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@36:6dd30780bd8e, 2018-05-02 (annotated)

Committer:
Sitkah
Date:
Wed May 02 20:40:57 2018 +0000
Revision:
36:6dd30780bd8e
Parent:
34:6aa4b46b102e
Child:
38:76f886a1c8e6
Recalage en une fois

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
antbig 3:19f2285a4757 2 #ifdef ROBOT_SMALL
Sitkah 29:41e02746041d 3
antbig 3:19f2285a4757 4
antbig 12:14729d584500 5 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
ClementBreteau 21:590cdacb6a35 6 //unsigned short telemetreDistance;
ClementBreteau 18:cc5fec34ed9c 7
antbig 12:14729d584500 8
antbig 3:19f2285a4757 9 /****************************************************************************************/
antbig 3:19f2285a4757 10 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 11 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 12 /****************************************************************************************/
antbig 3:19f2285a4757 13 void doFunnyAction(void) {
antbig 3:19f2285a4757 14
antbig 3:19f2285a4757 15
antbig 3:19f2285a4757 16 }
antbig 3:19f2285a4757 17
ClementBreteau 18:cc5fec34ed9c 18
antbig 3:19f2285a4757 19 /****************************************************************************************/
antbig 3:19f2285a4757 20 /* FUNCTION NAME: doAction */
antbig 3:19f2285a4757 21 /* DESCRIPTION : Effectuer une action specifique */
antbig 3:19f2285a4757 22 /****************************************************************************************/
Sitkah 34:6aa4b46b102e 23 unsigned char doAction(unsigned char id, unsigned short arg1, short arg2) {
ClementBreteau 18:cc5fec34ed9c 24 int retour = 1;
Sitkah 34:6aa4b46b102e 25 CANMessage msgTx=CANMessage();
Sitkah 34:6aa4b46b102e 26 msgTx.format=CANStandard;
Sitkah 34:6aa4b46b102e 27 msgTx.type=CANData;
antbig 3:19f2285a4757 28 switch(id) {
Sitkah 30:a1e37af4bbde 29 case 101: //baisser attrape bloc avant
Sitkah 30:a1e37af4bbde 30 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 31 break;
Sitkah 30:a1e37af4bbde 32 case 102: //Relever attrape bloc avant
Sitkah 30:a1e37af4bbde 33 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 34 break;
Sitkah 30:a1e37af4bbde 35 case 115: //allumer panneau
Sitkah 30:a1e37af4bbde 36 SendRawId(ALLUMER_PANNEAU_UP);
Sitkah 30:a1e37af4bbde 37 break;
Sitkah 30:a1e37af4bbde 38 case 116: //range le bras qui allume le panneau
Sitkah 30:a1e37af4bbde 39 SendRawId(ALLUMER_PANNEAU_DOWN);
Sitkah 30:a1e37af4bbde 40 break;
Sitkah 30:a1e37af4bbde 41 case 117: //lève le bras pour pousser l'abeille
Sitkah 30:a1e37af4bbde 42 SendRawId(BRAS_ABEILLE_UP);
Sitkah 30:a1e37af4bbde 43 break;
Sitkah 30:a1e37af4bbde 44 case 118: //abaisse le bras qui pousse l'abeille
Sitkah 30:a1e37af4bbde 45 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 30:a1e37af4bbde 46 break;
Sitkah 30:a1e37af4bbde 47 case 130: //Inclinaison pour viser le chateau d'eau
Sitkah 30:a1e37af4bbde 48 SendRawId(INCLINAISON_CHATEAU);
Sitkah 30:a1e37af4bbde 49 break;
Sitkah 30:a1e37af4bbde 50 case 131: //inclinaison pour deverser les balles sales
Sitkah 30:a1e37af4bbde 51 SendRawId(INCLINAISON_EPURATION);
Sitkah 30:a1e37af4bbde 52 break;
Sitkah 30:a1e37af4bbde 53 case 132: //blocage des balles
Sitkah 30:a1e37af4bbde 54 SendRawId(BLOCAGE_BALLE);
Sitkah 30:a1e37af4bbde 55 break;
Sitkah 30:a1e37af4bbde 56 case 133: //lance le pwm de tir
Sitkah 34:6aa4b46b102e 57 msgTx.id=LANCEMENT_MOTEUR_TIR_ON;
Sitkah 34:6aa4b46b102e 58
Sitkah 34:6aa4b46b102e 59 msgTx.len=1;
Sitkah 34:6aa4b46b102e 60 msgTx.data[0]=arg1;
Sitkah 34:6aa4b46b102e 61 can2.write(msgTx);
Sitkah 30:a1e37af4bbde 62 break;
Sitkah 30:a1e37af4bbde 63 case 134: ///Arrete le pwm de tir
Sitkah 30:a1e37af4bbde 64 SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
Sitkah 30:a1e37af4bbde 65 break;
Sitkah 30:a1e37af4bbde 66 case 135://position aiguilleur au centre
Sitkah 30:a1e37af4bbde 67 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 30:a1e37af4bbde 68 break;
Sitkah 30:a1e37af4bbde 69 case 136://position aiguilleur à gauche
Sitkah 30:a1e37af4bbde 70 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 30:a1e37af4bbde 71 break;
Sitkah 30:a1e37af4bbde 72 case 137://position aiguilleur à droite
Sitkah 30:a1e37af4bbde 73 SendRawId(AIGUILLEUR_DROITE);
Sitkah 30:a1e37af4bbde 74 break;
Sitkah 30:a1e37af4bbde 75 case 138://position aiguilleur au centre
Sitkah 30:a1e37af4bbde 76 SendRawId(TRI_BALLE);
Sitkah 30:a1e37af4bbde 77 break;
Sitkah 34:6aa4b46b102e 78 case 139:
Sitkah 34:6aa4b46b102e 79 SendRawId(VIBRO);
Sitkah 34:6aa4b46b102e 80 break;
Sitkah 34:6aa4b46b102e 81
ClementBreteau 18:cc5fec34ed9c 82
ClementBreteau 16:7321fb3bb396 83
ClementBreteau 18:cc5fec34ed9c 84 case 200 :
Sitkah 30:a1e37af4bbde 85 SendRawId(DATA_TELEMETRE);
Sitkah 30:a1e37af4bbde 86 /*telemetreDistance = dataTelemetre();
ClementBreteau 18:cc5fec34ed9c 87 wait_ms(1);
ClementBreteau 18:cc5fec34ed9c 88 telemetreDistance = dataTelemetre();
Sitkah 30:a1e37af4bbde 89 telemetreDistance = telemetreDistance - 170;*/
ClementBreteau 18:cc5fec34ed9c 90 break;
ClementBreteau 18:cc5fec34ed9c 91
ClementBreteau 18:cc5fec34ed9c 92 case 201 :
Sitkah 30:a1e37af4bbde 93 SendRawId(0x99);
ClementBreteau 18:cc5fec34ed9c 94 retour = 2;
antbig 10:a788d9cf60f2 95 break;
ClementBreteau 15:c2fc239e85df 96
antbig 12:14729d584500 97 case 10://Désactiver le stop
antbig 12:14729d584500 98 isStopEnable = 0;
antbig 12:14729d584500 99 break;
antbig 12:14729d584500 100 case 11://Activer le stop
antbig 12:14729d584500 101 isStopEnable = 1;
antbig 12:14729d584500 102 break;
antbig 12:14729d584500 103 case 20://Désactiver l'asservissement
antbig 12:14729d584500 104 setAsservissementEtat(0);
antbig 12:14729d584500 105 break;
antbig 12:14729d584500 106 case 21://Activer l'asservissement
antbig 12:14729d584500 107 setAsservissementEtat(1);
ClementBreteau 16:7321fb3bb396 108 break;
ClementBreteau 16:7321fb3bb396 109
Sitkah 34:6aa4b46b102e 110 case 22://Changer la vitesse du robot
Sitkah 34:6aa4b46b102e 111 SendSpeed(arg1,(unsigned short)arg2);
ClementBreteau 18:cc5fec34ed9c 112 wait_us(200);
antbig 28:acd18776ed2d 113 waitingAckFrom = 0;
antbig 28:acd18776ed2d 114 waitingAckID = 0;
antbig 28:acd18776ed2d 115 break;
antbig 28:acd18776ed2d 116
antbig 28:acd18776ed2d 117 case 19: // CHANGER LA VITESSE + DECELERATION
Sitkah 34:6aa4b46b102e 118 SendSpeedDecel(arg1,(unsigned short) arg2);
antbig 28:acd18776ed2d 119 wait_us(200);
antbig 28:acd18776ed2d 120 waitingAckFrom = 0;
antbig 28:acd18776ed2d 121 waitingAckID =0;
ClementBreteau 16:7321fb3bb396 122 break;
ClementBreteau 16:7321fb3bb396 123
ClementBreteau 16:7321fb3bb396 124 case 30://Action tempo
Sitkah 34:6aa4b46b102e 125 wait_ms(arg1);
antbig 12:14729d584500 126 break;
Sitkah 34:6aa4b46b102e 127
antbig 3:19f2285a4757 128 default:
ClementBreteau 18:cc5fec34ed9c 129 retour = 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 3:19f2285a4757 130
antbig 3:19f2285a4757 131 }
ClementBreteau 18:cc5fec34ed9c 132 return retour;//L'action est spécifique.
antbig 3:19f2285a4757 133
antbig 3:19f2285a4757 134 }
antbig 3:19f2285a4757 135
antbig 3:19f2285a4757 136 /****************************************************************************************/
antbig 3:19f2285a4757 137 /* FUNCTION NAME: initRobot */
antbig 3:19f2285a4757 138 /* DESCRIPTION : initialiser le robot */
antbig 3:19f2285a4757 139 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 140 //void initRobot(void) {
antbig 3:19f2285a4757 141 /**
antbig 3:19f2285a4757 142 On enregistre les id des AX12 présent sur la carte
antbig 3:19f2285a4757 143 **/
ClementBreteau 15:c2fc239e85df 144 /*AX12_register(1,AX12_SERIAL1,0x0FF);
antbig 5:dcd817534b57 145 AX12_register(2,AX12_SERIAL1);
antbig 5:dcd817534b57 146 AX12_register(18,AX12_SERIAL1);
antbig 5:dcd817534b57 147 AX12_register(4,AX12_SERIAL2);
antbig 5:dcd817534b57 148 AX12_register(16,AX12_SERIAL2);
ClementBreteau 15:c2fc239e85df 149 AX12_register(17,AX12_SERIAL2,0x0FF);*/
antbig 12:14729d584500 150
antbig 12:14729d584500 151 //runRobotTest();
antbig 12:14729d584500 152
antbig 5:dcd817534b57 153 /*
antbig 5:dcd817534b57 154 AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
antbig 5:dcd817534b57 155 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 5:dcd817534b57 156 AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF);
antbig 5:dcd817534b57 157 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras
antbig 5:dcd817534b57 158 AX12_processChange();*/
ClementBreteau 16:7321fb3bb396 159
Sitkah 30:a1e37af4bbde 160 //initialisation_AX12();
ClementBreteau 18:cc5fec34ed9c 161
Sitkah 30:a1e37af4bbde 162 //}
antbig 3:19f2285a4757 163
antbig 4:88431b537477 164 /****************************************************************************************/
antbig 12:14729d584500 165 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 166 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 167 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 168 /*void initRobotActionneur(void)
antbig 12:14729d584500 169 {
ClementBreteau 18:cc5fec34ed9c 170 moteurGauchePWM(0);
ClementBreteau 18:cc5fec34ed9c 171 moteurDroitPWM(0);
ClementBreteau 18:cc5fec34ed9c 172 AX12_automate(AX12_PINCE_CENTRALE_POSITION_INITIALE);
ClementBreteau 18:cc5fec34ed9c 173 AX12_automate(AX12_GAUCHE_CROC_INITIALE);
ClementBreteau 18:cc5fec34ed9c 174 AX12_automate(AX12_DROIT_CROC_INITIALE);
ClementBreteau 18:cc5fec34ed9c 175 AX12_automate(AX12_TOURNANTE_GAUCHE_POSITION_INITIALE);
ClementBreteau 18:cc5fec34ed9c 176 AX12_automate(AX12_TOURNANTE_DROIT_POSITION_INITIALE);
antbig 12:14729d584500 177 }
Sitkah 30:a1e37af4bbde 178 */
antbig 12:14729d584500 179 /****************************************************************************************/
antbig 9:d0042422d95a 180 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 181 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 182 /****************************************************************************************/
antbig 9:d0042422d95a 183 void runRobotTest(void)
antbig 9:d0042422d95a 184 {
ClementBreteau 18:cc5fec34ed9c 185
antbig 9:d0042422d95a 186 }
antbig 9:d0042422d95a 187
antbig 9:d0042422d95a 188 /****************************************************************************************/
antbig 4:88431b537477 189 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 190 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 191 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 192 /****************************************************************************************/
antbig 4:88431b537477 193 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 194 {
antbig 12:14729d584500 195
antbig 4:88431b537477 196 switch(id)
antbig 4:88431b537477 197 {
antbig 4:88431b537477 198 case 1:
Sitkah 29:41e02746041d 199 strcpy(cheminFileStart,"/sd/strat1.txt");
antbig 4:88431b537477 200 return FileExists(cheminFileStart);
antbig 4:88431b537477 201 case 2:
Sitkah 29:41e02746041d 202 strcpy(cheminFileStart,"/sd/strat2.txt");
antbig 4:88431b537477 203 return FileExists(cheminFileStart);
antbig 7:dcce34c7e06e 204 case 3:
Sitkah 29:41e02746041d 205 strcpy(cheminFileStart,"/sd/strat3.txt");
antbig 7:dcce34c7e06e 206 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 207 case 4:
Sitkah 29:41e02746041d 208 strcpy(cheminFileStart,"/sd/strat4.txt");
antbig 11:ed13a480ddca 209 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 210 case 5:
Sitkah 29:41e02746041d 211 strcpy(cheminFileStart,"/sd/strat5.txt");
antbig 11:ed13a480ddca 212 return FileExists(cheminFileStart);
antbig 12:14729d584500 213 case 6:
Sitkah 29:41e02746041d 214 strcpy(cheminFileStart,"/sd/strat6.txt");
antbig 12:14729d584500 215 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 216 case 7:
Sitkah 29:41e02746041d 217 strcpy(cheminFileStart,"/sd/strat7.txt");
ClementBreteau 16:7321fb3bb396 218 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 219 case 8:
Sitkah 29:41e02746041d 220 strcpy(cheminFileStart,"/sd/strat8.txt");
ClementBreteau 16:7321fb3bb396 221 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 222 case 9:
Sitkah 29:41e02746041d 223 strcpy(cheminFileStart,"/sd/strat9.txt");
ClementBreteau 16:7321fb3bb396 224 return FileExists(cheminFileStart);
antbig 12:14729d584500 225 case 10:
Sitkah 29:41e02746041d 226 strcpy(cheminFileStart,"/sd/strat10.txt");
ClementBreteau 16:7321fb3bb396 227 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 228 case 11:
Sitkah 29:41e02746041d 229 strcpy(cheminFileStart,"/sd/grand_8.txt");
antbig 12:14729d584500 230 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 231
ClementBreteau 16:7321fb3bb396 232 case 0x10:
Sitkah 29:41e02746041d 233 strcpy(cheminFileStart,"/sd/demoBras.txt");
ClementBreteau 16:7321fb3bb396 234 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 235
antbig 4:88431b537477 236 default:
Sitkah 29:41e02746041d 237 strcpy(cheminFileStart,"/sd/strat1.txt");
ClementBreteau 16:7321fb3bb396 238 SendRawId(0x258);
antbig 4:88431b537477 239 return 0;
antbig 4:88431b537477 240 }
antbig 4:88431b537477 241 }
antbig 4:88431b537477 242
antbig 12:14729d584500 243 /****************************************************************************************/
antbig 12:14729d584500 244 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 245 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 246 /****************************************************************************************/
antbig 12:14729d584500 247 unsigned char needToStop(void)
antbig 12:14729d584500 248 {
antbig 12:14729d584500 249 return isStopEnable;
antbig 12:14729d584500 250 }
antbig 12:14729d584500 251
antbig 12:14729d584500 252 /****************************************************************************************/
antbig 12:14729d584500 253 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 254 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 255 /****************************************************************************************/
antbig 12:14729d584500 256 void doBeforeEndAction(void)
antbig 12:14729d584500 257 {
antbig 12:14729d584500 258
antbig 12:14729d584500 259 }
antbig 12:14729d584500 260
antbig 3:19f2285a4757 261 #endif