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@60:97bf2bdd51cc, 2019-05-24 (annotated)

Committer:
Artiom
Date:
Fri May 24 14:58:22 2019 +0000
Revision:
60:97bf2bdd51cc
Parent:
59:500271ac0881
Child:
62:c4863b4b2543
maj instruction PR arg1+arg2 pour accelerateur et arg1 goldenium;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 38:76f886a1c8e6 2
antbig 3:19f2285a4757 3 #ifdef ROBOT_SMALL
Sitkah 29:41e02746041d 4
antbig 3:19f2285a4757 5
antbig 12:14729d584500 6 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
ClementBreteau 21:590cdacb6a35 7 //unsigned short telemetreDistance;
ClementBreteau 18:cc5fec34ed9c 8
antbig 12:14729d584500 9
antbig 3:19f2285a4757 10 /****************************************************************************************/
antbig 3:19f2285a4757 11 /* FUNCTION NAME: doFunnyAction */
antbig 3:19f2285a4757 12 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
antbig 3:19f2285a4757 13 /****************************************************************************************/
Artiom 46:a9b6bcb30b1c 14 void doFunnyAction(void)
Artiom 46:a9b6bcb30b1c 15 {
Artiom 46:a9b6bcb30b1c 16
Artiom 46:a9b6bcb30b1c 17
antbig 3:19f2285a4757 18 }
antbig 3:19f2285a4757 19
ClementBreteau 18:cc5fec34ed9c 20
Sitkah 42:657b6a573e11 21 /*************************************************************************************************/
Sitkah 42:657b6a573e11 22 /* FUNCTION NAME: doAction */
Sitkah 42:657b6a573e11 23 /* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
Sitkah 42:657b6a573e11 24 /*************************************************************************************************/
Artiom 46:a9b6bcb30b1c 25 unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
Artiom 46:a9b6bcb30b1c 26 {
ClementBreteau 18:cc5fec34ed9c 27 int retour = 1;
Sitkah 34:6aa4b46b102e 28 CANMessage msgTx=CANMessage();
Sitkah 34:6aa4b46b102e 29 msgTx.format=CANStandard;
Sitkah 34:6aa4b46b102e 30 msgTx.type=CANData;
antbig 3:19f2285a4757 31 switch(id) {
Villanut 45:4f93e99bac6e 32 case 101: //bras gabarit
Artiom 46:a9b6bcb30b1c 33 SendRawId(GABARIT_PETIT_ROBOT);
Sitkah 30:a1e37af4bbde 34 break;
Villanut 45:4f93e99bac6e 35 case 102: //attraper presentoir avant
Artiom 46:a9b6bcb30b1c 36 SendRawId(PRESENTOIR_AVANT);
Sitkah 30:a1e37af4bbde 37 break;
Villanut 45:4f93e99bac6e 38 case 103: //attraper presentoir arriere
Villanut 45:4f93e99bac6e 39 SendRawId(PRESENTOIR_ARRIERE);
Sitkah 30:a1e37af4bbde 40 break;
Villanut 45:4f93e99bac6e 41 case 104: //balance avant
Villanut 45:4f93e99bac6e 42 SendRawId(BALANCE_AVANT);
Sitkah 30:a1e37af4bbde 43 break;
Villanut 45:4f93e99bac6e 44 case 105: //balance arriere
Villanut 45:4f93e99bac6e 45 SendRawId(BALANCE_ARRIERE);
Sitkah 30:a1e37af4bbde 46 break;
Villanut 45:4f93e99bac6e 47 case 106: //accelerateur avant
Artiom 60:97bf2bdd51cc 48 //SendRawId(ACCELERATEUR_AVANT);
Artiom 60:97bf2bdd51cc 49 unsigned short distance_recalage=arg1;
Artiom 60:97bf2bdd51cc 50 unsigned short distance_revenir=arg2;
Artiom 60:97bf2bdd51cc 51 Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
Sitkah 30:a1e37af4bbde 52 break;
Villanut 45:4f93e99bac6e 53 case 107: //accelerateur arriere
Villanut 45:4f93e99bac6e 54 SendRawId(ACCELERATEUR_ARRIERE);
Sitkah 30:a1e37af4bbde 55 break;
Villanut 45:4f93e99bac6e 56 case 108: //goldenium avant
Artiom 60:97bf2bdd51cc 57 //SendRawId(GOLDENIUM_AVANT);
Artiom 60:97bf2bdd51cc 58 unsigned short distance_goldenium=arg1;
Artiom 60:97bf2bdd51cc 59 Send2Short(GOLDENIUM_AVANT, distance_goldenium,0);
Sitkah 30:a1e37af4bbde 60 break;
Villanut 45:4f93e99bac6e 61 case 109: //goldenium arriere
Villanut 45:4f93e99bac6e 62 SendRawId(GOLDENIUM_ARRIERE);
Sitkah 30:a1e37af4bbde 63 break;
Villanut 45:4f93e99bac6e 64 case 110: //sol avant
Villanut 45:4f93e99bac6e 65 SendRawId(SOL_AVANT);
Sitkah 30:a1e37af4bbde 66 break;
Villanut 45:4f93e99bac6e 67 case 111: //sol arriere
Villanut 45:4f93e99bac6e 68 SendRawId(SOL_ARRIERE);
Sitkah 34:6aa4b46b102e 69 break;
Artiom 46:a9b6bcb30b1c 70 case 112: //sol avant relache
Artiom 46:a9b6bcb30b1c 71 SendRawId(SOL_AVANT_RELACHE);
Artiom 46:a9b6bcb30b1c 72 break;
Artiom 46:a9b6bcb30b1c 73 case 113: //sol arriere relache
Artiom 46:a9b6bcb30b1c 74 SendRawId(SOL_ARRIERE_RELACHE);
Artiom 46:a9b6bcb30b1c 75 break;
Artiom 52:a47350923b5e 76 case 114:
Artiom 52:a47350923b5e 77 SendRawId(AVANT_RELACHE);
Artiom 52:a47350923b5e 78 break;
Artiom 52:a47350923b5e 79
Artiom 52:a47350923b5e 80 case 115:
Artiom 52:a47350923b5e 81 SendRawId(ARRIERE_RELACHE);
Artiom 52:a47350923b5e 82 break;
Artiom 52:a47350923b5e 83
Artiom 52:a47350923b5e 84 case 116:
kyxstark 59:500271ac0881 85 unsigned char arg_tempo;
kyxstark 59:500271ac0881 86 if(InversStrat == 1)
kyxstark 59:500271ac0881 87 {
kyxstark 59:500271ac0881 88 switch(arg1){
kyxstark 59:500271ac0881 89 case AV_DROIT:
kyxstark 59:500271ac0881 90 arg_tempo = AV_GAUCHE;
kyxstark 59:500271ac0881 91 break;
kyxstark 59:500271ac0881 92 case AV_GAUCHE:
kyxstark 59:500271ac0881 93 arg_tempo = AV_DROIT;
kyxstark 59:500271ac0881 94 break;
kyxstark 59:500271ac0881 95 case AR_DROIT:
kyxstark 59:500271ac0881 96 arg_tempo = AR_GAUCHE;
kyxstark 59:500271ac0881 97 break;
kyxstark 59:500271ac0881 98 case AR_GAUCHE:
kyxstark 59:500271ac0881 99 arg_tempo = AR_DROIT;
kyxstark 59:500271ac0881 100 break;
kyxstark 59:500271ac0881 101 default :
kyxstark 59:500271ac0881 102 arg_tempo =(unsigned char)arg1;
kyxstark 59:500271ac0881 103 break;
kyxstark 59:500271ac0881 104 }
kyxstark 59:500271ac0881 105
kyxstark 59:500271ac0881 106 }
kyxstark 59:500271ac0881 107 else arg_tempo =(unsigned char)arg1;
kyxstark 59:500271ac0881 108
Artiom 52:a47350923b5e 109 SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
Artiom 52:a47350923b5e 110 waitingAckFrom = 0;
Artiom 52:a47350923b5e 111 waitingAckID =0;
Artiom 52:a47350923b5e 112 break;
Artiom 52:a47350923b5e 113 case 117:
Artiom 52:a47350923b5e 114 SendRawId(RECROQUEVILLER);
Artiom 54:8996a5b18d9b 115 break;
Artiom 53:e96acb11a51f 116 case 118:
Artiom 53:e96acb11a51f 117 SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
Artiom 53:e96acb11a51f 118 break;
Artiom 54:8996a5b18d9b 119 case 119:
Artiom 53:e96acb11a51f 120 SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
Artiom 53:e96acb11a51f 121 break;
Artiom 54:8996a5b18d9b 122 case 120:
Artiom 54:8996a5b18d9b 123 SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
Artiom 54:8996a5b18d9b 124 break;
Artiom 60:97bf2bdd51cc 125
Artiom 54:8996a5b18d9b 126 case 121:
kyxstark 55:1e3dab1f90f4 127 SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
Artiom 54:8996a5b18d9b 128 break;
Artiom 60:97bf2bdd51cc 129
Sitkah 38:76f886a1c8e6 130 case 150:
Sitkah 38:76f886a1c8e6 131 SCORE_PR+=arg1;
Sitkah 38:76f886a1c8e6 132 liaison_Tx.envoyer_short(0x30,SCORE_PR);
Sitkah 38:76f886a1c8e6 133 waitingAckFrom = 0;
Sitkah 38:76f886a1c8e6 134 waitingAckID = 0;
Sitkah 38:76f886a1c8e6 135 break;
Artiom 46:a9b6bcb30b1c 136
Artiom 46:a9b6bcb30b1c 137
ClementBreteau 18:cc5fec34ed9c 138 case 200 :
Sitkah 30:a1e37af4bbde 139 SendRawId(DATA_TELEMETRE);
Sitkah 30:a1e37af4bbde 140 /*telemetreDistance = dataTelemetre();
ClementBreteau 18:cc5fec34ed9c 141 wait_ms(1);
ClementBreteau 18:cc5fec34ed9c 142 telemetreDistance = dataTelemetre();
Sitkah 30:a1e37af4bbde 143 telemetreDistance = telemetreDistance - 170;*/
Artiom 46:a9b6bcb30b1c 144 break;
Artiom 46:a9b6bcb30b1c 145
ClementBreteau 18:cc5fec34ed9c 146 case 201 :
Sitkah 30:a1e37af4bbde 147 SendRawId(0x99);
ClementBreteau 18:cc5fec34ed9c 148 retour = 2;
Artiom 46:a9b6bcb30b1c 149 break;
Artiom 46:a9b6bcb30b1c 150
antbig 12:14729d584500 151 case 10://Désactiver le stop
antbig 12:14729d584500 152 isStopEnable = 0;
Artiom 46:a9b6bcb30b1c 153 break;
antbig 12:14729d584500 154 case 11://Activer le stop
antbig 12:14729d584500 155 isStopEnable = 1;
Artiom 46:a9b6bcb30b1c 156 break;
antbig 12:14729d584500 157 case 20://Désactiver l'asservissement
antbig 12:14729d584500 158 setAsservissementEtat(0);
Artiom 46:a9b6bcb30b1c 159 break;
antbig 12:14729d584500 160 case 21://Activer l'asservissement
antbig 12:14729d584500 161 setAsservissementEtat(1);
Artiom 46:a9b6bcb30b1c 162 break;
Artiom 46:a9b6bcb30b1c 163
Sitkah 34:6aa4b46b102e 164 case 22://Changer la vitesse du robot
Artiom 52:a47350923b5e 165 // SendSpeed(arg1,(unsigned short)arg2);
ClementBreteau 18:cc5fec34ed9c 166 wait_us(200);
antbig 28:acd18776ed2d 167 waitingAckFrom = 0;
antbig 28:acd18776ed2d 168 waitingAckID = 0;
Artiom 46:a9b6bcb30b1c 169 break;
Artiom 46:a9b6bcb30b1c 170
Artiom 46:a9b6bcb30b1c 171 case 19: // CHANGER LA VITESSE + DECELERATION
Artiom 50:a5361ffeefc8 172 //SendSpeedDecel(arg1,(unsigned short) arg2);
antbig 28:acd18776ed2d 173 wait_us(200);
antbig 28:acd18776ed2d 174 waitingAckFrom = 0;
antbig 28:acd18776ed2d 175 waitingAckID =0;
Artiom 46:a9b6bcb30b1c 176 break;
Artiom 46:a9b6bcb30b1c 177
ClementBreteau 16:7321fb3bb396 178 case 30://Action tempo
Sitkah 34:6aa4b46b102e 179 wait_ms(arg1);
Artiom 46:a9b6bcb30b1c 180 break;
Artiom 46:a9b6bcb30b1c 181
antbig 3:19f2285a4757 182 default:
ClementBreteau 18:cc5fec34ed9c 183 retour = 0;//L'action n'existe pas, il faut utiliser le CAN
Artiom 46:a9b6bcb30b1c 184
antbig 3:19f2285a4757 185 }
ClementBreteau 18:cc5fec34ed9c 186 return retour;//L'action est spécifique.
Artiom 46:a9b6bcb30b1c 187
antbig 3:19f2285a4757 188 }
antbig 3:19f2285a4757 189
antbig 3:19f2285a4757 190
antbig 4:88431b537477 191
antbig 12:14729d584500 192 /****************************************************************************************/
antbig 12:14729d584500 193 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 194 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 195 /****************************************************************************************/
antbig 12:14729d584500 196 unsigned char needToStop(void)
antbig 12:14729d584500 197 {
antbig 12:14729d584500 198 return isStopEnable;
antbig 12:14729d584500 199 }
antbig 12:14729d584500 200
antbig 12:14729d584500 201 /****************************************************************************************/
antbig 12:14729d584500 202 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 203 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 204 /****************************************************************************************/
antbig 12:14729d584500 205 void doBeforeEndAction(void)
antbig 12:14729d584500 206 {
Artiom 46:a9b6bcb30b1c 207
antbig 12:14729d584500 208 }
antbig 12:14729d584500 209
antbig 3:19f2285a4757 210 #endif