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@60:c7632af62d21, 2019-05-23 (annotated)

Committer:
kyxstark
Date:
Thu May 23 15:53:48 2019 +0000
Revision:
60:c7632af62d21
Parent:
59:500271ac0881 
Carte strat plus lib , mais programme

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 /****************************************************************************************/
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