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carte_strategie_2019

Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Robots/Strategie_big.cpp@75:1db1b929f13d, 2019-05-27 (annotated)

Committer:: Villanut
Date:: Mon May 27 12:38:21 2019 +0000
Revision:: 75:1db1b929f13d
Parent:: 74:cdea2998f0b1
Child:: 78:c0533a36da8f

Who changed what in which revision?

User	Revision	Line number	New 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/////////////////////////////////////////////
Villanut	71:67cce4efd33d	36	case 201:
Villanut	75:1db1b929f13d	37	unsigned char var_tempo;
Villanut	75:1db1b929f13d	38	var_tempo = (unsigned char)var1;
Villanut	75:1db1b929f13d	39
Villanut	75:1db1b929f13d	40	SendMsgCan(ASCENSEUR, &var_tempo,1);
Villanut	75:1db1b929f13d	41	waitingAckFrom = 0;
Villanut	75:1db1b929f13d	42	waitingAckID =0;
Sitkah	38:76f886a1c8e6	43	break;
ClementBreteau	15:c2fc239e85df	44
Villanut	72:5b1b3e151e59	45	case 202:
Villanut	72:5b1b3e151e59	46	msgTx.id=VIDER_CONVOYEUR;
Artiom	67:96f914f92d2d	47
Villanut	72:5b1b3e151e59	48	msgTx.len=1;
Villanut	72:5b1b3e151e59	49	msgTx.data[0]=(unsigned char)var1;
Villanut	72:5b1b3e151e59	50
Villanut	72:5b1b3e151e59	51	can2.write(msgTx);
Sitkah	30:a1e37af4bbde	52	break;
Artiom	67:96f914f92d2d	53
Villanut	72:5b1b3e151e59	54	case 203:
Villanut	72:5b1b3e151e59	55	SendRawId(GOLDENIUM_AVANT);
Sitkah	30:a1e37af4bbde	56	break;
Artiom	67:96f914f92d2d	57
Villanut	72:5b1b3e151e59	58	case 204:
Villanut	72:5b1b3e151e59	59	unsigned char arg_tempo;
Villanut	72:5b1b3e151e59	60	if(InversStrat == 1)
Villanut	72:5b1b3e151e59	61	{
Villanut	72:5b1b3e151e59	62	switch(var1){
Villanut	72:5b1b3e151e59	63	case AV_DROIT:
Villanut	72:5b1b3e151e59	64	arg_tempo = AV_GAUCHE;
Villanut	72:5b1b3e151e59	65	break;
Villanut	72:5b1b3e151e59	66	case AV_GAUCHE:
Villanut	72:5b1b3e151e59	67	arg_tempo = AV_DROIT;
Villanut	72:5b1b3e151e59	68	break;
Villanut	72:5b1b3e151e59	69	default :
Villanut	72:5b1b3e151e59	70	arg_tempo =(unsigned char)var1;
Villanut	72:5b1b3e151e59	71	break;
Villanut	72:5b1b3e151e59	72	}
Villanut	72:5b1b3e151e59	73
Villanut	72:5b1b3e151e59	74	}
Villanut	72:5b1b3e151e59	75	else arg_tempo =(unsigned char)var1;
Villanut	72:5b1b3e151e59	76	SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
Villanut	72:5b1b3e151e59	77	waitingAckFrom = 0;
Villanut	72:5b1b3e151e59	78	waitingAckID =0;
Sitkah	38:76f886a1c8e6	79	break;
Villanut	72:5b1b3e151e59	80
Villanut	72:5b1b3e151e59	81	case 205:
Villanut	72:5b1b3e151e59	82	SendRawId(PRESENTOIR_AVANT);
Sitkah	41:b029ddc4d60e	83	break;
Sitkah	38:76f886a1c8e6	84
Sitkah	38:76f886a1c8e6	85	case 150:
Sitkah	38:76f886a1c8e6	86	SCORE_GR+=var1;
Sitkah	38:76f886a1c8e6	87	SCORE_GLOBAL=SCORE_GR+SCORE_PR;
Sitkah	40:21bb685b553b	88	//liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
Sitkah	38:76f886a1c8e6	89	waitingAckFrom = 0;
Sitkah	38:76f886a1c8e6	90	waitingAckID = 0;
Sitkah	38:76f886a1c8e6	91	break;
Sitkah	38:76f886a1c8e6	92
ClementBreteau	18:cc5fec34ed9c	93
Artiom	67:96f914f92d2d	94	case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
Villanut	71:67cce4efd33d	95	isStopEnable =(unsigned char) var1;
Artiom	67:96f914f92d2d	96	SendMsgCan(0x5BC, &isStopEnable,1);
Artiom	67:96f914f92d2d	97	waitingAckFrom = 0;
Artiom	67:96f914f92d2d	98	waitingAckID =0;
Artiom	67:96f914f92d2d	99	break;
Villanut	75:1db1b929f13d	100
antbig	12:14729d584500	101	case 20://Désactiver l'asservissement
antbig	12:14729d584500	102	setAsservissementEtat(0);
antbig	12:14729d584500	103	break;
Artiom	67:96f914f92d2d	104
antbig	12:14729d584500	105	case 21://Activer l'asservissement
antbig	12:14729d584500	106	setAsservissementEtat(1);
antbig	12:14729d584500	107	break;
antbig	12:14729d584500	108
antbig	12:14729d584500	109	case 22://Changer la vitesse du robot
kyxstark	73:bf4d6d9db13b	110	SendSpeed(var1);
ClementBreteau	26:2f4fcc2354f3	111	waitingAckFrom = 0;
ClementBreteau	26:2f4fcc2354f3	112	waitingAckID = 0;
ClementBreteau	26:2f4fcc2354f3	113	wait(0.2);
antbig	12:14729d584500	114	break;
kyxstark	74:cdea2998f0b1	115	case 23:
kyxstark	74:cdea2998f0b1	116	SendAccel(var1,(unsigned short)var2);//,(unsigned short)arg2, (unsigned short)arg2);
kyxstark	74:cdea2998f0b1	117	wait_us(200);
kyxstark	74:cdea2998f0b1	118	waitingAckFrom = 0;
kyxstark	74:cdea2998f0b1	119	waitingAckID = 0;
kyxstark	74:cdea2998f0b1	120	break;
antbig	12:14729d584500	121
antbig	12:14729d584500	122	case 30://Action tempo
Sitkah	30:a1e37af4bbde	123	wait_ms(var1);
Sitkah	40:21bb685b553b	124	waitingAckFrom = 0;
Sitkah	40:21bb685b553b	125	waitingAckID = 0;
antbig	12:14729d584500	126	break;
antbig	12:14729d584500	127
Artiom	67:96f914f92d2d	128
antbig	12:14729d584500	129
antbig	0:ad97421fb1fb	130	default:
antbig	0:ad97421fb1fb	131	return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig	0:ad97421fb1fb	132
antbig	0:ad97421fb1fb	133	}
antbig	0:ad97421fb1fb	134	return 1;//L'action est spécifique.
antbig	0:ad97421fb1fb	135
antbig	0:ad97421fb1fb	136	}
antbig	0:ad97421fb1fb	137
antbig	0:ad97421fb1fb	138	/****************************************************************************************/
antbig	0:ad97421fb1fb	139	/* FUNCTION NAME: initRobot */
antbig	0:ad97421fb1fb	140	/* DESCRIPTION : initialiser le robot */
antbig	0:ad97421fb1fb	141	/****************************************************************************************/
antbig	9:d0042422d95a	142	void initRobot(void)
antbig	9:d0042422d95a	143	{
antbig	9:d0042422d95a	144	//Enregistrement de tous les AX12 présent sur la carte
ClementBreteau	15:c2fc239e85df	145	/*AX12_register(5, AX12_SERIAL2);
antbig	8:0edc7dfb7f7e	146	AX12_register(18, AX12_SERIAL2);
antbig	8:0edc7dfb7f7e	147	AX12_register(13, AX12_SERIAL2);
antbig	12:14729d584500	148	AX12_register(1, AX12_SERIAL1);
antbig	12:14729d584500	149	AX12_register(11, AX12_SERIAL1);
antbig	12:14729d584500	150	AX12_register(8, AX12_SERIAL1);
ClementBreteau	15:c2fc239e85df	151	AX12_register(7, AX12_SERIAL2);*/
antbig	9:d0042422d95a	152
antbig	12:14729d584500	153	//AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig	12:14729d584500	154	//AX12_processChange();
antbig	11:ed13a480ddca	155	//runRobotTest();
ClementBreteau	16:7321fb3bb396	156
antbig	9:d0042422d95a	157	}
antbig	9:d0042422d95a	158
antbig	9:d0042422d95a	159	/****************************************************************************************/
antbig	12:14729d584500	160	/* FUNCTION NAME: initRobotActionneur */
antbig	12:14729d584500	161	/* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig	12:14729d584500	162	/****************************************************************************************/
antbig	12:14729d584500	163	void initRobotActionneur(void)
antbig	12:14729d584500	164	{
ClementBreteau	23:ab87d308eaf9	165	/*doAction(100,1,0);
ClementBreteau	23:ab87d308eaf9	166	doAction(100,2,0);
ClementBreteau	23:ab87d308eaf9	167	doAction(110,0,0);
ClementBreteau	23:ab87d308eaf9	168	doAction(120,0,0);
ClementBreteau	23:ab87d308eaf9	169	doAction(131,0,0);*/
ClementBreteau	23:ab87d308eaf9	170
antbig	12:14729d584500	171	}
antbig	12:14729d584500	172
antbig	12:14729d584500	173	/****************************************************************************************/
antbig	9:d0042422d95a	174	/* FUNCTION NAME: runTest */
antbig	9:d0042422d95a	175	/* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig	9:d0042422d95a	176	/****************************************************************************************/
antbig	9:d0042422d95a	177	void runRobotTest(void)
antbig	9:d0042422d95a	178	{
ClementBreteau	18:cc5fec34ed9c	179	/*
antbig	12:14729d584500	180	int waitTime = 500;
antbig	12:14729d584500	181
antbig	9:d0042422d95a	182	//Test des AX12 dans l'ordre
antbig	9:d0042422d95a	183	doAction(111,0,0);//Fermeture pince arrière haute
antbig	12:14729d584500	184	wait_ms(waitTime);
antbig	9:d0042422d95a	185	doAction(110,0,0);//Ouverture pince arrière haute
antbig	12:14729d584500	186	wait_ms(waitTime);
antbig	9:d0042422d95a	187	doAction(113,0,0);//Fermeture pince arrière basse
antbig	12:14729d584500	188	wait_ms(waitTime);
antbig	9:d0042422d95a	189	doAction(112,0,0);//Ouverture pince arrière basse
antbig	12:14729d584500	190	wait_ms(waitTime);
antbig	9:d0042422d95a	191	doAction(115,0,0);//Fermeture porte arrière
antbig	12:14729d584500	192	wait_ms(waitTime);
antbig	9:d0042422d95a	193	doAction(114,0,0);//Ouverture porte arrière
antbig	12:14729d584500	194	wait_ms(waitTime);
antbig	12:14729d584500	195	doAction(101,0,0);//Fermer les portes avant
antbig	12:14729d584500	196	wait_ms(waitTime);
antbig	12:14729d584500	197	doAction(100,0,0);//Ouvrir les portes avant
antbig	12:14729d584500	198	wait_ms(waitTime);
antbig	12:14729d584500	199	doAction(103,0,0);//Descendre le peigne
antbig	12:14729d584500	200	wait_ms(waitTime);
ClementBreteau	18:cc5fec34ed9c	201	doAction(102,0,0);//Remonter le peigne*/
antbig	0:ad97421fb1fb	202	}
antbig	3:19f2285a4757	203
antbig	4:88431b537477	204	/****************************************************************************************/
antbig	4:88431b537477	205	/* FUNCTION NAME: SelectStrategy */
antbig	4:88431b537477	206	/* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig	4:88431b537477	207	/* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig	4:88431b537477	208	/****************************************************************************************/
Sitkah	29:41e02746041d	209	/*int SelectStrategy(unsigned char id)
antbig	4:88431b537477	210	{
antbig	4:88431b537477	211	switch(id)
antbig	4:88431b537477	212	{
ClementBreteau	15:c2fc239e85df	213	// strat de match
antbig	4:88431b537477	214	case 1:
antbig	11:ed13a480ddca	215	strcpy(cheminFileStart,"/local/strat1.txt");
antbig	11:ed13a480ddca	216	return FileExists(cheminFileStart);
antbig	11:ed13a480ddca	217	case 2:
antbig	11:ed13a480ddca	218	strcpy(cheminFileStart,"/local/strat2.txt");
antbig	11:ed13a480ddca	219	return FileExists(cheminFileStart);
antbig	11:ed13a480ddca	220	case 3:
antbig	11:ed13a480ddca	221	strcpy(cheminFileStart,"/local/strat3.txt");
antbig	11:ed13a480ddca	222	return FileExists(cheminFileStart);
antbig	12:14729d584500	223	case 4:
antbig	12:14729d584500	224	strcpy(cheminFileStart,"/local/strat4.txt");
antbig	12:14729d584500	225	return FileExists(cheminFileStart);
antbig	12:14729d584500	226	case 5:
antbig	12:14729d584500	227	strcpy(cheminFileStart,"/local/strat5.txt");
antbig	12:14729d584500	228	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	229	case 6:
ClementBreteau	14:c8fc06c4887f	230	strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau	14:c8fc06c4887f	231	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	232	case 7:
ClementBreteau	14:c8fc06c4887f	233	strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau	14:c8fc06c4887f	234	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	235	case 8:
ClementBreteau	14:c8fc06c4887f	236	strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau	14:c8fc06c4887f	237	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	238	case 9:
ClementBreteau	14:c8fc06c4887f	239	strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau	14:c8fc06c4887f	240	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	241	case 10:
ClementBreteau	14:c8fc06c4887f	242	strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau	14:c8fc06c4887f	243	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	244
ClementBreteau	15:c2fc239e85df	245	// strat de demo
ClementBreteau	14:c8fc06c4887f	246	case 0x10:
ClementBreteau	14:c8fc06c4887f	247	strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau	14:c8fc06c4887f	248	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	249	case 0x11:
ClementBreteau	15:c2fc239e85df	250	#ifdef ROBOT_BIG
ClementBreteau	15:c2fc239e85df	251	strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau	15:c2fc239e85df	252	#else
ClementBreteau	15:c2fc239e85df	253	strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau	15:c2fc239e85df	254	#endif
ClementBreteau	14:c8fc06c4887f	255	return FileExists(cheminFileStart);
ClementBreteau	15:c2fc239e85df	256	case 0x12:
ClementBreteau	15:c2fc239e85df	257	#ifdef ROBOT_BIG
ClementBreteau	15:c2fc239e85df	258	strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau	15:c2fc239e85df	259	#else
ClementBreteau	15:c2fc239e85df	260	strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau	15:c2fc239e85df	261	#endif
ClementBreteau	15:c2fc239e85df	262	return FileExists(cheminFileStart);
antbig	11:ed13a480ddca	263	default:
antbig	12:14729d584500	264	strcpy(cheminFileStart,"/local/strat1.txt");
antbig	11:ed13a480ddca	265	return 0;
antbig	4:88431b537477	266	}
Sitkah	29:41e02746041d	267	}*/
antbig	4:88431b537477	268
antbig	12:14729d584500	269	/****************************************************************************************/
antbig	12:14729d584500	270	/* FUNCTION NAME: needToStop */
antbig	12:14729d584500	271	/* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig	12:14729d584500	272	/****************************************************************************************/
antbig	12:14729d584500	273	unsigned char needToStop(void)
antbig	12:14729d584500	274	{
antbig	12:14729d584500	275	return isStopEnable;
antbig	12:14729d584500	276	}
antbig	12:14729d584500	277
antbig	12:14729d584500	278	/****************************************************************************************/
antbig	12:14729d584500	279	/* FUNCTION NAME: doBeforeEndAction */
antbig	12:14729d584500	280	/* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig	12:14729d584500	281	/****************************************************************************************/
antbig	12:14729d584500	282	void doBeforeEndAction(void)
antbig	12:14729d584500	283	{
antbig	12:14729d584500	284	doAction(110,0,0);//Ouverture pince arrière haute
antbig	12:14729d584500	285	doAction(112,0,0);//Ouverture pince arrière basse
antbig	12:14729d584500	286	doAction(114,0,0);//Ouverture porte arrière
antbig	12:14729d584500	287	doAction(100,0,0);//Ouvrir les portes avant
antbig	12:14729d584500	288	doAction(102,0,0);//Remonter le peigne
antbig	12:14729d584500	289	}
antbig	12:14729d584500	290
antbig	3:19f2285a4757	291	#endif

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 May 2019
Imports:	17
Forks:	0
Commits:	92
Dependents:	0
Dependencies:	6
Followers:	96

Robots/Strategie_big.cpp@75:1db1b929f13d, 2019-05-27 (annotated)

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