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_big.cpp@38:76f886a1c8e6, 2018-05-09 (annotated)

Committer:
Sitkah
Date:
Wed May 09 19:36:20 2018 +0000
Revision:
38:76f886a1c8e6
Parent:
36:6dd30780bd8e
Child:
40:21bb685b553b
test avant match

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 29:41e02746041d 2 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 3
Sitkah 29:41e02746041d 4
antbig 12:14729d584500 5 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 6
antbig 0:ad97421fb1fb 7 /****************************************************************************************/
antbig 0:ad97421fb1fb 8 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 9 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 10 /****************************************************************************************/
antbig 0:ad97421fb1fb 11 void doFunnyAction(void) {
ClementBreteau 18:cc5fec34ed9c 12 //envoie de la funny action
ClementBreteau 18:cc5fec34ed9c 13 // 0x007, 01, 01
ClementBreteau 18:cc5fec34ed9c 14 CANMessage msgTx=CANMessage();
ClementBreteau 18:cc5fec34ed9c 15 msgTx.id=GLOBAL_FUNNY_ACTION;
ClementBreteau 18:cc5fec34ed9c 16 msgTx.format=CANStandard;
ClementBreteau 18:cc5fec34ed9c 17 msgTx.type=CANData;
ClementBreteau 18:cc5fec34ed9c 18 msgTx.len=2;
ClementBreteau 18:cc5fec34ed9c 19 msgTx.data[0]=0x01;
ClementBreteau 18:cc5fec34ed9c 20 msgTx.data[1]=0x01;
ClementBreteau 18:cc5fec34ed9c 21 can1.write(msgTx);
antbig 0:ad97421fb1fb 22 }
antbig 0:ad97421fb1fb 23
antbig 0:ad97421fb1fb 24 /****************************************************************************************/
antbig 0:ad97421fb1fb 25 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 26 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 27 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 28 unsigned char doAction(unsigned char id, unsigned short var1, short var2) {
antbig 12:14729d584500 29 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 30 msgTx.format=CANStandard;
Sitkah 30:a1e37af4bbde 31 msgTx.type=CANData;
Sitkah 30:a1e37af4bbde 32 //affichage_debug(id);
Sitkah 30:a1e37af4bbde 33
antbig 0:ad97421fb1fb 34 switch(id) {
Sitkah 30:a1e37af4bbde 35 /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
Sitkah 36:6dd30780bd8e 36 case 100: //Monte l'immeuble selon le code couleur
Sitkah 36:6dd30780bd8e 37 msgTx.id=MONTER_IMMEUBLE_DOUBLE;
ClementBreteau 18:cc5fec34ed9c 38
Sitkah 30:a1e37af4bbde 39 msgTx.len=3;
Sitkah 30:a1e37af4bbde 40 msgTx.data[0]=couleur1;
Sitkah 30:a1e37af4bbde 41 msgTx.data[1]=couleur2;
Sitkah 30:a1e37af4bbde 42 msgTx.data[2]=couleur3;
Sitkah 36:6dd30780bd8e 43 can2.write(msgTx);
Sitkah 38:76f886a1c8e6 44 break;
ClementBreteau 15:c2fc239e85df 45
Sitkah 30:a1e37af4bbde 46 case 101: //baisser l'attrape bloc arrière
Sitkah 36:6dd30780bd8e 47 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 48 break;
Sitkah 30:a1e37af4bbde 49 case 102: //Relever l'attrape bloc arrière
Sitkah 30:a1e37af4bbde 50 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 51 break;
Sitkah 30:a1e37af4bbde 52 case 103: //
Sitkah 36:6dd30780bd8e 53 SendRawId(BAISSER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 54 break;
Sitkah 30:a1e37af4bbde 55 case 104:
Sitkah 36:6dd30780bd8e 56 SendRawId(RELEVER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 57 break;
Sitkah 30:a1e37af4bbde 58 case 105:
Sitkah 36:6dd30780bd8e 59 SendRawId(BAISSER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 60 break;
Sitkah 30:a1e37af4bbde 61 case 106:
Sitkah 36:6dd30780bd8e 62 SendRawId(RELEVER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 63 break;
Sitkah 30:a1e37af4bbde 64 case 107:
Sitkah 36:6dd30780bd8e 65 msgTx.id=MONTER_IMMEUBLE;
Sitkah 36:6dd30780bd8e 66 msgTx.len=4;
Sitkah 36:6dd30780bd8e 67 msgTx.data[0]=couleur1;
Sitkah 36:6dd30780bd8e 68 msgTx.data[1]=couleur2;
Sitkah 36:6dd30780bd8e 69 msgTx.data[2]=couleur3;
Sitkah 38:76f886a1c8e6 70 msgTx.data[3]=var1;
Sitkah 36:6dd30780bd8e 71 can2.write(msgTx);
Sitkah 38:76f886a1c8e6 72 case 108:
Sitkah 38:76f886a1c8e6 73 SendRawId(INTER_BAISSER_ATTRAPE_BLOC_AvG);
Sitkah 38:76f886a1c8e6 74 break;
Sitkah 38:76f886a1c8e6 75 case 109:
Sitkah 38:76f886a1c8e6 76 SendRawId(INTER_BAISSER_ATTRAPE_BLOC_AvD);
Sitkah 38:76f886a1c8e6 77 break;
Sitkah 30:a1e37af4bbde 78 case 111:
Sitkah 38:76f886a1c8e6 79 SendRawId(RANGER_ATTRAPE_BLOC_AvD);
Sitkah 30:a1e37af4bbde 80 break;
Sitkah 30:a1e37af4bbde 81 case 112:
Sitkah 38:76f886a1c8e6 82 SendRawId(RANGER_ATTRAPE_BLOC_AvG);
Sitkah 30:a1e37af4bbde 83 break;
Sitkah 38:76f886a1c8e6 84
Sitkah 38:76f886a1c8e6 85
Sitkah 38:76f886a1c8e6 86 case 150:
Sitkah 38:76f886a1c8e6 87 SCORE_GR+=var1;
Sitkah 38:76f886a1c8e6 88 SCORE_GLOBAL=SCORE_GR+SCORE_PR;
Sitkah 38:76f886a1c8e6 89 liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
Sitkah 38:76f886a1c8e6 90 waitingAckFrom = 0;
Sitkah 38:76f886a1c8e6 91 waitingAckID = 0;
Sitkah 38:76f886a1c8e6 92 break;
Sitkah 38:76f886a1c8e6 93
ClementBreteau 18:cc5fec34ed9c 94
antbig 12:14729d584500 95 case 10://Désactiver le stop
antbig 12:14729d584500 96 isStopEnable = 0;
antbig 12:14729d584500 97 break;
antbig 12:14729d584500 98 case 11://Activer le stop
antbig 12:14729d584500 99 isStopEnable = 1;
antbig 12:14729d584500 100 break;
antbig 12:14729d584500 101 case 20://Désactiver l'asservissement
antbig 12:14729d584500 102 setAsservissementEtat(0);
antbig 12:14729d584500 103 break;
antbig 12:14729d584500 104 case 21://Activer l'asservissement
antbig 12:14729d584500 105 setAsservissementEtat(1);
antbig 12:14729d584500 106 break;
antbig 12:14729d584500 107
antbig 12:14729d584500 108 case 22://Changer la vitesse du robot
Sitkah 30:a1e37af4bbde 109 SendSpeed(var1,(unsigned short)var2);
ClementBreteau 26:2f4fcc2354f3 110 waitingAckFrom = 0;
ClementBreteau 26:2f4fcc2354f3 111 waitingAckID = 0;
ClementBreteau 26:2f4fcc2354f3 112 wait(0.2);
antbig 12:14729d584500 113 break;
antbig 12:14729d584500 114
antbig 12:14729d584500 115 case 30://Action tempo
Sitkah 30:a1e37af4bbde 116 wait_ms(var1);
antbig 12:14729d584500 117 break;
antbig 12:14729d584500 118
ClementBreteau 18:cc5fec34ed9c 119 /*case 40: // demande au telemetre la position d'un objet
ClementBreteau 14:c8fc06c4887f 120 //SendRawId(TELEMETRE_RECHERCHE_OBJET);
ClementBreteau 15:c2fc239e85df 121
ClementBreteau 15:c2fc239e85df 122 modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 123
ClementBreteau 15:c2fc239e85df 124 //angle = angle /10;
ClementBreteau 15:c2fc239e85df 125
ClementBreteau 15:c2fc239e85df 126 msgTx.id=TELEMETRE_OBJET;
ClementBreteau 15:c2fc239e85df 127 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 128 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 129 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 130 // indice du module sur le terrain
ClementBreteau 15:c2fc239e85df 131 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 132
ClementBreteau 18:cc5fec34ed9c 133
ClementBreteau 15:c2fc239e85df 134 // x sur 2 octets
ClementBreteau 15:c2fc239e85df 135 msgTx.data[0]=(unsigned char)speed;
ClementBreteau 15:c2fc239e85df 136 msgTx.data[1]=(unsigned char)(speed>>8);
ClementBreteau 15:c2fc239e85df 137 // y sur 2 octets
ClementBreteau 15:c2fc239e85df 138 msgTx.data[2]=(unsigned char)angle;
ClementBreteau 15:c2fc239e85df 139 msgTx.data[3]=(unsigned char)(angle>>8);
ClementBreteau 15:c2fc239e85df 140 // theta signé sur 2 octets
ClementBreteau 15:c2fc239e85df 141 //msgTx.data[4]=(unsigned char)theta;
ClementBreteau 15:c2fc239e85df 142 //msgTx.data[5]=(unsigned char)(theta>>8);
ClementBreteau 15:c2fc239e85df 143 msgTx.data[4]=0;
ClementBreteau 18:cc5fec34ed9c 144 msgTx.data[5]=0;
ClementBreteau 15:c2fc239e85df 145
ClementBreteau 15:c2fc239e85df 146 can1.write(msgTx);
ClementBreteau 15:c2fc239e85df 147
ClementBreteau 18:cc5fec34ed9c 148 break;*/
ClementBreteau 14:c8fc06c4887f 149
ClementBreteau 18:cc5fec34ed9c 150 /* case 130://Lancer mouvement de sortie de la zone de départ
ClementBreteau 15:c2fc239e85df 151 msgTx.id=ACTION_BIG_DEMARRAGE;
ClementBreteau 15:c2fc239e85df 152 msgTx.format=CANStandard;
ClementBreteau 15:c2fc239e85df 153 msgTx.type=CANData;
ClementBreteau 15:c2fc239e85df 154 msgTx.len=1;
ClementBreteau 15:c2fc239e85df 155 msgTx.data[0] = (unsigned char)speed;
ClementBreteau 15:c2fc239e85df 156 can1.write(msgTx);
ClementBreteau 18:cc5fec34ed9c 157 break;*/
antbig 12:14729d584500 158
antbig 0:ad97421fb1fb 159 default:
antbig 0:ad97421fb1fb 160 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 161
antbig 0:ad97421fb1fb 162 }
antbig 0:ad97421fb1fb 163 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 164
antbig 0:ad97421fb1fb 165 }
antbig 0:ad97421fb1fb 166
antbig 0:ad97421fb1fb 167 /****************************************************************************************/
antbig 0:ad97421fb1fb 168 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 169 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 170 /****************************************************************************************/
antbig 9:d0042422d95a 171 void initRobot(void)
antbig 9:d0042422d95a 172 {
antbig 9:d0042422d95a 173 //Enregistrement de tous les AX12 présent sur la carte
ClementBreteau 15:c2fc239e85df 174 /*AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 175 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 176 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 177 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 178 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 179 AX12_register(8, AX12_SERIAL1);
ClementBreteau 15:c2fc239e85df 180 AX12_register(7, AX12_SERIAL2);*/
antbig 9:d0042422d95a 181
antbig 12:14729d584500 182 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 183 //AX12_processChange();
antbig 11:ed13a480ddca 184 //runRobotTest();
ClementBreteau 16:7321fb3bb396 185
antbig 9:d0042422d95a 186 }
antbig 9:d0042422d95a 187
antbig 9:d0042422d95a 188 /****************************************************************************************/
antbig 12:14729d584500 189 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 190 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 191 /****************************************************************************************/
antbig 12:14729d584500 192 void initRobotActionneur(void)
antbig 12:14729d584500 193 {
ClementBreteau 23:ab87d308eaf9 194 /*doAction(100,1,0);
ClementBreteau 23:ab87d308eaf9 195 doAction(100,2,0);
ClementBreteau 23:ab87d308eaf9 196 doAction(110,0,0);
ClementBreteau 23:ab87d308eaf9 197 doAction(120,0,0);
ClementBreteau 23:ab87d308eaf9 198 doAction(131,0,0);*/
ClementBreteau 23:ab87d308eaf9 199
antbig 12:14729d584500 200 }
antbig 12:14729d584500 201
antbig 12:14729d584500 202 /****************************************************************************************/
antbig 9:d0042422d95a 203 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 204 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 205 /****************************************************************************************/
antbig 9:d0042422d95a 206 void runRobotTest(void)
antbig 9:d0042422d95a 207 {
ClementBreteau 18:cc5fec34ed9c 208 /*
antbig 12:14729d584500 209 int waitTime = 500;
antbig 12:14729d584500 210
antbig 9:d0042422d95a 211 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 212 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 213 wait_ms(waitTime);
antbig 9:d0042422d95a 214 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 215 wait_ms(waitTime);
antbig 9:d0042422d95a 216 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 217 wait_ms(waitTime);
antbig 9:d0042422d95a 218 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 219 wait_ms(waitTime);
antbig 9:d0042422d95a 220 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 221 wait_ms(waitTime);
antbig 9:d0042422d95a 222 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 223 wait_ms(waitTime);
antbig 12:14729d584500 224 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 225 wait_ms(waitTime);
antbig 12:14729d584500 226 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 227 wait_ms(waitTime);
antbig 12:14729d584500 228 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 229 wait_ms(waitTime);
ClementBreteau 18:cc5fec34ed9c 230 doAction(102,0,0);//Remonter le peigne*/
antbig 0:ad97421fb1fb 231 }
antbig 3:19f2285a4757 232
antbig 4:88431b537477 233 /****************************************************************************************/
antbig 4:88431b537477 234 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 235 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 236 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 237 /****************************************************************************************/
Sitkah 29:41e02746041d 238 /*int SelectStrategy(unsigned char id)
antbig 4:88431b537477 239 {
antbig 4:88431b537477 240 switch(id)
antbig 4:88431b537477 241 {
ClementBreteau 15:c2fc239e85df 242 // strat de match
antbig 4:88431b537477 243 case 1:
antbig 11:ed13a480ddca 244 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 245 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 246 case 2:
antbig 11:ed13a480ddca 247 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 248 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 249 case 3:
antbig 11:ed13a480ddca 250 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 251 return FileExists(cheminFileStart);
antbig 12:14729d584500 252 case 4:
antbig 12:14729d584500 253 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 254 return FileExists(cheminFileStart);
antbig 12:14729d584500 255 case 5:
antbig 12:14729d584500 256 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 257 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 258 case 6:
ClementBreteau 14:c8fc06c4887f 259 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 260 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 261 case 7:
ClementBreteau 14:c8fc06c4887f 262 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 263 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 264 case 8:
ClementBreteau 14:c8fc06c4887f 265 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 266 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 267 case 9:
ClementBreteau 14:c8fc06c4887f 268 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 269 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 270 case 10:
ClementBreteau 14:c8fc06c4887f 271 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 272 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 273
ClementBreteau 15:c2fc239e85df 274 // strat de demo
ClementBreteau 14:c8fc06c4887f 275 case 0x10:
ClementBreteau 14:c8fc06c4887f 276 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 277 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 278 case 0x11:
ClementBreteau 15:c2fc239e85df 279 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 280 strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau 15:c2fc239e85df 281 #else
ClementBreteau 15:c2fc239e85df 282 strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau 15:c2fc239e85df 283 #endif
ClementBreteau 14:c8fc06c4887f 284 return FileExists(cheminFileStart);
ClementBreteau 15:c2fc239e85df 285 case 0x12:
ClementBreteau 15:c2fc239e85df 286 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 287 strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau 15:c2fc239e85df 288 #else
ClementBreteau 15:c2fc239e85df 289 strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau 15:c2fc239e85df 290 #endif
ClementBreteau 15:c2fc239e85df 291 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 292 default:
antbig 12:14729d584500 293 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 294 return 0;
antbig 4:88431b537477 295 }
Sitkah 29:41e02746041d 296 }*/
antbig 4:88431b537477 297
antbig 12:14729d584500 298 /****************************************************************************************/
antbig 12:14729d584500 299 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 300 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 301 /****************************************************************************************/
antbig 12:14729d584500 302 unsigned char needToStop(void)
antbig 12:14729d584500 303 {
antbig 12:14729d584500 304 return isStopEnable;
antbig 12:14729d584500 305 }
antbig 12:14729d584500 306
antbig 12:14729d584500 307 /****************************************************************************************/
antbig 12:14729d584500 308 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 309 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 310 /****************************************************************************************/
antbig 12:14729d584500 311 void doBeforeEndAction(void)
antbig 12:14729d584500 312 {
antbig 12:14729d584500 313 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 314 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 315 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 316 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 317 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 318 }
antbig 12:14729d584500 319
antbig 3:19f2285a4757 320 #endif