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@11:ed13a480ddca, 2016-05-02 (annotated)

Committer:
antbig
Date:
Mon May 02 19:40:59 2016 +0000
Revision:
11:ed13a480ddca
Parent:
9:d0042422d95a
Child:
12:14729d584500
Ajout de toutes les actions et de leurs sym?trique

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 1:116040d14164 1 #include "StrategieManager.h"
antbig 3:19f2285a4757 2 #ifdef ROBOT_BIG
antbig 3:19f2285a4757 3 #include "Config_big.h"
antbig 0:ad97421fb1fb 4
antbig 0:ad97421fb1fb 5 /****************************************************************************************/
antbig 0:ad97421fb1fb 6 /* FUNCTION NAME: doFunnyAction */
antbig 0:ad97421fb1fb 7 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 0:ad97421fb1fb 8 /****************************************************************************************/
antbig 0:ad97421fb1fb 9 void doFunnyAction(void) {
antbig 9:d0042422d95a 10 AX12_setGoal(AX12_ID_FUNNY_ACTION, 275);
antbig 9:d0042422d95a 11 AX12_setGoal(AX12_ID_FUNNY_ACTION, 180);
antbig 9:d0042422d95a 12 AX12_processChange();
antbig 0:ad97421fb1fb 13
antbig 0:ad97421fb1fb 14 }
antbig 0:ad97421fb1fb 15
antbig 0:ad97421fb1fb 16 /****************************************************************************************/
antbig 0:ad97421fb1fb 17 /* FUNCTION NAME: doAction */
antbig 0:ad97421fb1fb 18 /* DESCRIPTION : Effectuer une action specifique */
antbig 0:ad97421fb1fb 19 /****************************************************************************************/
antbig 0:ad97421fb1fb 20 unsigned char doAction(unsigned char id, unsigned short speed, short angle) {
antbig 0:ad97421fb1fb 21 switch(id) {
antbig 3:19f2285a4757 22
antbig 8:0edc7dfb7f7e 23 case 110://Ouvrir la pince arrière haute
antbig 8:0edc7dfb7f7e 24 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 205);
antbig 8:0edc7dfb7f7e 25 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 95);
antbig 8:0edc7dfb7f7e 26 AX12_processChange();
antbig 8:0edc7dfb7f7e 27 break;
antbig 8:0edc7dfb7f7e 28 case 111://Fermer la pince arrière haute
antbig 8:0edc7dfb7f7e 29 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE, 145);
antbig 8:0edc7dfb7f7e 30 AX12_setGoal(AX12_ID_PINCE_ARRIERE_HAUTE_DROITE, 155);
antbig 8:0edc7dfb7f7e 31 AX12_processChange();
antbig 8:0edc7dfb7f7e 32 break;
antbig 9:d0042422d95a 33
antbig 8:0edc7dfb7f7e 34 case 112://Ouvrir la pince arrière basse
antbig 9:d0042422d95a 35 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 205);
antbig 9:d0042422d95a 36 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 95);
antbig 9:d0042422d95a 37 AX12_processChange();
antbig 8:0edc7dfb7f7e 38 break;
antbig 8:0edc7dfb7f7e 39 case 113://Fermer la pince arrière basse
antbig 9:d0042422d95a 40 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE, 145);
antbig 9:d0042422d95a 41 AX12_setGoal(AX12_ID_PINCE_ARRIERE_BASSE_DROITE, 155);
antbig 9:d0042422d95a 42 AX12_processChange();
antbig 9:d0042422d95a 43 break;
antbig 8:0edc7dfb7f7e 44
antbig 8:0edc7dfb7f7e 45 case 114://Ouvrir les portes arrières
antbig 8:0edc7dfb7f7e 46 AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 250);
antbig 8:0edc7dfb7f7e 47 AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 50);
antbig 8:0edc7dfb7f7e 48 AX12_processChange();
antbig 8:0edc7dfb7f7e 49 break;
antbig 8:0edc7dfb7f7e 50 case 115://Fermer les portes arrière
antbig 8:0edc7dfb7f7e 51 AX12_setGoal(AX12_ID_PORTE_ARRIERE_GAUCHE, 145);
antbig 8:0edc7dfb7f7e 52 AX12_setGoal(AX12_ID_PORTE_ARRIERE_DROITE, 155);
antbig 8:0edc7dfb7f7e 53 AX12_processChange();
antbig 8:0edc7dfb7f7e 54 break;
antbig 0:ad97421fb1fb 55 default:
antbig 0:ad97421fb1fb 56 return 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 0:ad97421fb1fb 57
antbig 0:ad97421fb1fb 58 }
antbig 0:ad97421fb1fb 59 return 1;//L'action est spécifique.
antbig 0:ad97421fb1fb 60
antbig 0:ad97421fb1fb 61 }
antbig 0:ad97421fb1fb 62
antbig 0:ad97421fb1fb 63 /****************************************************************************************/
antbig 0:ad97421fb1fb 64 /* FUNCTION NAME: initRobot */
antbig 0:ad97421fb1fb 65 /* DESCRIPTION : initialiser le robot */
antbig 0:ad97421fb1fb 66 /****************************************************************************************/
antbig 9:d0042422d95a 67 void initRobot(void)
antbig 9:d0042422d95a 68 {
antbig 9:d0042422d95a 69 //Enregistrement de tous les AX12 présent sur la carte
antbig 8:0edc7dfb7f7e 70 AX12_register(4, AX12_SERIAL1);
antbig 8:0edc7dfb7f7e 71 AX12_register(14, AX12_SERIAL1);
antbig 8:0edc7dfb7f7e 72 AX12_register(15, AX12_SERIAL1);
antbig 8:0edc7dfb7f7e 73 AX12_register(5, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 74 AX12_register(18, AX12_SERIAL2);
antbig 8:0edc7dfb7f7e 75 AX12_register(13, AX12_SERIAL2);
antbig 9:d0042422d95a 76 AX12_register(1, AX12_SERIAL2);
antbig 9:d0042422d95a 77
antbig 11:ed13a480ddca 78 //runRobotTest();
antbig 9:d0042422d95a 79 }
antbig 9:d0042422d95a 80
antbig 9:d0042422d95a 81 /****************************************************************************************/
antbig 9:d0042422d95a 82 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 83 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 84 /****************************************************************************************/
antbig 9:d0042422d95a 85 void runRobotTest(void)
antbig 9:d0042422d95a 86 {
antbig 9:d0042422d95a 87 //Test des AX12 dans l'ordre
antbig 9:d0042422d95a 88 doAction(111,0,0);//Fermeture pince arrière haute
antbig 9:d0042422d95a 89 wait_ms(500);
antbig 9:d0042422d95a 90 doAction(110,0,0);//Ouverture pince arrière haute
antbig 9:d0042422d95a 91 wait_ms(500);
antbig 9:d0042422d95a 92 doAction(113,0,0);//Fermeture pince arrière basse
antbig 9:d0042422d95a 93 wait_ms(500);
antbig 9:d0042422d95a 94 doAction(112,0,0);//Ouverture pince arrière basse
antbig 9:d0042422d95a 95 wait_ms(500);
antbig 9:d0042422d95a 96 doAction(115,0,0);//Fermeture porte arrière
antbig 9:d0042422d95a 97 wait_ms(500);
antbig 9:d0042422d95a 98 doAction(114,0,0);//Ouverture porte arrière
antbig 0:ad97421fb1fb 99 }
antbig 3:19f2285a4757 100
antbig 4:88431b537477 101 /****************************************************************************************/
antbig 4:88431b537477 102 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 103 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 104 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 105 /****************************************************************************************/
antbig 4:88431b537477 106 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 107 {
antbig 4:88431b537477 108 switch(id)
antbig 4:88431b537477 109 {
antbig 4:88431b537477 110 case 1:
antbig 11:ed13a480ddca 111 strcpy(cheminFileStart,"/local/strat1.txt");
antbig 11:ed13a480ddca 112 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 113 case 2:
antbig 11:ed13a480ddca 114 strcpy(cheminFileStart,"/local/strat2.txt");
antbig 11:ed13a480ddca 115 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 116 case 3:
antbig 11:ed13a480ddca 117 strcpy(cheminFileStart,"/local/strat3.txt");
antbig 11:ed13a480ddca 118 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 119 default:
antbig 11:ed13a480ddca 120 strcpy(cheminFileStart,"/local/strat.txt");
antbig 11:ed13a480ddca 121 return 0;
antbig 4:88431b537477 122 }
antbig 4:88431b537477 123 }
antbig 4:88431b537477 124
antbig 3:19f2285a4757 125 #endif