500271ac0881	84	case AV_DROIT:
kyxstark	59:500271ac0881	85	arg_tempo = AV_GAUCHE;
kyxstark	59:500271ac0881	86	break;
kyxstark	59:500271ac0881	87	case AV_GAUCHE:
kyxstark	59:500271ac0881	88	arg_tempo = AV_DROIT;
kyxstark	59:500271ac0881	89	break;
kyxstark	59:500271ac0881	90	case AR_DROIT:
kyxstark	59:500271ac0881	91	arg_tempo = AR_GAUCHE;
kyxstark	59:500271ac0881	92	break;
kyxstark	59:500271ac0881	93	case AR_GAUCHE:
kyxstark	59:500271ac0881	94	arg_tempo = AR_DROIT;
kyxstark	59:500271ac0881	95	break;
kyxstark	59:500271ac0881	96	default :
kyxstark	59:500271ac0881	97	arg_tempo =(unsigned char)arg1;
kyxstark	59:500271ac0881	98	break;
kyxstark	59:500271ac0881	99	}
kyxstark	59:500271ac0881	100
kyxstark	59:500271ac0881	101	}
kyxstark	59:500271ac0881	102	else arg_tempo =(unsigned char)arg1;
kyxstark	59:500271ac0881	103
kyxstark	59:500271ac0881	104
kyxstark	59:500271ac0881	105
Artiom	52:a47350923b5e	106	SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
Artiom	52:a47350923b5e	107	waitingAckFrom = 0;
Artiom	52:a47350923b5e	108	waitingAckID =0;
Artiom	52:a47350923b5e	109	break;
Artiom	52:a47350923b5e	110	case 117:
Artiom	52:a47350923b5e	111	SendRawId(RECROQUEVILLER);
Artiom	54:8996a5b18d9b	112	break;
Artiom	53:e96acb11a51f	113	case 118:
Artiom	53:e96acb11a51f	114	SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
Artiom	53:e96acb11a51f	115	break;
Artiom	54:8996a5b18d9b	116	case 119:
Artiom	53:e96acb11a51f	117	SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
Artiom	53:e96acb11a51f	118	break;
Artiom	54:8996a5b18d9b	119	case 120:
Artiom	54:8996a5b18d9b	120	SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
Artiom	54:8996a5b18d9b	121	break;
Artiom	54:8996a5b18d9b	122	case 121:
kyxstark	55:1e3dab1f90f4	123	SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
Artiom	54:8996a5b18d9b	124	break;
Artiom	46:a9b6bcb30b1c	125
Sitkah	38:76f886a1c8e6	126	case 150:
Sitkah	38:76f886a1c8e6	127	SCORE_PR+=arg1;
Sitkah	38:76f886a1c8e6	128	liaison_Tx.envoyer_short(0x30,SCORE_PR);
Sitkah	38:76f886a1c8e6	129	waitingAckFrom = 0;
Sitkah	38:76f886a1c8e6	130	waitingAckID = 0;
Sitkah	38:76f886a1c8e6	131	break;
Artiom	46:a9b6bcb30b1c	132
Artiom	46:a9b6bcb30b1c	133
ClementBreteau	18:cc5fec34ed9c	134	case 200 :
Sitkah	30:a1e37af4bbde	135	SendRawId(DATA_TELEMETRE);
Sitkah	30:a1e37af4bbde	136	/*telemetreDistance = dataTelemetre();
ClementBreteau	18:cc5fec34ed9c	137	wait_ms(1);
ClementBreteau	18:cc5fec34ed9c	138	telemetreDistance = dataTelemetre();
Sitkah	30:a1e37af4bbde	139	telemetreDistance = telemetreDistance - 170;*/
Artiom	46:a9b6bcb30b1c	140	break;
Artiom	46:a9b6bcb30b1c	141
ClementBreteau	18:cc5fec34ed9c	142	case 201 :
Sitkah	30:a1e37af4bbde	143	SendRawId(0x99);
ClementBreteau	18:cc5fec34ed9c	144	retour = 2;
Artiom	46:a9b6bcb30b1c	145	break;
Artiom	46:a9b6bcb30b1c	146
antbig	12:14729d584500	147	case 10://Désactiver le stop
antbig	12:14729d584500	148	isStopEnable = 0;
Artiom	46:a9b6bcb30b1c	149	break;
antbig	12:14729d584500	150	case 11://Activer le stop
antbig	12:14729d584500	151	isStopEnable = 1;
Artiom	46:a9b6bcb30b1c	152	break;
antbig	12:14729d584500	153	case 20://Désactiver l'asservissement
antbig	12:14729d584500	154	setAsservissementEtat(0);
Artiom	46:a9b6bcb30b1c	155	break;
antbig	12:14729d584500	156	case 21://Activer l'asservissement
antbig	12:14729d584500	157	setAsservissementEtat(1);
Artiom	46:a9b6bcb30b1c	158	break;
Artiom	46:a9b6bcb30b1c	159
Sitkah	34:6aa4b46b102e	160	case 22://Changer la vitesse du robot
Artiom	52:a47350923b5e	161	// SendSpeed(arg1,(unsigned short)arg2);
ClementBreteau	18:cc5fec34ed9c	162	wait_us(200);
antbig	28:acd18776ed2d	163	waitingAckFrom = 0;
antbig	28:acd18776ed2d	164	waitingAckID = 0;
Artiom	46:a9b6bcb30b1c	165	break;
Artiom	46:a9b6bcb30b1c	166
Artiom	46:a9b6bcb30b1c	167	case 19: // CHANGER LA VITESSE + DECELERATION
Artiom	50:a5361ffeefc8	168	//SendSpeedDecel(arg1,(unsigned short) arg2);
antbig	28:acd18776ed2d	169	wait_us(200);
antbig	28:acd18776ed2d	170	waitingAckFrom = 0;
antbig	28:acd18776ed2d	171	waitingAckID =0;
Artiom	46:a9b6bcb30b1c	172	break;
Artiom	46:a9b6bcb30b1c	173
ClementBreteau	16:7321fb3bb396	174	case 30://Action tempo
Sitkah	34:6aa4b46b102e	175	wait_ms(arg1);
Artiom	46:a9b6bcb30b1c	176	break;
Artiom	46:a9b6bcb30b1c	177
antbig	3:19f2285a4757	178	default:
ClementBreteau	18:cc5fec34ed9c	179	retour = 0;//L'action n'existe pas, il faut utiliser le CAN
Artiom	46:a9b6bcb30b1c	180
antbig	3:19f2285a4757	181	}
ClementBreteau	18:cc5fec34ed9c	182	return retour;//L'action est spécifique.
Artiom	46:a9b6bcb30b1c	183
antbig	3:19f2285a4757	184	}
antbig	3:19f2285a4757	185
antbig	3:19f2285a4757	186
antbig	4:88431b537477	187
antbig	12:14729d584500	188	/****************************************************************************************/
antbig	12:14729d584500	189	/* FUNCTION NAME: needToStop */
antbig	12:14729d584500	190	/* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig	12:14729d584500	191	/****************************************************************************************/
antbig	12:14729d584500	192	unsigned char needToStop(void)
antbig	12:14729d584500	193	{
antbig	12:14729d584500	194	return isStopEnable;
antbig	12:14729d584500	195	}
antbig	12:14729d584500	196
antbig	12:14729d584500	197	/****************************************************************************************/
antbig	12:14729d584500	198	/* FUNCTION NAME: doBeforeEndAction */
antbig	12:14729d584500	199	/* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig	12:14729d584500	200	/****************************************************************************************/
antbig	12:14729d584500	201	void doBeforeEndAction(void)
antbig	12:14729d584500	202	{
Artiom	46:a9b6bcb30b1c	203
antbig	12:14729d584500	204	}
antbig	12:14729d584500	205
antbig	3:19f2285a4757	206	#endif

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 May 2019
Imports:	2
Forks:	0
Commits:	61
Dependents:	0
Dependencies:	6
Followers:	96

Robots/Strategie_small.cpp@59:500271ac0881, 2019-05-23 (annotated)

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