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@30:a1e37af4bbde, 2018-04-20 (annotated)

Committer:
Sitkah
Date:
Fri Apr 20 09:16:13 2018 +0000
Revision:
30:a1e37af4bbde
Parent:
29:41e02746041d
Child:
34:6aa4b46b102e
ne pas en prendre compte !;

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 10:a788d9cf60f2 17 //L'angle est entre 0 et 1023
antbig 10:a788d9cf60f2 18 void XL320_setGoal(unsigned char id, unsigned short angle);
antbig 10:a788d9cf60f2 19
antbig 10:a788d9cf60f2 20 void XL320_setGoal(unsigned char id, unsigned short angle)
antbig 10:a788d9cf60f2 21 {
antbig 10:a788d9cf60f2 22 CANMessage msgTx=CANMessage();
antbig 10:a788d9cf60f2 23 msgTx.id=SERVO_XL320;
antbig 10:a788d9cf60f2 24 msgTx.len=3;
antbig 10:a788d9cf60f2 25 msgTx.format=CANStandard;
antbig 10:a788d9cf60f2 26 msgTx.type=CANData;
antbig 10:a788d9cf60f2 27 msgTx.data[0]=(unsigned char)id;
antbig 10:a788d9cf60f2 28 // from sur 2 octets
antbig 10:a788d9cf60f2 29 msgTx.data[1]=(unsigned char)angle;
antbig 10:a788d9cf60f2 30 msgTx.data[2]=(unsigned char)(angle>>8);
antbig 10:a788d9cf60f2 31
antbig 10:a788d9cf60f2 32 can1.write(msgTx);
antbig 10:a788d9cf60f2 33 }
antbig 3:19f2285a4757 34
ClementBreteau 18:cc5fec34ed9c 35
antbig 3:19f2285a4757 36 /****************************************************************************************/
antbig 3:19f2285a4757 37 /* FUNCTION NAME: doAction */
antbig 3:19f2285a4757 38 /* DESCRIPTION : Effectuer une action specifique */
antbig 3:19f2285a4757 39 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 40 unsigned char doAction(unsigned char id, unsigned short cote, short arg2) {
ClementBreteau 18:cc5fec34ed9c 41 int retour = 1;
antbig 3:19f2285a4757 42 switch(id) {
Sitkah 30:a1e37af4bbde 43 case 101: //baisser attrape bloc avant
Sitkah 30:a1e37af4bbde 44 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 45 break;
Sitkah 30:a1e37af4bbde 46 case 102: //Relever attrape bloc avant
Sitkah 30:a1e37af4bbde 47 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 30:a1e37af4bbde 48 break;
Sitkah 30:a1e37af4bbde 49 case 115: //allumer panneau
Sitkah 30:a1e37af4bbde 50 SendRawId(ALLUMER_PANNEAU_UP);
Sitkah 30:a1e37af4bbde 51 break;
Sitkah 30:a1e37af4bbde 52 case 116: //range le bras qui allume le panneau
Sitkah 30:a1e37af4bbde 53 SendRawId(ALLUMER_PANNEAU_DOWN);
Sitkah 30:a1e37af4bbde 54 break;
Sitkah 30:a1e37af4bbde 55 case 117: //lève le bras pour pousser l'abeille
Sitkah 30:a1e37af4bbde 56 SendRawId(BRAS_ABEILLE_UP);
Sitkah 30:a1e37af4bbde 57 break;
Sitkah 30:a1e37af4bbde 58 case 118: //abaisse le bras qui pousse l'abeille
Sitkah 30:a1e37af4bbde 59 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 30:a1e37af4bbde 60 break;
Sitkah 30:a1e37af4bbde 61 case 130: //Inclinaison pour viser le chateau d'eau
Sitkah 30:a1e37af4bbde 62 SendRawId(INCLINAISON_CHATEAU);
Sitkah 30:a1e37af4bbde 63 break;
Sitkah 30:a1e37af4bbde 64 case 131: //inclinaison pour deverser les balles sales
Sitkah 30:a1e37af4bbde 65 SendRawId(INCLINAISON_EPURATION);
Sitkah 30:a1e37af4bbde 66 break;
Sitkah 30:a1e37af4bbde 67 case 132: //blocage des balles
Sitkah 30:a1e37af4bbde 68 SendRawId(BLOCAGE_BALLE);
Sitkah 30:a1e37af4bbde 69 break;
Sitkah 30:a1e37af4bbde 70 case 133: //lance le pwm de tir
Sitkah 30:a1e37af4bbde 71 SendRawId(LANCEMENT_MOTEUR_TIR_ON);
Sitkah 30:a1e37af4bbde 72 break;
Sitkah 30:a1e37af4bbde 73 case 134: ///Arrete le pwm de tir
Sitkah 30:a1e37af4bbde 74 SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
Sitkah 30:a1e37af4bbde 75 break;
Sitkah 30:a1e37af4bbde 76 case 135://position aiguilleur au centre
Sitkah 30:a1e37af4bbde 77 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 30:a1e37af4bbde 78 break;
Sitkah 30:a1e37af4bbde 79 case 136://position aiguilleur à gauche
Sitkah 30:a1e37af4bbde 80 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 30:a1e37af4bbde 81 break;
Sitkah 30:a1e37af4bbde 82 case 137://position aiguilleur à droite
Sitkah 30:a1e37af4bbde 83 SendRawId(AIGUILLEUR_DROITE);
Sitkah 30:a1e37af4bbde 84 break;
Sitkah 30:a1e37af4bbde 85 case 138://position aiguilleur au centre
Sitkah 30:a1e37af4bbde 86 SendRawId(TRI_BALLE);
Sitkah 30:a1e37af4bbde 87 break;
ClementBreteau 18:cc5fec34ed9c 88
ClementBreteau 16:7321fb3bb396 89
ClementBreteau 18:cc5fec34ed9c 90 case 200 :
Sitkah 30:a1e37af4bbde 91 SendRawId(DATA_TELEMETRE);
Sitkah 30:a1e37af4bbde 92 /*telemetreDistance = dataTelemetre();
ClementBreteau 18:cc5fec34ed9c 93 wait_ms(1);
ClementBreteau 18:cc5fec34ed9c 94 telemetreDistance = dataTelemetre();
Sitkah 30:a1e37af4bbde 95 telemetreDistance = telemetreDistance - 170;*/
ClementBreteau 18:cc5fec34ed9c 96 break;
ClementBreteau 18:cc5fec34ed9c 97
ClementBreteau 18:cc5fec34ed9c 98 case 201 :
Sitkah 30:a1e37af4bbde 99 SendRawId(0x99);
ClementBreteau 18:cc5fec34ed9c 100 retour = 2;
antbig 10:a788d9cf60f2 101 break;
ClementBreteau 15:c2fc239e85df 102
antbig 12:14729d584500 103 case 10://Désactiver le stop
antbig 12:14729d584500 104 isStopEnable = 0;
antbig 12:14729d584500 105 break;
antbig 12:14729d584500 106 case 11://Activer le stop
antbig 12:14729d584500 107 isStopEnable = 1;
antbig 12:14729d584500 108 break;
antbig 12:14729d584500 109 case 20://Désactiver l'asservissement
antbig 12:14729d584500 110 setAsservissementEtat(0);
antbig 12:14729d584500 111 break;
antbig 12:14729d584500 112 case 21://Activer l'asservissement
antbig 12:14729d584500 113 setAsservissementEtat(1);
ClementBreteau 16:7321fb3bb396 114 break;
ClementBreteau 16:7321fb3bb396 115
Sitkah 30:a1e37af4bbde 116 /*case 22://Changer la vitesse du robot
ClementBreteau 16:7321fb3bb396 117 SendSpeed(speed,(unsigned short)angle);
ClementBreteau 18:cc5fec34ed9c 118 wait_us(200);
antbig 28:acd18776ed2d 119 waitingAckFrom = 0;
antbig 28:acd18776ed2d 120 waitingAckID = 0;
antbig 28:acd18776ed2d 121 break;
antbig 28:acd18776ed2d 122
antbig 28:acd18776ed2d 123 case 19: // CHANGER LA VITESSE + DECELERATION
antbig 28:acd18776ed2d 124 SendSpeedDecel(speed,(unsigned short) angle);
antbig 28:acd18776ed2d 125 wait_us(200);
antbig 28:acd18776ed2d 126 waitingAckFrom = 0;
antbig 28:acd18776ed2d 127 waitingAckID =0;
ClementBreteau 16:7321fb3bb396 128 break;
ClementBreteau 16:7321fb3bb396 129
ClementBreteau 16:7321fb3bb396 130 case 30://Action tempo
ClementBreteau 16:7321fb3bb396 131 wait_ms(speed);
antbig 12:14729d584500 132 break;
Sitkah 30:a1e37af4bbde 133 */
antbig 3:19f2285a4757 134 default:
ClementBreteau 18:cc5fec34ed9c 135 retour = 0;//L'action n'existe pas, il faut utiliser le CAN
antbig 3:19f2285a4757 136
antbig 3:19f2285a4757 137 }
ClementBreteau 18:cc5fec34ed9c 138 return retour;//L'action est spécifique.
antbig 3:19f2285a4757 139
antbig 3:19f2285a4757 140 }
antbig 3:19f2285a4757 141
antbig 3:19f2285a4757 142 /****************************************************************************************/
antbig 3:19f2285a4757 143 /* FUNCTION NAME: initRobot */
antbig 3:19f2285a4757 144 /* DESCRIPTION : initialiser le robot */
antbig 3:19f2285a4757 145 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 146 //void initRobot(void) {
antbig 3:19f2285a4757 147 /**
antbig 3:19f2285a4757 148 On enregistre les id des AX12 présent sur la carte
antbig 3:19f2285a4757 149 **/
ClementBreteau 15:c2fc239e85df 150 /*AX12_register(1,AX12_SERIAL1,0x0FF);
antbig 5:dcd817534b57 151 AX12_register(2,AX12_SERIAL1);
antbig 5:dcd817534b57 152 AX12_register(18,AX12_SERIAL1);
antbig 5:dcd817534b57 153 AX12_register(4,AX12_SERIAL2);
antbig 5:dcd817534b57 154 AX12_register(16,AX12_SERIAL2);
ClementBreteau 15:c2fc239e85df 155 AX12_register(17,AX12_SERIAL2,0x0FF);*/
antbig 12:14729d584500 156
antbig 12:14729d584500 157 //runRobotTest();
antbig 12:14729d584500 158
antbig 5:dcd817534b57 159 /*
antbig 5:dcd817534b57 160 AX12_setGoal(AX12_ID_BRAS_BASE_INV,278,0x0FF);
antbig 5:dcd817534b57 161 AX12_setGoal(AX12_ID_BRAS_RELACHEUR_INV,160);//fermer le bras
antbig 5:dcd817534b57 162 AX12_setGoal(AX12_ID_BRAS_BASE,278,0x0FF);
antbig 5:dcd817534b57 163 AX12_setGoal(AX12_ID_BRAS_RELACHEUR,160);//fermer le bras
antbig 5:dcd817534b57 164 AX12_processChange();*/
ClementBreteau 16:7321fb3bb396 165
Sitkah 30:a1e37af4bbde 166 //initialisation_AX12();
ClementBreteau 18:cc5fec34ed9c 167
Sitkah 30:a1e37af4bbde 168 //}
antbig 3:19f2285a4757 169
antbig 4:88431b537477 170 /****************************************************************************************/
antbig 12:14729d584500 171 /* FUNCTION NAME: initRobotActionneur */
antbig 12:14729d584500 172 /* DESCRIPTION : Initialiser la position des actionneurs du robot */
antbig 12:14729d584500 173 /****************************************************************************************/
Sitkah 30:a1e37af4bbde 174 /*void initRobotActionneur(void)
antbig 12:14729d584500 175 {
ClementBreteau 18:cc5fec34ed9c 176 moteurGauchePWM(0);
ClementBreteau 18:cc5fec34ed9c 177 moteurDroitPWM(0);
ClementBreteau 18:cc5fec34ed9c 178 AX12_automate(AX12_PINCE_CENTRALE_POSITION_INITIALE);
ClementBreteau 18:cc5fec34ed9c 179 AX12_automate(AX12_GAUCHE_CROC_INITIALE);
ClementBreteau 18:cc5fec34ed9c 180 AX12_automate(AX12_DROIT_CROC_INITIALE);
ClementBreteau 18:cc5fec34ed9c 181 AX12_automate(AX12_TOURNANTE_GAUCHE_POSITION_INITIALE);
ClementBreteau 18:cc5fec34ed9c 182 AX12_automate(AX12_TOURNANTE_DROIT_POSITION_INITIALE);
antbig 12:14729d584500 183 }
Sitkah 30:a1e37af4bbde 184 */
antbig 12:14729d584500 185 /****************************************************************************************/
antbig 9:d0042422d95a 186 /* FUNCTION NAME: runTest */
antbig 9:d0042422d95a 187 /* DESCRIPTION : tester l'ensemble des actionneurs du robot */
antbig 9:d0042422d95a 188 /****************************************************************************************/
antbig 9:d0042422d95a 189 void runRobotTest(void)
antbig 9:d0042422d95a 190 {
ClementBreteau 18:cc5fec34ed9c 191
antbig 9:d0042422d95a 192 }
antbig 9:d0042422d95a 193
antbig 9:d0042422d95a 194 /****************************************************************************************/
antbig 4:88431b537477 195 /* FUNCTION NAME: SelectStrategy */
antbig 4:88431b537477 196 /* DESCRIPTION : Charger le fichier de stratégie correspondante à un id */
antbig 4:88431b537477 197 /* RETURN : 0=> Erreur, 1=> OK si le fichier existe */
antbig 4:88431b537477 198 /****************************************************************************************/
antbig 4:88431b537477 199 int SelectStrategy(unsigned char id)
antbig 4:88431b537477 200 {
antbig 12:14729d584500 201
antbig 4:88431b537477 202 switch(id)
antbig 4:88431b537477 203 {
antbig 4:88431b537477 204 case 1:
Sitkah 29:41e02746041d 205 strcpy(cheminFileStart,"/sd/strat1.txt");
antbig 4:88431b537477 206 return FileExists(cheminFileStart);
antbig 4:88431b537477 207 case 2:
Sitkah 29:41e02746041d 208 strcpy(cheminFileStart,"/sd/strat2.txt");
antbig 4:88431b537477 209 return FileExists(cheminFileStart);
antbig 7:dcce34c7e06e 210 case 3:
Sitkah 29:41e02746041d 211 strcpy(cheminFileStart,"/sd/strat3.txt");
antbig 7:dcce34c7e06e 212 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 213 case 4:
Sitkah 29:41e02746041d 214 strcpy(cheminFileStart,"/sd/strat4.txt");
antbig 11:ed13a480ddca 215 return FileExists(cheminFileStart);
antbig 11:ed13a480ddca 216 case 5:
Sitkah 29:41e02746041d 217 strcpy(cheminFileStart,"/sd/strat5.txt");
antbig 11:ed13a480ddca 218 return FileExists(cheminFileStart);
antbig 12:14729d584500 219 case 6:
Sitkah 29:41e02746041d 220 strcpy(cheminFileStart,"/sd/strat6.txt");
antbig 12:14729d584500 221 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 222 case 7:
Sitkah 29:41e02746041d 223 strcpy(cheminFileStart,"/sd/strat7.txt");
ClementBreteau 16:7321fb3bb396 224 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 225 case 8:
Sitkah 29:41e02746041d 226 strcpy(cheminFileStart,"/sd/strat8.txt");
ClementBreteau 16:7321fb3bb396 227 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 228 case 9:
Sitkah 29:41e02746041d 229 strcpy(cheminFileStart,"/sd/strat9.txt");
ClementBreteau 16:7321fb3bb396 230 return FileExists(cheminFileStart);
antbig 12:14729d584500 231 case 10:
Sitkah 29:41e02746041d 232 strcpy(cheminFileStart,"/sd/strat10.txt");
ClementBreteau 16:7321fb3bb396 233 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 234 case 11:
Sitkah 29:41e02746041d 235 strcpy(cheminFileStart,"/sd/grand_8.txt");
antbig 12:14729d584500 236 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 237
ClementBreteau 16:7321fb3bb396 238 case 0x10:
Sitkah 29:41e02746041d 239 strcpy(cheminFileStart,"/sd/demoBras.txt");
ClementBreteau 16:7321fb3bb396 240 return FileExists(cheminFileStart);
ClementBreteau 16:7321fb3bb396 241
antbig 4:88431b537477 242 default:
Sitkah 29:41e02746041d 243 strcpy(cheminFileStart,"/sd/strat1.txt");
ClementBreteau 16:7321fb3bb396 244 SendRawId(0x258);
antbig 4:88431b537477 245 return 0;
antbig 4:88431b537477 246 }
antbig 4:88431b537477 247 }
antbig 4:88431b537477 248
antbig 12:14729d584500 249 /****************************************************************************************/
antbig 12:14729d584500 250 /* FUNCTION NAME: needToStop */
antbig 12:14729d584500 251 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
antbig 12:14729d584500 252 /****************************************************************************************/
antbig 12:14729d584500 253 unsigned char needToStop(void)
antbig 12:14729d584500 254 {
antbig 12:14729d584500 255 return isStopEnable;
antbig 12:14729d584500 256 }
antbig 12:14729d584500 257
antbig 12:14729d584500 258 /****************************************************************************************/
antbig 12:14729d584500 259 /* FUNCTION NAME: doBeforeEndAction */
antbig 12:14729d584500 260 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
antbig 12:14729d584500 261 /****************************************************************************************/
antbig 12:14729d584500 262 void doBeforeEndAction(void)
antbig 12:14729d584500 263 {
antbig 12:14729d584500 264
antbig 12:14729d584500 265 }
antbig 12:14729d584500 266
antbig 3:19f2285a4757 267 #endif