CRAC Team / Mbed 2 deprecated carte_straegie_2019

Programme carte strategie (disco)

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Instruction/Instruction.h@0:ad97421fb1fb, 2016-04-13 (annotated)

Committer:
antbig
Date:
Wed Apr 13 22:04:54 2016 +0000
Revision:
0:ad97421fb1fb
Child:
4:88431b537477
Ajout interruption fin de match

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #ifndef CRAC_INSTRUCTION
antbig 0:ad97421fb1fb 2 #define CRAC_INSTRUCTION
antbig 0:ad97421fb1fb 3
antbig 0:ad97421fb1fb 4 #include "global.h"
antbig 0:ad97421fb1fb 5
antbig 0:ad97421fb1fb 6 enum E_InstructionType
antbig 0:ad97421fb1fb 7 {
antbig 0:ad97421fb1fb 8 MV_COURBURE, // C -> Courbure
antbig 0:ad97421fb1fb 9 MV_LINE, // L -> Ligne droite
antbig 0:ad97421fb1fb 10 MV_TURN, // T -> Rotation sur place
antbig 0:ad97421fb1fb 11 MV_XYT, // X -> Aller à
antbig 0:ad97421fb1fb 12 MV_RECALAGE, // R -> Recalage bordure
antbig 0:ad97421fb1fb 13 ACTION, // A -> Action
antbig 0:ad97421fb1fb 14 UNKNOWN // Erreur, instruction inconnue
antbig 0:ad97421fb1fb 15 };
antbig 0:ad97421fb1fb 16 enum E_InstructionDirection
antbig 0:ad97421fb1fb 17 {
antbig 0:ad97421fb1fb 18 NODIRECTION, // N -> Parametre absent
antbig 0:ad97421fb1fb 19 BACKWARD,
antbig 0:ad97421fb1fb 20 FORWARD,
antbig 0:ad97421fb1fb 21 RELATIVE,
antbig 0:ad97421fb1fb 22 ABSOLUTE
antbig 0:ad97421fb1fb 23 };
antbig 0:ad97421fb1fb 24 enum E_InstructionPrecisionOuRecalage
antbig 0:ad97421fb1fb 25 {
antbig 0:ad97421fb1fb 26 NOPRECISION,// N -> Parametre absent
antbig 0:ad97421fb1fb 27 PRECISION, // P -> Precision, verifier la position à la fin du mouvement et refaire un XYT si erreur > 1cm
antbig 0:ad97421fb1fb 28 RECALAGE_X, // X -> Recalage en X, indique un recalage sur l'axe X
antbig 0:ad97421fb1fb 29 RECALAGE_Y // Y -> Recalage en Y, indique un recalage sur l'axe Y
antbig 0:ad97421fb1fb 30 };
antbig 0:ad97421fb1fb 31 enum E_InstructionNextActionType
antbig 0:ad97421fb1fb 32 {
antbig 0:ad97421fb1fb 33 NONEXTACTION, // N -> Parametre absent
antbig 0:ad97421fb1fb 34 JUMP,
antbig 0:ad97421fb1fb 35 WAIT,
antbig 0:ad97421fb1fb 36 ENCHAINEMENT
antbig 0:ad97421fb1fb 37 };
antbig 0:ad97421fb1fb 38 enum E_InstructionNextActionJumpType
antbig 0:ad97421fb1fb 39 {
antbig 0:ad97421fb1fb 40 NONEXTACTIONJUMPTYPE, // N -> Parametre absent
antbig 0:ad97421fb1fb 41 JUMP_TIME,
antbig 0:ad97421fb1fb 42 JUMP_POSITION
antbig 0:ad97421fb1fb 43 };
antbig 0:ad97421fb1fb 44 struct S_Instruction
antbig 0:ad97421fb1fb 45 {
antbig 0:ad97421fb1fb 46 short lineNumber;//Numéro de la ligne
antbig 0:ad97421fb1fb 47 enum E_InstructionType order; //Type de l'instruction
antbig 0:ad97421fb1fb 48 enum E_InstructionDirection direction; //BackWard ou Forward || Relative ou Absolu
antbig 0:ad97421fb1fb 49
antbig 0:ad97421fb1fb 50 unsigned short arg1;
antbig 0:ad97421fb1fb 51 unsigned short arg2;
antbig 0:ad97421fb1fb 52 signed short arg3;
antbig 0:ad97421fb1fb 53
antbig 0:ad97421fb1fb 54 enum E_InstructionPrecisionOuRecalage precision;
antbig 0:ad97421fb1fb 55 enum E_InstructionNextActionType nextActionType;
antbig 0:ad97421fb1fb 56 enum E_InstructionNextActionJumpType jumpAction;
antbig 0:ad97421fb1fb 57 unsigned short JumpTimeOrX;
antbig 0:ad97421fb1fb 58 unsigned short JumpY;
antbig 0:ad97421fb1fb 59 unsigned short nextLineOK;
antbig 0:ad97421fb1fb 60 unsigned short nextLineError;
antbig 0:ad97421fb1fb 61 };
antbig 0:ad97421fb1fb 62
antbig 0:ad97421fb1fb 63 /**
antbig 0:ad97421fb1fb 64 * Convertir un char en type d'instruction
antbig 0:ad97421fb1fb 65 **/
antbig 0:ad97421fb1fb 66 enum E_InstructionType charToInstructionType(char type);
antbig 0:ad97421fb1fb 67
antbig 0:ad97421fb1fb 68 /**
antbig 0:ad97421fb1fb 69 *
antbig 0:ad97421fb1fb 70 **/
antbig 0:ad97421fb1fb 71 enum E_InstructionDirection charToInstructionDirection(char type);
antbig 0:ad97421fb1fb 72
antbig 0:ad97421fb1fb 73 /**
antbig 0:ad97421fb1fb 74 * Convertir un char
antbig 0:ad97421fb1fb 75 **/
antbig 0:ad97421fb1fb 76 enum E_InstructionPrecisionOuRecalage charToInstructionPrecisionOuRecalage(char type);
antbig 0:ad97421fb1fb 77
antbig 0:ad97421fb1fb 78 /**
antbig 0:ad97421fb1fb 79 *
antbig 0:ad97421fb1fb 80 **/
antbig 0:ad97421fb1fb 81 enum E_InstructionNextActionType charToInstructionNextActionType(char type);
antbig 0:ad97421fb1fb 82
antbig 0:ad97421fb1fb 83 /**
antbig 0:ad97421fb1fb 84 *
antbig 0:ad97421fb1fb 85 **/
antbig 0:ad97421fb1fb 86 enum E_InstructionNextActionJumpType charToInstructionNextActionJumpType(char type);
antbig 0:ad97421fb1fb 87
antbig 0:ad97421fb1fb 88 /**
antbig 0:ad97421fb1fb 89 *
antbig 0:ad97421fb1fb 90 **/
antbig 0:ad97421fb1fb 91 struct S_Instruction stringToInstruction(char line[]);
antbig 0:ad97421fb1fb 92
antbig 0:ad97421fb1fb 93 /**
antbig 0:ad97421fb1fb 94 Charger toutes les instructions du fichier de strat
antbig 0:ad97421fb1fb 95 Il faut utiliser strcpy(cheminFileStart,"/local/strat.txt");
antbig 0:ad97421fb1fb 96 **/
antbig 0:ad97421fb1fb 97 void loadAllInstruction(void);
antbig 0:ad97421fb1fb 98
antbig 0:ad97421fb1fb 99
antbig 0:ad97421fb1fb 100 #endif