CRAC Team / Mbed 2 deprecated carte_strategie_2019

carte_strategie_2019

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Instruction/Instruction.h@91:42ae63e5daf5, 2019-06-01 (annotated)

Committer:
kyxstark
Date:
Sat Jun 01 02:50:52 2019 +0000
Revision:
91:42ae63e5daf5
Parent:
68:accb12ba82a7 
reprise erreur asserv correction bug;

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
Artiom 68:accb12ba82a7 4 #define caca 40
antbig 0:ad97421fb1fb 5
antbig 0:ad97421fb1fb 6 enum E_InstructionType
antbig 0:ad97421fb1fb 7 {
Artiom 67:96f914f92d2d 8 MV_BEZIER,
antbig 0:ad97421fb1fb 9 MV_COURBURE, // C -> Courbure
antbig 0:ad97421fb1fb 10 MV_LINE, // L -> Ligne droite
antbig 0:ad97421fb1fb 11 MV_TURN, // T -> Rotation sur place
antbig 0:ad97421fb1fb 12 MV_XYT, // X -> Aller à
antbig 0:ad97421fb1fb 13 MV_RECALAGE, // R -> Recalage bordure
antbig 0:ad97421fb1fb 14 ACTION, // A -> Action
Sitkah 38:76f886a1c8e6 15 UNKNOWN, // Erreur, instruction inconnue
Sitkah 38:76f886a1c8e6 16 POSITION_DEBUT //P
antbig 0:ad97421fb1fb 17 };
antbig 0:ad97421fb1fb 18 enum E_InstructionDirection
antbig 0:ad97421fb1fb 19 {
antbig 0:ad97421fb1fb 20 NODIRECTION, // N -> Parametre absent
antbig 0:ad97421fb1fb 21 BACKWARD,
antbig 0:ad97421fb1fb 22 FORWARD,
antbig 0:ad97421fb1fb 23 RELATIVE,
antbig 11:ed13a480ddca 24 ABSOLUTE,
antbig 11:ed13a480ddca 25 LEFT,
antbig 11:ed13a480ddca 26 RIGHT
antbig 0:ad97421fb1fb 27 };
antbig 0:ad97421fb1fb 28 enum E_InstructionPrecisionOuRecalage
antbig 0:ad97421fb1fb 29 {
antbig 0:ad97421fb1fb 30 NOPRECISION,// N -> Parametre absent
antbig 0:ad97421fb1fb 31 PRECISION, // P -> Precision, verifier la position à la fin du mouvement et refaire un XYT si erreur > 1cm
antbig 0:ad97421fb1fb 32 RECALAGE_X, // X -> Recalage en X, indique un recalage sur l'axe X
Sitkah 34:6aa4b46b102e 33 RECALAGE_Y, // Y -> Recalage en Y, indique un recalage sur l'axe Y
Sitkah 34:6aa4b46b102e 34 RECALAGE_T
antbig 0:ad97421fb1fb 35 };
antbig 0:ad97421fb1fb 36 enum E_InstructionNextActionType
antbig 0:ad97421fb1fb 37 {
antbig 0:ad97421fb1fb 38 NONEXTACTION, // N -> Parametre absent
antbig 0:ad97421fb1fb 39 JUMP,
antbig 0:ad97421fb1fb 40 WAIT,
Sitkah 34:6aa4b46b102e 41 ENCHAINEMENT,
Sitkah 34:6aa4b46b102e 42 MECANIQUE,
Sitkah 34:6aa4b46b102e 43 CAPTEUR
antbig 0:ad97421fb1fb 44 };
antbig 0:ad97421fb1fb 45 enum E_InstructionNextActionJumpType
antbig 0:ad97421fb1fb 46 {
antbig 0:ad97421fb1fb 47 NONEXTACTIONJUMPTYPE, // N -> Parametre absent
antbig 0:ad97421fb1fb 48 JUMP_TIME,
antbig 0:ad97421fb1fb 49 JUMP_POSITION
antbig 0:ad97421fb1fb 50 };
antbig 0:ad97421fb1fb 51 struct S_Instruction
antbig 0:ad97421fb1fb 52 {
antbig 0:ad97421fb1fb 53 short lineNumber;//Numéro de la ligne
antbig 0:ad97421fb1fb 54 enum E_InstructionType order; //Type de l'instruction
antbig 0:ad97421fb1fb 55 enum E_InstructionDirection direction; //BackWard ou Forward || Relative ou Absolu
antbig 0:ad97421fb1fb 56
antbig 0:ad97421fb1fb 57 unsigned short arg1;
antbig 0:ad97421fb1fb 58 unsigned short arg2;
antbig 0:ad97421fb1fb 59 signed short arg3;
antbig 0:ad97421fb1fb 60
antbig 0:ad97421fb1fb 61 enum E_InstructionPrecisionOuRecalage precision;
antbig 0:ad97421fb1fb 62 enum E_InstructionNextActionType nextActionType;
antbig 0:ad97421fb1fb 63 enum E_InstructionNextActionJumpType jumpAction;
antbig 0:ad97421fb1fb 64 unsigned short JumpTimeOrX;
antbig 0:ad97421fb1fb 65 unsigned short JumpY;
antbig 0:ad97421fb1fb 66 unsigned short nextLineOK;
antbig 0:ad97421fb1fb 67 unsigned short nextLineError;
Artiom 67:96f914f92d2d 68
Artiom 67:96f914f92d2d 69 unsigned short arg4;
Artiom 67:96f914f92d2d 70 unsigned short arg5;
Artiom 67:96f914f92d2d 71 signed short arg6;
antbig 0:ad97421fb1fb 72 };
antbig 0:ad97421fb1fb 73
antbig 0:ad97421fb1fb 74 /**
antbig 0:ad97421fb1fb 75 * Convertir un char en type d'instruction
antbig 0:ad97421fb1fb 76 **/
antbig 0:ad97421fb1fb 77 enum E_InstructionType charToInstructionType(char type);
antbig 0:ad97421fb1fb 78
antbig 0:ad97421fb1fb 79 /**
antbig 0:ad97421fb1fb 80 *
antbig 0:ad97421fb1fb 81 **/
antbig 0:ad97421fb1fb 82 enum E_InstructionDirection charToInstructionDirection(char type);
antbig 0:ad97421fb1fb 83
antbig 0:ad97421fb1fb 84 /**
antbig 0:ad97421fb1fb 85 * Convertir un char
antbig 0:ad97421fb1fb 86 **/
antbig 0:ad97421fb1fb 87 enum E_InstructionPrecisionOuRecalage charToInstructionPrecisionOuRecalage(char type);
antbig 0:ad97421fb1fb 88
antbig 0:ad97421fb1fb 89 /**
antbig 0:ad97421fb1fb 90 *
antbig 0:ad97421fb1fb 91 **/
antbig 0:ad97421fb1fb 92 enum E_InstructionNextActionType charToInstructionNextActionType(char type);
antbig 0:ad97421fb1fb 93
antbig 0:ad97421fb1fb 94 /**
antbig 0:ad97421fb1fb 95 *
antbig 0:ad97421fb1fb 96 **/
antbig 0:ad97421fb1fb 97 enum E_InstructionNextActionJumpType charToInstructionNextActionJumpType(char type);
antbig 0:ad97421fb1fb 98
antbig 4:88431b537477 99 /****************************************************************************************/
antbig 4:88431b537477 100 /* FUNCTION NAME: stringToInstruction */
antbig 4:88431b537477 101 /* DESCRIPTION : Conversion d'une ligne du fichier de strat en instruction */
antbig 4:88431b537477 102 /****************************************************************************************/
antbig 0:ad97421fb1fb 103 struct S_Instruction stringToInstruction(char line[]);
antbig 0:ad97421fb1fb 104
antbig 4:88431b537477 105 /****************************************************************************************/
antbig 4:88431b537477 106 /* FUNCTION NAME: loadAllInstruction */
antbig 4:88431b537477 107 /* DESCRIPTION : Charger toutes les instructions du fichier de stratégie */
antbig 4:88431b537477 108 /* Il faut utiliser strcpy(cheminFileStart,"/local/strat.txt"); */
antbig 4:88431b537477 109 /* pour indiquer le fichier à utiliser */
antbig 4:88431b537477 110 /****************************************************************************************/
Sitkah 29:41e02746041d 111 void loadAllInstruction( signed char Strategie);
antbig 0:ad97421fb1fb 112
antbig 4:88431b537477 113 /****************************************************************************************/
antbig 4:88431b537477 114 /* FUNCTION NAME: FileExists */
antbig 4:88431b537477 115 /* DESCRIPTION : Permet de vérifier si un fichier existe */
antbig 4:88431b537477 116 /****************************************************************************************/
antbig 4:88431b537477 117 int FileExists(const char *fname);
antbig 4:88431b537477 118
antbig 0:ad97421fb1fb 119
antbig 0:ad97421fb1fb 120 #endif