CRAC Team / Mbed 2 deprecated carte_strategie_2019

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Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Robots/Strategie_small.cpp@83:23e04b85ae06, 2019-05-31 (annotated)

Committer:
Artiom
Date:
Fri May 31 05:02:55 2019 +0000
Revision:
83:23e04b85ae06
Parent:
80:545a9bf561e1
Child:
84:44d6cd2cab99
ajout gold relache av Gr; ; test reprise de courbe ;      cote jaune ok;     cote violet pas du tout ok

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
Artiom 67:96f914f92d2d 5 unsigned short distance_recalage;
Artiom 67:96f914f92d2d 6 unsigned short distance_revenir;
Artiom 78:c0533a36da8f 7
Artiom 78:c0533a36da8f 8 unsigned short x;
Artiom 78:c0533a36da8f 9 unsigned short y;
antbig 12:14729d584500 10 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
ClementBreteau 21:590cdacb6a35 11 //unsigned short telemetreDistance;
ClementBreteau 18:cc5fec34ed9c 12
antbig 12:14729d584500 13
antbig 3:19f2285a4757 14 /****************************************************************************************/
antbig 3:19f2285a4757 15 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 16 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 17 /****************************************************************************************/
Artiom 46:a9b6bcb30b1c 18 void doFunnyAction(void)
Artiom 46:a9b6bcb30b1c 19 {
Artiom 46:a9b6bcb30b1c 20
Artiom 46:a9b6bcb30b1c 21
antbig 3:19f2285a4757 22 }
antbig 3:19f2285a4757 23
ClementBreteau 18:cc5fec34ed9c 24
Sitkah 42:657b6a573e11 25 /*************************************************************************************************/
Sitkah 42:657b6a573e11 26 /* FUNCTION NAME: doAction */
Sitkah 42:657b6a573e11 27 /* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
Sitkah 42:657b6a573e11 28 /*************************************************************************************************/
Artiom 46:a9b6bcb30b1c 29 unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
Artiom 46:a9b6bcb30b1c 30 {
ClementBreteau 18:cc5fec34ed9c 31 int retour = 1;
Sitkah 34:6aa4b46b102e 32 CANMessage msgTx=CANMessage();
Sitkah 34:6aa4b46b102e 33 msgTx.format=CANStandard;
Sitkah 34:6aa4b46b102e 34 msgTx.type=CANData;
Artiom 83:23e04b85ae06 35 //SendMsgCan(0x5BB, &id,1);
antbig 3:19f2285a4757 36 switch(id) {
Villanut 45:4f93e99bac6e 37 case 101: //bras gabarit
Artiom 46:a9b6bcb30b1c 38 SendRawId(GABARIT_PETIT_ROBOT);
Sitkah 30:a1e37af4bbde 39 break;
Villanut 45:4f93e99bac6e 40 case 102: //attraper presentoir avant
Artiom 46:a9b6bcb30b1c 41 SendRawId(PRESENTOIR_AVANT);
Sitkah 30:a1e37af4bbde 42 break;
Villanut 45:4f93e99bac6e 43 case 103: //attraper presentoir arriere
Villanut 45:4f93e99bac6e 44 SendRawId(PRESENTOIR_ARRIERE);
Sitkah 30:a1e37af4bbde 45 break;
Villanut 45:4f93e99bac6e 46 case 104: //balance avant
Villanut 45:4f93e99bac6e 47 SendRawId(BALANCE_AVANT);
Sitkah 30:a1e37af4bbde 48 break;
Villanut 45:4f93e99bac6e 49 case 105: //balance arriere
Villanut 45:4f93e99bac6e 50 SendRawId(BALANCE_ARRIERE);
Sitkah 30:a1e37af4bbde 51 break;
Villanut 45:4f93e99bac6e 52 case 106: //accelerateur avant
Artiom 60:97bf2bdd51cc 53 //SendRawId(ACCELERATEUR_AVANT);
Artiom 67:96f914f92d2d 54 distance_recalage=arg1;
Artiom 67:96f914f92d2d 55 distance_revenir=arg2;
Artiom 60:97bf2bdd51cc 56 Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
Sitkah 30:a1e37af4bbde 57 break;
Villanut 45:4f93e99bac6e 58 case 107: //accelerateur arriere
Artiom 67:96f914f92d2d 59 distance_recalage=arg1;
Artiom 67:96f914f92d2d 60 distance_revenir=arg2;
Artiom 67:96f914f92d2d 61 Send2Short(ACCELERATEUR_ARRIERE, distance_recalage,distance_revenir);
Sitkah 30:a1e37af4bbde 62 break;
Villanut 45:4f93e99bac6e 63 case 108: //goldenium avant
Artiom 60:97bf2bdd51cc 64 //SendRawId(GOLDENIUM_AVANT);
Artiom 83:23e04b85ae06 65 x = arg1;
Artiom 83:23e04b85ae06 66 if(InversStrat == 1)
Artiom 83:23e04b85ae06 67 {
Artiom 83:23e04b85ae06 68 y = 3000 - arg2;
Artiom 83:23e04b85ae06 69 }
Artiom 83:23e04b85ae06 70 else
Artiom 83:23e04b85ae06 71 {
Artiom 83:23e04b85ae06 72 y = arg2;
Artiom 83:23e04b85ae06 73 }
Artiom 83:23e04b85ae06 74
Artiom 83:23e04b85ae06 75 Send2Short(GOLDENIUM_AVANT, x, y);
Sitkah 30:a1e37af4bbde 76 break;
Villanut 45:4f93e99bac6e 77 case 109: //goldenium arriere
Artiom 78:c0533a36da8f 78 x=arg1;
Artiom 78:c0533a36da8f 79 y=arg2;
Artiom 78:c0533a36da8f 80 Send2Short(GOLDENIUM_ARRIERE, x,y);
Sitkah 30:a1e37af4bbde 81 break;
Villanut 45:4f93e99bac6e 82 case 110: //sol avant
Villanut 45:4f93e99bac6e 83 SendRawId(SOL_AVANT);
Sitkah 30:a1e37af4bbde 84 break;
Villanut 45:4f93e99bac6e 85 case 111: //sol arriere
Villanut 45:4f93e99bac6e 86 SendRawId(SOL_ARRIERE);
Sitkah 34:6aa4b46b102e 87 break;
Artiom 46:a9b6bcb30b1c 88 case 112: //sol avant relache
Artiom 46:a9b6bcb30b1c 89 SendRawId(SOL_AVANT_RELACHE);
Artiom 46:a9b6bcb30b1c 90 break;
Artiom 46:a9b6bcb30b1c 91 case 113: //sol arriere relache
Artiom 46:a9b6bcb30b1c 92 SendRawId(SOL_ARRIERE_RELACHE);
Artiom 46:a9b6bcb30b1c 93 break;
Artiom 52:a47350923b5e 94 case 114:
Artiom 52:a47350923b5e 95 SendRawId(AVANT_RELACHE);
Artiom 52:a47350923b5e 96 break;
Artiom 52:a47350923b5e 97
Artiom 52:a47350923b5e 98 case 115:
Artiom 52:a47350923b5e 99 SendRawId(ARRIERE_RELACHE);
Artiom 52:a47350923b5e 100 break;
Artiom 52:a47350923b5e 101
Artiom 52:a47350923b5e 102 case 116:
kyxstark 59:500271ac0881 103 unsigned char arg_tempo;
kyxstark 59:500271ac0881 104 if(InversStrat == 1)
kyxstark 59:500271ac0881 105 {
kyxstark 59:500271ac0881 106 switch(arg1){
kyxstark 59:500271ac0881 107 case AV_DROIT:
kyxstark 59:500271ac0881 108 arg_tempo = AV_GAUCHE;
kyxstark 59:500271ac0881 109 break;
kyxstark 59:500271ac0881 110 case AV_GAUCHE:
kyxstark 59:500271ac0881 111 arg_tempo = AV_DROIT;
kyxstark 59:500271ac0881 112 break;
kyxstark 59:500271ac0881 113 case AR_DROIT:
kyxstark 59:500271ac0881 114 arg_tempo = AR_GAUCHE;
kyxstark 59:500271ac0881 115 break;
kyxstark 59:500271ac0881 116 case AR_GAUCHE:
kyxstark 59:500271ac0881 117 arg_tempo = AR_DROIT;
kyxstark 59:500271ac0881 118 break;
kyxstark 59:500271ac0881 119 default :
kyxstark 59:500271ac0881 120 arg_tempo =(unsigned char)arg1;
kyxstark 59:500271ac0881 121 break;
kyxstark 59:500271ac0881 122 }
kyxstark 59:500271ac0881 123
kyxstark 59:500271ac0881 124 }
kyxstark 59:500271ac0881 125 else arg_tempo =(unsigned char)arg1;
Artiom 52:a47350923b5e 126 SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
Artiom 52:a47350923b5e 127 waitingAckFrom = 0;
Artiom 52:a47350923b5e 128 waitingAckID =0;
Artiom 52:a47350923b5e 129 break;
Artiom 52:a47350923b5e 130 case 117:
Artiom 52:a47350923b5e 131 SendRawId(RECROQUEVILLER);
Artiom 54:8996a5b18d9b 132 break;
Artiom 53:e96acb11a51f 133 case 118:
Artiom 53:e96acb11a51f 134 SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
Artiom 53:e96acb11a51f 135 break;
Artiom 54:8996a5b18d9b 136 case 119:
Artiom 53:e96acb11a51f 137 SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
Artiom 53:e96acb11a51f 138 break;
Artiom 54:8996a5b18d9b 139 case 120:
Artiom 54:8996a5b18d9b 140 SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
Artiom 54:8996a5b18d9b 141 break;
Artiom 60:97bf2bdd51cc 142
Artiom 54:8996a5b18d9b 143 case 121:
kyxstark 55:1e3dab1f90f4 144 SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
Artiom 54:8996a5b18d9b 145 break;
Artiom 60:97bf2bdd51cc 146
Sitkah 38:76f886a1c8e6 147 case 150:
Sitkah 38:76f886a1c8e6 148 SCORE_PR+=arg1;
Sitkah 38:76f886a1c8e6 149 liaison_Tx.envoyer_short(0x30,SCORE_PR);
Sitkah 38:76f886a1c8e6 150 waitingAckFrom = 0;
Sitkah 38:76f886a1c8e6 151 waitingAckID = 0;
Sitkah 38:76f886a1c8e6 152 break;
Artiom 46:a9b6bcb30b1c 153
Artiom 46:a9b6bcb30b1c 154
ClementBreteau 18:cc5fec34ed9c 155 case 200 :
Sitkah 30:a1e37af4bbde 156 SendRawId(DATA_TELEMETRE);
Sitkah 30:a1e37af4bbde 157 /*telemetreDistance = dataTelemetre();
ClementBreteau 18:cc5fec34ed9c 158 wait_ms(1);
ClementBreteau 18:cc5fec34ed9c 159 telemetreDistance = dataTelemetre();
Sitkah 30:a1e37af4bbde 160 telemetreDistance = telemetreDistance - 170;*/
Artiom 46:a9b6bcb30b1c 161 break;
Artiom 46:a9b6bcb30b1c 162
ClementBreteau 18:cc5fec34ed9c 163 case 201 :
Artiom 80:545a9bf561e1 164 SendRawId(0x99);//
ClementBreteau 18:cc5fec34ed9c 165 retour = 2;
Artiom 46:a9b6bcb30b1c 166 break;
Artiom 46:a9b6bcb30b1c 167
Artiom 67:96f914f92d2d 168
Artiom 67:96f914f92d2d 169 case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
Artiom 67:96f914f92d2d 170 isStopEnable =(unsigned char) arg1;
Artiom 83:23e04b85ae06 171 // SendMsgCan(0x5BC, &isStopEnable,1);
Artiom 67:96f914f92d2d 172 waitingAckFrom = 0;
Artiom 67:96f914f92d2d 173 waitingAckID =0;
Artiom 46:a9b6bcb30b1c 174 break;
Artiom 62:c4863b4b2543 175
Artiom 67:96f914f92d2d 176
Artiom 62:c4863b4b2543 177
antbig 12:14729d584500 178 case 20://Désactiver l'asservissement
antbig 12:14729d584500 179 setAsservissementEtat(0);
Artiom 46:a9b6bcb30b1c 180 break;
Artiom 67:96f914f92d2d 181
antbig 12:14729d584500 182 case 21://Activer l'asservissement
antbig 12:14729d584500 183 setAsservissementEtat(1);
Artiom 46:a9b6bcb30b1c 184 break;
Artiom 46:a9b6bcb30b1c 185
Sitkah 34:6aa4b46b102e 186 case 22://Changer la vitesse du robot
kyxstark 74:cdea2998f0b1 187 SendSpeed(arg1);//,(unsigned short)arg2, (unsigned short)arg2);
ClementBreteau 18:cc5fec34ed9c 188 wait_us(200);
antbig 28:acd18776ed2d 189 waitingAckFrom = 0;
antbig 28:acd18776ed2d 190 waitingAckID = 0;
Artiom 46:a9b6bcb30b1c 191 break;
kyxstark 74:cdea2998f0b1 192 case 23:
kyxstark 74:cdea2998f0b1 193 SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2);
kyxstark 74:cdea2998f0b1 194 wait_us(200);
kyxstark 74:cdea2998f0b1 195 waitingAckFrom = 0;
kyxstark 74:cdea2998f0b1 196 waitingAckID = 0;
kyxstark 74:cdea2998f0b1 197 break;
kyxstark 74:cdea2998f0b1 198
Artiom 46:a9b6bcb30b1c 199
Artiom 46:a9b6bcb30b1c 200 case 19: // CHANGER LA VITESSE + DECELERATION
Artiom 50:a5361ffeefc8 201 //SendSpeedDecel(arg1,(unsigned short) arg2);
antbig 28:acd18776ed2d 202 wait_us(200);
antbig 28:acd18776ed2d 203 waitingAckFrom = 0;
antbig 28:acd18776ed2d 204 waitingAckID =0;
Artiom 46:a9b6bcb30b1c 205 break;
Artiom 46:a9b6bcb30b1c 206
ClementBreteau 16:7321fb3bb396 207 case 30://Action tempo
Sitkah 34:6aa4b46b102e 208 wait_ms(arg1);
Villanut 75:1db1b929f13d 209 waitingAckFrom = 0;
Villanut 75:1db1b929f13d 210 waitingAckID = 0;
Artiom 46:a9b6bcb30b1c 211 break;
Artiom 46:a9b6bcb30b1c 212
antbig 3:19f2285a4757 213 default:
ClementBreteau 18:cc5fec34ed9c 214 retour = 0;//L'action n'existe pas, il faut utiliser le CAN
Artiom 46:a9b6bcb30b1c 215
antbig 3:19f2285a4757 216 }
ClementBreteau 18:cc5fec34ed9c 217 return retour;//L'action est spécifique.
Artiom 46:a9b6bcb30b1c 218
antbig 3:19f2285a4757 219 }
antbig 3:19f2285a4757 220
antbig 3:19f2285a4757 221
antbig 4:88431b537477 222
antbig 12:14729d584500 223 /****************************************************************************************/
antbig 12:14729d584500 224 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 225 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 226 /****************************************************************************************/
antbig 12:14729d584500 227 unsigned char needToStop(void)
antbig 12:14729d584500 228 {
antbig 12:14729d584500 229 return isStopEnable;
antbig 12:14729d584500 230 }
antbig 12:14729d584500 231
antbig 12:14729d584500 232 /****************************************************************************************/
antbig 12:14729d584500 233 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 234 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 235 /****************************************************************************************/
antbig 12:14729d584500 236 void doBeforeEndAction(void)
antbig 12:14729d584500 237 {
Artiom 46:a9b6bcb30b1c 238
antbig 12:14729d584500 239 }
antbig 12:14729d584500 240
antbig 3:19f2285a4757 241 #endif