CRAC Team / Mbed 2 deprecated carte_strategie_2019

carte_strategie_2019

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Robots/Strategie_big.cpp@91:42ae63e5daf5, 2019-06-01 (annotated)

Committer:
kyxstark
Date:
Sat Jun 01 02:50:52 2019 +0000
Revision:
91:42ae63e5daf5
Parent:
86:05a0c066bdbe 
reprise erreur asserv correction bug;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 29:41e02746041d 2 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 3
Artiom 83:23e04b85ae06 4 unsigned short x;
Artiom 83:23e04b85ae06 5 unsigned short y;
antbig 12:14729d584500 6 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
antbig 12:14729d584500 7
antbig 0:ad97421fb1fb 8 /****************************************************************************************/
antbig 0:ad97421fb1fb 9 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 10 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 11 /****************************************************************************************/
Artiom 84:44d6cd2cab99 12 void doFunnyAction(void)
Artiom 84:44d6cd2cab99 13 {
ClementBreteau 18:cc5fec34ed9c 14 //envoie de la funny action
ClementBreteau 18:cc5fec34ed9c 15 // 0x007, 01, 01
Artiom 84:44d6cd2cab99 16 CANMessage msgTx=CANMessage();
Artiom 84:44d6cd2cab99 17 msgTx.id=GLOBAL_FUNNY_ACTION;
Artiom 84:44d6cd2cab99 18 msgTx.format=CANStandard;
Artiom 84:44d6cd2cab99 19 msgTx.type=CANData;
Artiom 84:44d6cd2cab99 20 msgTx.len=2;
Artiom 84:44d6cd2cab99 21 msgTx.data[0]=0x01;
Artiom 84:44d6cd2cab99 22 msgTx.data[1]=0x01;
Artiom 84:44d6cd2cab99 23 can1.write(msgTx);
antbig 0:ad97421fb1fb 24 }
antbig 0:ad97421fb1fb 25
antbig 0:ad97421fb1fb 26 /****************************************************************************************/
antbig 0:ad97421fb1fb 27 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 28 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 29 /****************************************************************************************/
Artiom 84:44d6cd2cab99 30 unsigned char doAction(unsigned char id, unsigned short var1, short var2)
Artiom 84:44d6cd2cab99 31 {
antbig 12:14729d584500 32 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 33 msgTx.format=CANStandard;
Sitkah 30:a1e37af4bbde 34 msgTx.type=CANData;
Sitkah 30:a1e37af4bbde 35 //affichage_debug(id);
Sitkah 30:a1e37af4bbde 36
antbig 0:ad97421fb1fb 37 switch(id) {
Sitkah 30:a1e37af4bbde 38 /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
Artiom 83:23e04b85ae06 39 case 118:
Artiom 83:23e04b85ae06 40 SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
Artiom 83:23e04b85ae06 41 break;
Artiom 84:44d6cd2cab99 42
Artiom 84:44d6cd2cab99 43 case 201:
Villanut 75:1db1b929f13d 44 unsigned char var_tempo;
Artiom 81:ef50ec0ef328 45 var_tempo = (unsigned char)var1;//0auto 1forceon 2 forceoff
Villanut 75:1db1b929f13d 46 SendMsgCan(ASCENSEUR, &var_tempo,1);
Villanut 75:1db1b929f13d 47 waitingAckFrom = 0;
Villanut 75:1db1b929f13d 48 waitingAckID =0;
Sitkah 38:76f886a1c8e6 49 break;
Artiom 84:44d6cd2cab99 50
Artiom 84:44d6cd2cab99 51 case 202:
Villanut 72:5b1b3e151e59 52 msgTx.id=VIDER_CONVOYEUR;
Villanut 72:5b1b3e151e59 53 msgTx.len=1;
Artiom 84:44d6cd2cab99 54 msgTx.data[0]=(unsigned char)var1; //
Villanut 72:5b1b3e151e59 55 can2.write(msgTx);
Sitkah 30:a1e37af4bbde 56 break;
Artiom 84:44d6cd2cab99 57
Artiom 84:44d6cd2cab99 58 case 203:
Artiom 83:23e04b85ae06 59 x = var1;
Artiom 84:44d6cd2cab99 60 if(InversStrat == 1) {
Artiom 83:23e04b85ae06 61 y = 3000 - var2;
Artiom 84:44d6cd2cab99 62 } else {
Artiom 83:23e04b85ae06 63 y = var2;
Artiom 83:23e04b85ae06 64 }
Artiom 83:23e04b85ae06 65 Send2Short(GOLDENIUM_AVANT, x, y);
Sitkah 30:a1e37af4bbde 66 break;
Artiom 84:44d6cd2cab99 67
Villanut 72:5b1b3e151e59 68 case 204:
Villanut 72:5b1b3e151e59 69 unsigned char arg_tempo;
Artiom 84:44d6cd2cab99 70 if(InversStrat == 1) {
Artiom 84:44d6cd2cab99 71 switch(var1) {
Villanut 72:5b1b3e151e59 72 case AV_DROIT:
Villanut 72:5b1b3e151e59 73 arg_tempo = AV_GAUCHE;
Villanut 72:5b1b3e151e59 74 break;
Villanut 72:5b1b3e151e59 75 case AV_GAUCHE:
Villanut 72:5b1b3e151e59 76 arg_tempo = AV_DROIT;
Villanut 72:5b1b3e151e59 77 break;
Villanut 72:5b1b3e151e59 78 default :
Villanut 72:5b1b3e151e59 79 arg_tempo =(unsigned char)var1;
Villanut 72:5b1b3e151e59 80 break;
Villanut 72:5b1b3e151e59 81 }
Artiom 84:44d6cd2cab99 82
Artiom 84:44d6cd2cab99 83 } else arg_tempo =(unsigned char)var1;
Villanut 72:5b1b3e151e59 84 SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
Villanut 72:5b1b3e151e59 85 waitingAckFrom = 0;
Villanut 72:5b1b3e151e59 86 waitingAckID =0;
Sitkah 38:76f886a1c8e6 87 break;
Artiom 84:44d6cd2cab99 88
Villanut 72:5b1b3e151e59 89 case 205:
Villanut 72:5b1b3e151e59 90 SendRawId(PRESENTOIR_AVANT);
Sitkah 41:b029ddc4d60e 91 break;
kyxstark 86:05a0c066bdbe 92
kyxstark 86:05a0c066bdbe 93 case 206:
kyxstark 86:05a0c066bdbe 94 SendMsgCan(RATEAU, (unsigned char*)&var1,1);
kyxstark 86:05a0c066bdbe 95 break;
Artiom 84:44d6cd2cab99 96
Artiom 84:44d6cd2cab99 97
Sitkah 38:76f886a1c8e6 98 case 150:
Sitkah 38:76f886a1c8e6 99 SCORE_GR+=var1;
Sitkah 38:76f886a1c8e6 100 SCORE_GLOBAL=SCORE_GR+SCORE_PR;
Sitkah 40:21bb685b553b 101 //liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
Sitkah 38:76f886a1c8e6 102 waitingAckFrom = 0;
Sitkah 38:76f886a1c8e6 103 waitingAckID = 0;
Sitkah 38:76f886a1c8e6 104 break;
Artiom 84:44d6cd2cab99 105
Artiom 84:44d6cd2cab99 106
Artiom 84:44d6cd2cab99 107 case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
Villanut 71:67cce4efd33d 108 isStopEnable =(unsigned char) var1;
Artiom 84:44d6cd2cab99 109 // SendMsgCan(0x5BC, &isStopEnable,1);
Artiom 67:96f914f92d2d 110 waitingAckFrom = 0;
Artiom 67:96f914f92d2d 111 waitingAckID =0;
Artiom 67:96f914f92d2d 112 break;
Artiom 84:44d6cd2cab99 113
antbig 12:14729d584500 114 case 20://Désactiver l'asservissement
antbig 12:14729d584500 115 setAsservissementEtat(0);
Artiom 84:44d6cd2cab99 116 break;
Artiom 84:44d6cd2cab99 117
antbig 12:14729d584500 118 case 21://Activer l'asservissement
antbig 12:14729d584500 119 setAsservissementEtat(1);
Artiom 84:44d6cd2cab99 120 break;
Artiom 84:44d6cd2cab99 121
antbig 12:14729d584500 122 case 22://Changer la vitesse du robot
kyxstark 73:bf4d6d9db13b 123 SendSpeed(var1);
ClementBreteau 26:2f4fcc2354f3 124 waitingAckFrom = 0;
ClementBreteau 26:2f4fcc2354f3 125 waitingAckID = 0;
ClementBreteau 26:2f4fcc2354f3 126 wait(0.2);
Artiom 84:44d6cd2cab99 127 break;
Artiom 84:44d6cd2cab99 128
kyxstark 74:cdea2998f0b1 129 case 23:
kyxstark 91:42ae63e5daf5 130 SendAccel((unsigned short)var1,(unsigned short)var2);//,(unsigned short)arg2, (unsigned short)arg2);
kyxstark 74:cdea2998f0b1 131 wait_us(200);
kyxstark 74:cdea2998f0b1 132 waitingAckFrom = 0;
kyxstark 74:cdea2998f0b1 133 waitingAckID = 0;
kyxstark 74:cdea2998f0b1 134 break;
Artiom 84:44d6cd2cab99 135
antbig 12:14729d584500 136 case 30://Action tempo
Sitkah 30:a1e37af4bbde 137 wait_ms(var1);
Sitkah 40:21bb685b553b 138 waitingAckFrom = 0;
Sitkah 40:21bb685b553b 139 waitingAckID = 0;
Artiom 84:44d6cd2cab99 140 break;
Artiom 84:44d6cd2cab99 141
Artiom 84:44d6cd2cab99 142
Artiom 84:44d6cd2cab99 143
antbig 0:ad97421fb1fb 144 default:
antbig 0:ad97421fb1fb 145 return 0;//L'action n'existe pas, il faut utiliser le CAN
Artiom 84:44d6cd2cab99 146
antbig 0:ad97421fb1fb 147 }
antbig 0:ad97421fb1fb 148 return 1;//L'action est spécifique.
Artiom 84:44d6cd2cab99 149
antbig 0:ad97421fb1fb 150 }
antbig 0:ad97421fb1fb 151
antbig 0:ad97421fb1fb 152 /****************************************************************************************/
antbig 0:ad97421fb1fb 153 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 154 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 155 /****************************************************************************************/
Artiom 84:44d6cd2cab99 156 void initRobot(void)
antbig 9:d0042422d95a 157 {
antbig 9:d0042422d95a 158 //Enregistrement de tous les AX12 présent sur la carte
ClementBreteau 15:c2fc239e85df 159 /*AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 160 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 161 AX12_register(13, AX12_SERIAL2);
antbig 12:14729d584500 162 AX12_register(1, AX12_SERIAL1);
antbig 12:14729d584500 163 AX12_register(11, AX12_SERIAL1);
antbig 12:14729d584500 164 AX12_register(8, AX12_SERIAL1);
ClementBreteau 15:c2fc239e85df 165 AX12_register(7, AX12_SERIAL2);*/
Artiom 84:44d6cd2cab99 166
antbig 12:14729d584500 167 //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig 12:14729d584500 168 //AX12_processChange();
antbig 11:ed13a480ddca 169 //runRobotTest();
Artiom 84:44d6cd2cab99 170
antbig 9:d0042422d95a 171 }
antbig 9:d0042422d95a 172
antbig 9:d0042422d95a 173 /****************************************************************************************/
antbig 12:14729d584500 174 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 175 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 176 /****************************************************************************************/
antbig 12:14729d584500 177 void initRobotActionneur(void)
antbig 12:14729d584500 178 {
Artiom 84:44d6cd2cab99 179 /*doAction(100,1,0);
ClementBreteau 23:ab87d308eaf9 180 doAction(100,2,0);
ClementBreteau 23:ab87d308eaf9 181 doAction(110,0,0);
ClementBreteau 23:ab87d308eaf9 182 doAction(120,0,0);
ClementBreteau 23:ab87d308eaf9 183 doAction(131,0,0);*/
Artiom 84:44d6cd2cab99 184
antbig 12:14729d584500 185 }
antbig 12:14729d584500 186
antbig 12:14729d584500 187 /****************************************************************************************/
antbig 9:d0042422d95a 188 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 189 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 190 /****************************************************************************************/
Artiom 84:44d6cd2cab99 191 void runRobotTest(void)
antbig 9:d0042422d95a 192 {
ClementBreteau 18:cc5fec34ed9c 193 /*
antbig 12:14729d584500 194 int waitTime = 500;
Artiom 84:44d6cd2cab99 195
antbig 9:d0042422d95a 196 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 197 doAction(111,0,0);//Fermeture pince arrière haute
antbig 12:14729d584500 198 wait_ms(waitTime);
antbig 9:d0042422d95a 199 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 200 wait_ms(waitTime);
antbig 9:d0042422d95a 201 doAction(113,0,0);//Fermeture pince arrière basse
antbig 12:14729d584500 202 wait_ms(waitTime);
antbig 9:d0042422d95a 203 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 204 wait_ms(waitTime);
antbig 9:d0042422d95a 205 doAction(115,0,0);//Fermeture porte arrière
antbig 12:14729d584500 206 wait_ms(waitTime);
antbig 9:d0042422d95a 207 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 208 wait_ms(waitTime);
antbig 12:14729d584500 209 doAction(101,0,0);//Fermer les portes avant
antbig 12:14729d584500 210 wait_ms(waitTime);
antbig 12:14729d584500 211 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 212 wait_ms(waitTime);
antbig 12:14729d584500 213 doAction(103,0,0);//Descendre le peigne
antbig 12:14729d584500 214 wait_ms(waitTime);
ClementBreteau 18:cc5fec34ed9c 215 doAction(102,0,0);//Remonter le peigne*/
antbig 0:ad97421fb1fb 216 }
antbig 3:19f2285a4757 217
antbig 4:88431b537477 218 /****************************************************************************************/
antbig 4:88431b537477 219 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 220 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 221 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 222 /****************************************************************************************/
Sitkah 29:41e02746041d 223 /*int SelectStrategy(unsigned char id)
antbig 4:88431b537477 224 {
antbig 4:88431b537477 225 switch(id)
antbig 4:88431b537477 226 {
ClementBreteau 15:c2fc239e85df 227 // strat de match
antbig 4:88431b537477 228 case 1:
antbig 11:ed13a480ddca 229 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 230 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 231 case 2:
antbig 11:ed13a480ddca 232 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 233 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 234 case 3:
antbig 11:ed13a480ddca 235 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 236 return FileExists(cheminFileStart);
antbig 12:14729d584500 237 case 4:
antbig 12:14729d584500 238 strcpy(cheminFileStart,"/local/strat4.txt");
antbig 12:14729d584500 239 return FileExists(cheminFileStart);
antbig 12:14729d584500 240 case 5:
antbig 12:14729d584500 241 strcpy(cheminFileStart,"/local/strat5.txt");
antbig 12:14729d584500 242 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 243 case 6:
ClementBreteau 14:c8fc06c4887f 244 strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau 14:c8fc06c4887f 245 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 246 case 7:
ClementBreteau 14:c8fc06c4887f 247 strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau 14:c8fc06c4887f 248 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 249 case 8:
ClementBreteau 14:c8fc06c4887f 250 strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau 14:c8fc06c4887f 251 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 252 case 9:
ClementBreteau 14:c8fc06c4887f 253 strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau 14:c8fc06c4887f 254 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 255 case 10:
ClementBreteau 14:c8fc06c4887f 256 strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau 14:c8fc06c4887f 257 return FileExists(cheminFileStart);
Artiom 84:44d6cd2cab99 258
ClementBreteau 15:c2fc239e85df 259 // strat de demo
ClementBreteau 14:c8fc06c4887f 260 case 0x10:
ClementBreteau 14:c8fc06c4887f 261 strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau 14:c8fc06c4887f 262 return FileExists(cheminFileStart);
ClementBreteau 14:c8fc06c4887f 263 case 0x11:
ClementBreteau 15:c2fc239e85df 264 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 265 strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau 15:c2fc239e85df 266 #else
ClementBreteau 15:c2fc239e85df 267 strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau 15:c2fc239e85df 268 #endif
ClementBreteau 14:c8fc06c4887f 269 return FileExists(cheminFileStart);
ClementBreteau 15:c2fc239e85df 270 case 0x12:
ClementBreteau 15:c2fc239e85df 271 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 272 strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau 15:c2fc239e85df 273 #else
ClementBreteau 15:c2fc239e85df 274 strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau 15:c2fc239e85df 275 #endif
ClementBreteau 15:c2fc239e85df 276 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 277 default:
antbig 12:14729d584500 278 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 279 return 0;
antbig 4:88431b537477 280 }
Sitkah 29:41e02746041d 281 }*/
antbig 4:88431b537477 282
antbig 12:14729d584500 283 /****************************************************************************************/
antbig 12:14729d584500 284 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 285 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 286 /****************************************************************************************/
antbig 12:14729d584500 287 unsigned char needToStop(void)
antbig 12:14729d584500 288 {
antbig 12:14729d584500 289 return isStopEnable;
antbig 12:14729d584500 290 }
antbig 12:14729d584500 291
antbig 12:14729d584500 292 /****************************************************************************************/
antbig 12:14729d584500 293 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 294 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 295 /****************************************************************************************/
antbig 12:14729d584500 296 void doBeforeEndAction(void)
antbig 12:14729d584500 297 {
antbig 12:14729d584500 298 doAction(110,0,0);//Ouverture pince arrière haute
antbig 12:14729d584500 299 doAction(112,0,0);//Ouverture pince arrière basse
antbig 12:14729d584500 300 doAction(114,0,0);//Ouverture porte arrière
antbig 12:14729d584500 301 doAction(100,0,0);//Ouvrir les portes avant
antbig 12:14729d584500 302 doAction(102,0,0);//Remonter le peigne
antbig 12:14729d584500 303 }
antbig 12:14729d584500 304
antbig 3:19f2285a4757 305 #endif