Diff: Robots/Strategie_big.cpp

Revision:

14:6aa8aa1699ad

Parent:

11:848ea39838bf

Child:

15:5ece9c3ba389

--- a/Robots/Strategie_big.cpp	Wed Mar 04 12:38:22 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,305 +0,0 @@
-#include "global.h"
-#ifdef ROBOT_BIG
-
-unsigned short x;
-unsigned short y;
-unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
-
-/****************************************************************************************/
-/* FUNCTION NAME: doFunnyAction                                                         */
-/* DESCRIPTION  : Permet de faire la funny action en fin de partie                      */
-/****************************************************************************************/
-void doFunnyAction(void)
-{
-    //envoie de la funny action
-    // 0x007, 01, 01
-    CANMessage msgTx=CANMessage();
-    msgTx.id=GLOBAL_FUNNY_ACTION;
-    msgTx.format=CANStandard;
-    msgTx.type=CANData;
-    msgTx.len=2;
-    msgTx.data[0]=0x01;
-    msgTx.data[1]=0x01;
-    can1.write(msgTx);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: doAction                                                              */
-/* DESCRIPTION  : Effectuer une action specifique                                       */
-/****************************************************************************************/
-unsigned char doAction(unsigned char id, unsigned short var1, short var2)
-{
-    CANMessage msgTx=CANMessage();
-    msgTx.format=CANStandard;
-    msgTx.type=CANData;
-    //affichage_debug(id);
-
-    switch(id) {
-        /////////////////////////////////////////////////////////100 à 108 : ACTIONS HERKULEX/////////////////////////////////////////////
-        case 118:
-            SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
-            break;
-
-        case 201:
-            unsigned char var_tempo;
-            var_tempo = (unsigned char)var1;//0auto 1forceon 2 forceoff
-            SendMsgCan(ASCENSEUR, &var_tempo,1);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-
-        case 202:
-            msgTx.id=VIDER_CONVOYEUR;
-            msgTx.len=1;
-            msgTx.data[0]=(unsigned char)var1; //
-            can2.write(msgTx);
-            break;
-
-        case 203:
-            x = var1;
-            if(InversStrat == 1) {
-                y = 3000 - var2;
-            } else {
-                y = var2;
-            }
-            Send2Short(GOLDENIUM_AVANT, x, y);
-            break;
-
-        case 204:
-            unsigned char arg_tempo;
-            if(InversStrat == 1) {
-                switch(var1) {
-                    case AV_DROIT:
-                        arg_tempo = AV_GAUCHE;
-                        break;
-                    case AV_GAUCHE:
-                        arg_tempo = AV_DROIT;
-                        break;
-                    default :
-                        arg_tempo =(unsigned char)var1;
-                        break;
-                }
-
-            } else arg_tempo =(unsigned char)var1;
-            SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-
-        case 205:
-            SendRawId(PRESENTOIR_AVANT);
-            break;
-            
-        case 206:
-            SendMsgCan(RATEAU, (unsigned char*)&var1,1);
-            break;
-
-
-        case 150:
-            SCORE_GR+=var1;
-            SCORE_GLOBAL=SCORE_GR+SCORE_PR;
-            //liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
-            waitingAckFrom = 0;
-            waitingAckID = 0;
-            break;
-
-
-        case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
-            isStopEnable =(unsigned char) var1;
-            // SendMsgCan(0x5BC, &isStopEnable,1);
-            waitingAckFrom = 0;
-            waitingAckID =0;
-            break;
-
-        case 20://Désactiver l'asservissement
-            setAsservissementEtat(0);
-            break;
-
-        case 21://Activer l'asservissement
-            setAsservissementEtat(1);
-            break;
-
-        case 22://Changer la vitesse du robot
-            SendSpeed(var1);
-            waitingAckFrom = 0;
-            waitingAckID = 0;
-            wait(0.2);
-            break;
-
-        case 23:
-            SendAccel((unsigned short)var1,(unsigned short)var2);//,(unsigned short)arg2, (unsigned short)arg2);
-            wait_us(200);
-            waitingAckFrom = 0;
-            waitingAckID = 0;
-            break;
-
-        case 30://Action tempo
-            wait_ms(var1);
-            waitingAckFrom = 0;
-            waitingAckID = 0;
-            break;
-
-
-
-        default:
-            return 0;//L'action n'existe pas, il faut utiliser le CAN
-
-    }
-    return 1;//L'action est spécifique.
-
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: initRobot                                                             */
-/* DESCRIPTION  : initialiser le robot                                                  */
-/****************************************************************************************/
-void initRobot(void)
-{
-    //Enregistrement de tous les AX12 présent sur la carte
-    /*AX12_register(5,  AX12_SERIAL2);
-    AX12_register(18, AX12_SERIAL2);
-    AX12_register(13, AX12_SERIAL2);
-    AX12_register(1,  AX12_SERIAL1);
-    AX12_register(11,  AX12_SERIAL1);
-    AX12_register(8,  AX12_SERIAL1);
-    AX12_register(7,  AX12_SERIAL2);*/
-
-    //AX12_setGoal(AX12_ID_FUNNY_ACTION, AX12_ANGLE_FUNNY_ACTION_CLOSE,AX12_SPEED_FUNNY_ACTION);
-    //AX12_processChange();
-    //runRobotTest();
-
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: initRobotActionneur                                                   */
-/* DESCRIPTION  : Initialiser la position des actionneurs du robot                      */
-/****************************************************************************************/
-void initRobotActionneur(void)
-{
-    /*doAction(100,1,0);
-    doAction(100,2,0);
-    doAction(110,0,0);
-    doAction(120,0,0);
-    doAction(131,0,0);*/
-
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: runTest                                                               */
-/* DESCRIPTION  : tester l'ensemble des actionneurs du robot                            */
-/****************************************************************************************/
-void runRobotTest(void)
-{
-    /*
-    int waitTime = 500;
-
-    //Test des AX12 dans l'ordre
-    doAction(111,0,0);//Fermeture pince arrière haute
-    wait_ms(waitTime);
-    doAction(110,0,0);//Ouverture pince arrière haute
-    wait_ms(waitTime);
-    doAction(113,0,0);//Fermeture pince arrière basse
-    wait_ms(waitTime);
-    doAction(112,0,0);//Ouverture pince arrière basse
-    wait_ms(waitTime);
-    doAction(115,0,0);//Fermeture porte arrière
-    wait_ms(waitTime);
-    doAction(114,0,0);//Ouverture porte arrière
-    wait_ms(waitTime);
-    doAction(101,0,0);//Fermer les portes avant
-    wait_ms(waitTime);
-    doAction(100,0,0);//Ouvrir les portes avant
-    wait_ms(waitTime);
-    doAction(103,0,0);//Descendre le peigne
-    wait_ms(waitTime);
-    doAction(102,0,0);//Remonter le peigne*/
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: SelectStrategy                                                        */
-/* DESCRIPTION  : Charger le fichier de stratégie correspondante à un id                */
-/* RETURN       : 0=> Erreur, 1=> OK si le fichier existe                               */
-/****************************************************************************************/
-/*int SelectStrategy(unsigned char id)
-{
-    switch(id)
-    {
-        // strat de match
-        case 1:
-            strcpy(cheminFileStart,"/local/strat1.txt");
-            return FileExists(cheminFileStart);
-        case 2:
-            strcpy(cheminFileStart,"/local/strat2.txt");
-            return FileExists(cheminFileStart);
-        case 3:
-            strcpy(cheminFileStart,"/local/strat3.txt");
-            return FileExists(cheminFileStart);
-        case 4:
-            strcpy(cheminFileStart,"/local/strat4.txt");
-            return FileExists(cheminFileStart);
-        case 5:
-            strcpy(cheminFileStart,"/local/strat5.txt");
-            return FileExists(cheminFileStart);
-        case 6:
-            strcpy(cheminFileStart,"/local/strat6.txt");
-            return FileExists(cheminFileStart);
-        case 7:
-            strcpy(cheminFileStart,"/local/strat7.txt");
-            return FileExists(cheminFileStart);
-        case 8:
-            strcpy(cheminFileStart,"/local/strat8.txt");
-            return FileExists(cheminFileStart);
-        case 9:
-            strcpy(cheminFileStart,"/local/strat9.txt");
-            return FileExists(cheminFileStart);
-        case 10:
-            strcpy(cheminFileStart,"/local/strat10.txt");
-            return FileExists(cheminFileStart);
-
-        // strat de demo
-        case 0x10:
-            strcpy(cheminFileStart,"/local/moteur.txt");
-            return FileExists(cheminFileStart);
-        case 0x11:
-#ifdef ROBOT_BIG
-            strcpy(cheminFileStart,"/local/bras.txt");
-#else
-            strcpy(cheminFileStart,"/local/porteAvant.txt");
-#endif
-            return FileExists(cheminFileStart);
-        case 0x12:
-#ifdef ROBOT_BIG
-            strcpy(cheminFileStart,"/local/balancier.txt");
-#else
-            strcpy(cheminFileStart,"/local/mainTourneuse.txt");
-#endif
-            return FileExists(cheminFileStart);
-        default:
-            strcpy(cheminFileStart,"/local/strat1.txt");
-            return 0;
-    }
-}*/
-
-/****************************************************************************************/
-/* FUNCTION NAME: needToStop                                                            */
-/* DESCRIPTION  : Savoir si il faut autoriser le stop du robot via balise               */
-/****************************************************************************************/
-unsigned char needToStop(void)
-{
-    return isStopEnable;
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: doBeforeEndAction                                                     */
-/* DESCRIPTION  : Terminer les actions du robot 1s avant la fin du match                */
-/****************************************************************************************/
-void doBeforeEndAction(void)
-{
-    doAction(110,0,0);//Ouverture pince arrière haute
-    doAction(112,0,0);//Ouverture pince arrière basse
-    doAction(114,0,0);//Ouverture porte arrière
-    doAction(100,0,0);//Ouvrir les portes avant
-    doAction(102,0,0);//Remonter le peigne
-}
-
-#endif