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carte_strategie_2019

Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Robots/Strategie_big.cpp@72:5b1b3e151e59, 2019-05-26 (annotated)

Committer:: Villanut
Date:: Sun May 26 23:15:47 2019 +0000
Revision:: 72:5b1b3e151e59
Parent:: 71:67cce4efd33d
Child:: 73:bf4d6d9db13b

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	71:67cce4efd33d	37	CANMessage msgTx=CANMessage();
Villanut	71:67cce4efd33d	38	msgTx.id=ASCENSEUR;
Villanut	71:67cce4efd33d	39	msgTx.format=CANStandard;
Villanut	71:67cce4efd33d	40	msgTx.type=CANData;
Villanut	72:5b1b3e151e59	41	msgTx.len=1;
Villanut	72:5b1b3e151e59	42	msgTx.data[0]=(unsigned char)var1;
Villanut	71:67cce4efd33d	43
Villanut	71:67cce4efd33d	44	can2.write(msgTx);
Sitkah	38:76f886a1c8e6	45	break;
ClementBreteau	15:c2fc239e85df	46
Villanut	72:5b1b3e151e59	47	case 202:
Villanut	72:5b1b3e151e59	48	msgTx.id=VIDER_CONVOYEUR;
Artiom	67:96f914f92d2d	49
Villanut	72:5b1b3e151e59	50	msgTx.len=1;
Villanut	72:5b1b3e151e59	51	msgTx.data[0]=(unsigned char)var1;
Villanut	72:5b1b3e151e59	52
Villanut	72:5b1b3e151e59	53	can2.write(msgTx);
Sitkah	30:a1e37af4bbde	54	break;
Artiom	67:96f914f92d2d	55
Villanut	72:5b1b3e151e59	56	case 203:
Villanut	72:5b1b3e151e59	57	SendRawId(GOLDENIUM_AVANT);
Sitkah	30:a1e37af4bbde	58	break;
Artiom	67:96f914f92d2d	59
Villanut	72:5b1b3e151e59	60	case 204:
Villanut	72:5b1b3e151e59	61	unsigned char arg_tempo;
Villanut	72:5b1b3e151e59	62	if(InversStrat == 1)
Villanut	72:5b1b3e151e59	63	{
Villanut	72:5b1b3e151e59	64	switch(var1){
Villanut	72:5b1b3e151e59	65	case AV_DROIT:
Villanut	72:5b1b3e151e59	66	arg_tempo = AV_GAUCHE;
Villanut	72:5b1b3e151e59	67	break;
Villanut	72:5b1b3e151e59	68	case AV_GAUCHE:
Villanut	72:5b1b3e151e59	69	arg_tempo = AV_DROIT;
Villanut	72:5b1b3e151e59	70	break;
Villanut	72:5b1b3e151e59	71	default :
Villanut	72:5b1b3e151e59	72	arg_tempo =(unsigned char)var1;
Villanut	72:5b1b3e151e59	73	break;
Villanut	72:5b1b3e151e59	74	}
Villanut	72:5b1b3e151e59	75
Villanut	72:5b1b3e151e59	76	}
Villanut	72:5b1b3e151e59	77	else arg_tempo =(unsigned char)var1;
Villanut	72:5b1b3e151e59	78	SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
Villanut	72:5b1b3e151e59	79	waitingAckFrom = 0;
Villanut	72:5b1b3e151e59	80	waitingAckID =0;
Sitkah	38:76f886a1c8e6	81	break;
Villanut	72:5b1b3e151e59	82
Villanut	72:5b1b3e151e59	83	case 205:
Villanut	72:5b1b3e151e59	84	SendRawId(PRESENTOIR_AVANT);
Sitkah	41:b029ddc4d60e	85	break;
Sitkah	38:76f886a1c8e6	86
Sitkah	38:76f886a1c8e6	87	case 150:
Sitkah	38:76f886a1c8e6	88	SCORE_GR+=var1;
Sitkah	38:76f886a1c8e6	89	SCORE_GLOBAL=SCORE_GR+SCORE_PR;
Sitkah	40:21bb685b553b	90	//liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
Sitkah	38:76f886a1c8e6	91	waitingAckFrom = 0;
Sitkah	38:76f886a1c8e6	92	waitingAckID = 0;
Sitkah	38:76f886a1c8e6	93	break;
Sitkah	38:76f886a1c8e6	94
ClementBreteau	18:cc5fec34ed9c	95
Artiom	67:96f914f92d2d	96	case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
Villanut	71:67cce4efd33d	97	isStopEnable =(unsigned char) var1;
Artiom	67:96f914f92d2d	98	SendMsgCan(0x5BC, &isStopEnable,1);
Artiom	67:96f914f92d2d	99	waitingAckFrom = 0;
Artiom	67:96f914f92d2d	100	waitingAckID =0;
Artiom	67:96f914f92d2d	101	break;
antbig	12:14729d584500	102	case 20://Désactiver l'asservissement
antbig	12:14729d584500	103	setAsservissementEtat(0);
antbig	12:14729d584500	104	break;
Artiom	67:96f914f92d2d	105
antbig	12:14729d584500	106	case 21://Activer l'asservissement
antbig	12:14729d584500	107	setAsservissementEtat(1);
antbig	12:14729d584500	108	break;
antbig	12:14729d584500	109
antbig	12:14729d584500	110	case 22://Changer la vitesse du robot
Villanut	71:67cce4efd33d	111	SendSpeed(var1,(unsigned short)var2, (unsigned short)var2);
ClementBreteau	26:2f4fcc2354f3	112	waitingAckFrom = 0;
ClementBreteau	26:2f4fcc2354f3	113	waitingAckID = 0;
ClementBreteau	26:2f4fcc2354f3	114	wait(0.2);
antbig	12:14729d584500	115	break;
antbig	12:14729d584500	116
antbig	12:14729d584500	117	case 30://Action tempo
Sitkah	30:a1e37af4bbde	118	wait_ms(var1);
Sitkah	40:21bb685b553b	119	waitingAckFrom = 0;
Sitkah	40:21bb685b553b	120	waitingAckID = 0;
antbig	12:14729d584500	121	break;
antbig	12:14729d584500	122
Artiom	67:96f914f92d2d	123
antbig	12:14729d584500	124
antbig	0:ad97421fb1fb	125	default:
antbig	0:ad97421fb1fb	126	return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig	0:ad97421fb1fb	127
antbig	0:ad97421fb1fb	128	}
antbig	0:ad97421fb1fb	129	return 1;//L'action est spécifique.
antbig	0:ad97421fb1fb	130
antbig	0:ad97421fb1fb	131	}
antbig	0:ad97421fb1fb	132
antbig	0:ad97421fb1fb	133	/****************************************************************************************/
antbig	0:ad97421fb1fb	134	/* FUNCTION NAME: initRobot */
antbig	0:ad97421fb1fb	135	/* DESCRIPTION : initialiser le robot */
antbig	0:ad97421fb1fb	136	/****************************************************************************************/
antbig	9:d0042422d95a	137	void initRobot(void)
antbig	9:d0042422d95a	138	{
antbig	9:d0042422d95a	139	//Enregistrement de tous les AX12 présent sur la carte
ClementBreteau	15:c2fc239e85df	140	/*AX12_register(5, AX12_SERIAL2);
antbig	8:0edc7dfb7f7e	141	AX12_register(18, AX12_SERIAL2);
antbig	8:0edc7dfb7f7e	142	AX12_register(13, AX12_SERIAL2);
antbig	12:14729d584500	143	AX12_register(1, AX12_SERIAL1);
antbig	12:14729d584500	144	AX12_register(11, AX12_SERIAL1);
antbig	12:14729d584500	145	AX12_register(8, AX12_SERIAL1);
ClementBreteau	15:c2fc239e85df	146	AX12_register(7, AX12_SERIAL2);*/
antbig	9:d0042422d95a	147
antbig	12:14729d584500	148	//AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
antbig	12:14729d584500	149	//AX12_processChange();
antbig	11:ed13a480ddca	150	//runRobotTest();
ClementBreteau	16:7321fb3bb396	151
antbig	9:d0042422d95a	152	}
antbig	9:d0042422d95a	153
antbig	9:d0042422d95a	154	/****************************************************************************************/
antbig	12:14729d584500	155	/* FUNCTION NAME: initRobotActionneur */
antbig	12:14729d584500	156	/* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig	12:14729d584500	157	/****************************************************************************************/
antbig	12:14729d584500	158	void initRobotActionneur(void)
antbig	12:14729d584500	159	{
ClementBreteau	23:ab87d308eaf9	160	/*doAction(100,1,0);
ClementBreteau	23:ab87d308eaf9	161	doAction(100,2,0);
ClementBreteau	23:ab87d308eaf9	162	doAction(110,0,0);
ClementBreteau	23:ab87d308eaf9	163	doAction(120,0,0);
ClementBreteau	23:ab87d308eaf9	164	doAction(131,0,0);*/
ClementBreteau	23:ab87d308eaf9	165
antbig	12:14729d584500	166	}
antbig	12:14729d584500	167
antbig	12:14729d584500	168	/****************************************************************************************/
antbig	9:d0042422d95a	169	/* FUNCTION NAME: runTest */
antbig	9:d0042422d95a	170	/* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig	9:d0042422d95a	171	/****************************************************************************************/
antbig	9:d0042422d95a	172	void runRobotTest(void)
antbig	9:d0042422d95a	173	{
ClementBreteau	18:cc5fec34ed9c	174	/*
antbig	12:14729d584500	175	int waitTime = 500;
antbig	12:14729d584500	176
antbig	9:d0042422d95a	177	//Test des AX12 dans l'ordre
antbig	9:d0042422d95a	178	doAction(111,0,0);//Fermeture pince arrière haute
antbig	12:14729d584500	179	wait_ms(waitTime);
antbig	9:d0042422d95a	180	doAction(110,0,0);//Ouverture pince arrière haute
antbig	12:14729d584500	181	wait_ms(waitTime);
antbig	9:d0042422d95a	182	doAction(113,0,0);//Fermeture pince arrière basse
antbig	12:14729d584500	183	wait_ms(waitTime);
antbig	9:d0042422d95a	184	doAction(112,0,0);//Ouverture pince arrière basse
antbig	12:14729d584500	185	wait_ms(waitTime);
antbig	9:d0042422d95a	186	doAction(115,0,0);//Fermeture porte arrière
antbig	12:14729d584500	187	wait_ms(waitTime);
antbig	9:d0042422d95a	188	doAction(114,0,0);//Ouverture porte arrière
antbig	12:14729d584500	189	wait_ms(waitTime);
antbig	12:14729d584500	190	doAction(101,0,0);//Fermer les portes avant
antbig	12:14729d584500	191	wait_ms(waitTime);
antbig	12:14729d584500	192	doAction(100,0,0);//Ouvrir les portes avant
antbig	12:14729d584500	193	wait_ms(waitTime);
antbig	12:14729d584500	194	doAction(103,0,0);//Descendre le peigne
antbig	12:14729d584500	195	wait_ms(waitTime);
ClementBreteau	18:cc5fec34ed9c	196	doAction(102,0,0);//Remonter le peigne*/
antbig	0:ad97421fb1fb	197	}
antbig	3:19f2285a4757	198
antbig	4:88431b537477	199	/****************************************************************************************/
antbig	4:88431b537477	200	/* FUNCTION NAME: SelectStrategy */
antbig	4:88431b537477	201	/* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig	4:88431b537477	202	/* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig	4:88431b537477	203	/****************************************************************************************/
Sitkah	29:41e02746041d	204	/*int SelectStrategy(unsigned char id)
antbig	4:88431b537477	205	{
antbig	4:88431b537477	206	switch(id)
antbig	4:88431b537477	207	{
ClementBreteau	15:c2fc239e85df	208	// strat de match
antbig	4:88431b537477	209	case 1:
antbig	11:ed13a480ddca	210	strcpy(cheminFileStart,"/local/strat1.txt");
antbig	11:ed13a480ddca	211	return FileExists(cheminFileStart);
antbig	11:ed13a480ddca	212	case 2:
antbig	11:ed13a480ddca	213	strcpy(cheminFileStart,"/local/strat2.txt");
antbig	11:ed13a480ddca	214	return FileExists(cheminFileStart);
antbig	11:ed13a480ddca	215	case 3:
antbig	11:ed13a480ddca	216	strcpy(cheminFileStart,"/local/strat3.txt");
antbig	11:ed13a480ddca	217	return FileExists(cheminFileStart);
antbig	12:14729d584500	218	case 4:
antbig	12:14729d584500	219	strcpy(cheminFileStart,"/local/strat4.txt");
antbig	12:14729d584500	220	return FileExists(cheminFileStart);
antbig	12:14729d584500	221	case 5:
antbig	12:14729d584500	222	strcpy(cheminFileStart,"/local/strat5.txt");
antbig	12:14729d584500	223	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	224	case 6:
ClementBreteau	14:c8fc06c4887f	225	strcpy(cheminFileStart,"/local/strat6.txt");
ClementBreteau	14:c8fc06c4887f	226	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	227	case 7:
ClementBreteau	14:c8fc06c4887f	228	strcpy(cheminFileStart,"/local/strat7.txt");
ClementBreteau	14:c8fc06c4887f	229	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	230	case 8:
ClementBreteau	14:c8fc06c4887f	231	strcpy(cheminFileStart,"/local/strat8.txt");
ClementBreteau	14:c8fc06c4887f	232	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	233	case 9:
ClementBreteau	14:c8fc06c4887f	234	strcpy(cheminFileStart,"/local/strat9.txt");
ClementBreteau	14:c8fc06c4887f	235	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	236	case 10:
ClementBreteau	14:c8fc06c4887f	237	strcpy(cheminFileStart,"/local/strat10.txt");
ClementBreteau	14:c8fc06c4887f	238	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	239
ClementBreteau	15:c2fc239e85df	240	// strat de demo
ClementBreteau	14:c8fc06c4887f	241	case 0x10:
ClementBreteau	14:c8fc06c4887f	242	strcpy(cheminFileStart,"/local/moteur.txt");
ClementBreteau	14:c8fc06c4887f	243	return FileExists(cheminFileStart);
ClementBreteau	14:c8fc06c4887f	244	case 0x11:
ClementBreteau	15:c2fc239e85df	245	#ifdef ROBOT_BIG
ClementBreteau	15:c2fc239e85df	246	strcpy(cheminFileStart,"/local/bras.txt");
ClementBreteau	15:c2fc239e85df	247	#else
ClementBreteau	15:c2fc239e85df	248	strcpy(cheminFileStart,"/local/porteAvant.txt");
ClementBreteau	15:c2fc239e85df	249	#endif
ClementBreteau	14:c8fc06c4887f	250	return FileExists(cheminFileStart);
ClementBreteau	15:c2fc239e85df	251	case 0x12:
ClementBreteau	15:c2fc239e85df	252	#ifdef ROBOT_BIG
ClementBreteau	15:c2fc239e85df	253	strcpy(cheminFileStart,"/local/balancier.txt");
ClementBreteau	15:c2fc239e85df	254	#else
ClementBreteau	15:c2fc239e85df	255	strcpy(cheminFileStart,"/local/mainTourneuse.txt");
ClementBreteau	15:c2fc239e85df	256	#endif
ClementBreteau	15:c2fc239e85df	257	return FileExists(cheminFileStart);
antbig	11:ed13a480ddca	258	default:
antbig	12:14729d584500	259	strcpy(cheminFileStart,"/local/strat1.txt");
antbig	11:ed13a480ddca	260	return 0;
antbig	4:88431b537477	261	}
Sitkah	29:41e02746041d	262	}*/
antbig	4:88431b537477	263
antbig	12:14729d584500	264	/****************************************************************************************/
antbig	12:14729d584500	265	/* FUNCTION NAME: needToStop */
antbig	12:14729d584500	266	/* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig	12:14729d584500	267	/****************************************************************************************/
antbig	12:14729d584500	268	unsigned char needToStop(void)
antbig	12:14729d584500	269	{
antbig	12:14729d584500	270	return isStopEnable;
antbig	12:14729d584500	271	}
antbig	12:14729d584500	272
antbig	12:14729d584500	273	/****************************************************************************************/
antbig	12:14729d584500	274	/* FUNCTION NAME: doBeforeEndAction */
antbig	12:14729d584500	275	/* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig	12:14729d584500	276	/****************************************************************************************/
antbig	12:14729d584500	277	void doBeforeEndAction(void)
antbig	12:14729d584500	278	{
antbig	12:14729d584500	279	doAction(110,0,0);//Ouverture pince arrière haute
antbig	12:14729d584500	280	doAction(112,0,0);//Ouverture pince arrière basse
antbig	12:14729d584500	281	doAction(114,0,0);//Ouverture porte arrière
antbig	12:14729d584500	282	doAction(100,0,0);//Ouvrir les portes avant
antbig	12:14729d584500	283	doAction(102,0,0);//Remonter le peigne
antbig	12:14729d584500	284	}
antbig	12:14729d584500	285
antbig	3:19f2285a4757	286	#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@72:5b1b3e151e59, 2019-05-26 (annotated)

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