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Dependencies:   mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait

Robots/Strategie_small.cpp@6:ef2418d23a06, 2020-01-31 (annotated)

Committer:
gabrieltetar
Date:
Fri Jan 31 15:12:18 2020 +0000
Revision:
6:ef2418d23a06
Parent:
1:7e925468f9d9
Child:
10:1964bb91b925
Suppression robot BIG

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gabrieltetar 1:7e925468f9d9 1 #include "global.h"
gabrieltetar 1:7e925468f9d9 2
gabrieltetar 1:7e925468f9d9 3 unsigned short distance_recalage;
gabrieltetar 1:7e925468f9d9 4 unsigned short distance_revenir;
gabrieltetar 1:7e925468f9d9 5
gabrieltetar 1:7e925468f9d9 6 unsigned short x;
gabrieltetar 1:7e925468f9d9 7 unsigned short y;
gabrieltetar 1:7e925468f9d9 8 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
gabrieltetar 1:7e925468f9d9 9 //unsigned short telemetreDistance;
gabrieltetar 1:7e925468f9d9 10
gabrieltetar 1:7e925468f9d9 11
gabrieltetar 1:7e925468f9d9 12 /****************************************************************************************/
gabrieltetar 1:7e925468f9d9 13 /* FUNCTION NAME: doFunnyAction */
gabrieltetar 1:7e925468f9d9 14 /* DESCRIPTION : Permet de faire la funny action en fin de partie */
gabrieltetar 1:7e925468f9d9 15 /****************************************************************************************/
gabrieltetar 1:7e925468f9d9 16 void doFunnyAction(void)
gabrieltetar 1:7e925468f9d9 17 {
gabrieltetar 1:7e925468f9d9 18
gabrieltetar 1:7e925468f9d9 19
gabrieltetar 1:7e925468f9d9 20 }
gabrieltetar 1:7e925468f9d9 21
gabrieltetar 1:7e925468f9d9 22
gabrieltetar 1:7e925468f9d9 23 /*************************************************************************************************/
gabrieltetar 1:7e925468f9d9 24 /* FUNCTION NAME: doAction */
gabrieltetar 1:7e925468f9d9 25 /* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
gabrieltetar 1:7e925468f9d9 26 /*************************************************************************************************/
gabrieltetar 1:7e925468f9d9 27 unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
gabrieltetar 1:7e925468f9d9 28 {
gabrieltetar 1:7e925468f9d9 29 int retour = 1;
gabrieltetar 1:7e925468f9d9 30 CANMessage msgTx=CANMessage();
gabrieltetar 1:7e925468f9d9 31 msgTx.format=CANStandard;
gabrieltetar 1:7e925468f9d9 32 msgTx.type=CANData;
gabrieltetar 1:7e925468f9d9 33 //SendMsgCan(0x5BB, &id,1);
gabrieltetar 1:7e925468f9d9 34 switch(id) {
gabrieltetar 1:7e925468f9d9 35 case 101: //bras gabarit
gabrieltetar 1:7e925468f9d9 36 SendRawId(GABARIT_PETIT_ROBOT);
gabrieltetar 1:7e925468f9d9 37 break;
gabrieltetar 1:7e925468f9d9 38 case 102: //attraper presentoir avant
gabrieltetar 1:7e925468f9d9 39 SendRawId(PRESENTOIR_AVANT);
gabrieltetar 1:7e925468f9d9 40 break;
gabrieltetar 1:7e925468f9d9 41 case 103: //attraper presentoir arriere
gabrieltetar 1:7e925468f9d9 42 SendRawId(PRESENTOIR_ARRIERE);
gabrieltetar 1:7e925468f9d9 43 break;
gabrieltetar 1:7e925468f9d9 44 case 104: //balance avant
gabrieltetar 1:7e925468f9d9 45 SendRawId(BALANCE_AVANT);
gabrieltetar 1:7e925468f9d9 46 break;
gabrieltetar 1:7e925468f9d9 47 case 105: //balance arriere
gabrieltetar 1:7e925468f9d9 48 SendRawId(BALANCE_ARRIERE);
gabrieltetar 1:7e925468f9d9 49 break;
gabrieltetar 1:7e925468f9d9 50 case 106: //accelerateur avant
gabrieltetar 1:7e925468f9d9 51 //SendRawId(ACCELERATEUR_AVANT);
gabrieltetar 1:7e925468f9d9 52 distance_recalage=arg1;
gabrieltetar 1:7e925468f9d9 53 distance_revenir=arg2;
gabrieltetar 1:7e925468f9d9 54 Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
gabrieltetar 1:7e925468f9d9 55 break;
gabrieltetar 1:7e925468f9d9 56 case 107: //accelerateur arriere
gabrieltetar 1:7e925468f9d9 57 distance_recalage=arg1;
gabrieltetar 1:7e925468f9d9 58 distance_revenir=arg2;
gabrieltetar 1:7e925468f9d9 59 Send2Short(ACCELERATEUR_ARRIERE, distance_recalage,distance_revenir);
gabrieltetar 1:7e925468f9d9 60 break;
gabrieltetar 1:7e925468f9d9 61 case 108: //goldenium avant
gabrieltetar 1:7e925468f9d9 62 //SendRawId(GOLDENIUM_AVANT);
gabrieltetar 1:7e925468f9d9 63 x = arg1;
gabrieltetar 1:7e925468f9d9 64 if(InversStrat == 1) {
gabrieltetar 1:7e925468f9d9 65 y = 3000 - arg2;
gabrieltetar 1:7e925468f9d9 66 } else {
gabrieltetar 1:7e925468f9d9 67 y = arg2;
gabrieltetar 1:7e925468f9d9 68 }
gabrieltetar 1:7e925468f9d9 69 Send2Short(GOLDENIUM_AVANT, x, y);
gabrieltetar 1:7e925468f9d9 70 break;
gabrieltetar 1:7e925468f9d9 71 case 109: //goldenium arriere
gabrieltetar 1:7e925468f9d9 72 x=arg1;
gabrieltetar 1:7e925468f9d9 73 y=arg2;
gabrieltetar 1:7e925468f9d9 74 Send2Short(GOLDENIUM_ARRIERE, x,y);
gabrieltetar 1:7e925468f9d9 75 break;
gabrieltetar 1:7e925468f9d9 76 case 110: //sol avant
gabrieltetar 1:7e925468f9d9 77 SendRawId(SOL_AVANT);
gabrieltetar 1:7e925468f9d9 78 break;
gabrieltetar 1:7e925468f9d9 79 case 111: //sol arriere
gabrieltetar 1:7e925468f9d9 80 SendRawId(SOL_ARRIERE);
gabrieltetar 1:7e925468f9d9 81 break;
gabrieltetar 1:7e925468f9d9 82 case 112: //sol avant relache
gabrieltetar 1:7e925468f9d9 83 SendRawId(SOL_AVANT_RELACHE);
gabrieltetar 1:7e925468f9d9 84 break;
gabrieltetar 1:7e925468f9d9 85 case 113: //sol arriere relache
gabrieltetar 1:7e925468f9d9 86 SendRawId(SOL_ARRIERE_RELACHE);
gabrieltetar 1:7e925468f9d9 87 break;
gabrieltetar 1:7e925468f9d9 88 case 114://relache les 3 ventouses avants
gabrieltetar 1:7e925468f9d9 89 SendRawId(AVANT_RELACHE);
gabrieltetar 1:7e925468f9d9 90 break;
gabrieltetar 1:7e925468f9d9 91
gabrieltetar 1:7e925468f9d9 92 case 115://relache les 3 ventouses arrieres
gabrieltetar 1:7e925468f9d9 93 SendRawId(ARRIERE_RELACHE);
gabrieltetar 1:7e925468f9d9 94 break;
gabrieltetar 1:7e925468f9d9 95
gabrieltetar 1:7e925468f9d9 96 case 116://relache une pompe
gabrieltetar 1:7e925468f9d9 97 unsigned char arg_tempo;
gabrieltetar 1:7e925468f9d9 98 if(InversStrat == 1) {
gabrieltetar 1:7e925468f9d9 99 switch(arg1) {
gabrieltetar 1:7e925468f9d9 100 case AV_DROIT:
gabrieltetar 1:7e925468f9d9 101 arg_tempo = AV_GAUCHE;
gabrieltetar 1:7e925468f9d9 102 break;
gabrieltetar 1:7e925468f9d9 103 case AV_GAUCHE:
gabrieltetar 1:7e925468f9d9 104 arg_tempo = AV_DROIT;
gabrieltetar 1:7e925468f9d9 105 break;
gabrieltetar 1:7e925468f9d9 106 case AR_DROIT:
gabrieltetar 1:7e925468f9d9 107 arg_tempo = AR_GAUCHE;
gabrieltetar 1:7e925468f9d9 108 break;
gabrieltetar 1:7e925468f9d9 109 case AR_GAUCHE:
gabrieltetar 1:7e925468f9d9 110 arg_tempo = AR_DROIT;
gabrieltetar 1:7e925468f9d9 111 break;
gabrieltetar 1:7e925468f9d9 112 default :
gabrieltetar 1:7e925468f9d9 113 arg_tempo =(unsigned char)arg1;
gabrieltetar 1:7e925468f9d9 114 break;
gabrieltetar 1:7e925468f9d9 115 }
gabrieltetar 1:7e925468f9d9 116
gabrieltetar 1:7e925468f9d9 117 } else arg_tempo =(unsigned char)arg1;
gabrieltetar 1:7e925468f9d9 118 SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
gabrieltetar 1:7e925468f9d9 119 waitingAckFrom = 0;
gabrieltetar 1:7e925468f9d9 120 waitingAckID =0;
gabrieltetar 1:7e925468f9d9 121 break;
gabrieltetar 1:7e925468f9d9 122 case 117:
gabrieltetar 1:7e925468f9d9 123 SendRawId(RECROQUEVILLER);
gabrieltetar 1:7e925468f9d9 124 break;
gabrieltetar 1:7e925468f9d9 125 case 118:
gabrieltetar 1:7e925468f9d9 126 SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
gabrieltetar 1:7e925468f9d9 127 break;
gabrieltetar 1:7e925468f9d9 128 case 119:
gabrieltetar 1:7e925468f9d9 129 SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
gabrieltetar 1:7e925468f9d9 130 break;
gabrieltetar 1:7e925468f9d9 131 case 120:
gabrieltetar 1:7e925468f9d9 132 SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
gabrieltetar 1:7e925468f9d9 133 break;
gabrieltetar 1:7e925468f9d9 134
gabrieltetar 1:7e925468f9d9 135 case 121:
gabrieltetar 1:7e925468f9d9 136 SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
gabrieltetar 1:7e925468f9d9 137 break;
gabrieltetar 1:7e925468f9d9 138
gabrieltetar 1:7e925468f9d9 139 case 150:
gabrieltetar 1:7e925468f9d9 140 SCORE_PR+=arg1;
gabrieltetar 1:7e925468f9d9 141 liaison_Tx.envoyer_short(0x30,SCORE_PR);
gabrieltetar 1:7e925468f9d9 142 waitingAckFrom = 0;
gabrieltetar 1:7e925468f9d9 143 waitingAckID = 0;
gabrieltetar 1:7e925468f9d9 144 break;
gabrieltetar 1:7e925468f9d9 145
gabrieltetar 1:7e925468f9d9 146
gabrieltetar 1:7e925468f9d9 147 case 200 :
gabrieltetar 1:7e925468f9d9 148 SendRawId(DATA_TELEMETRE);
gabrieltetar 1:7e925468f9d9 149 /*telemetreDistance = dataTelemetre();
gabrieltetar 1:7e925468f9d9 150 wait_ms(1);
gabrieltetar 1:7e925468f9d9 151 telemetreDistance = dataTelemetre();
gabrieltetar 1:7e925468f9d9 152 telemetreDistance = telemetreDistance - 170;*/
gabrieltetar 1:7e925468f9d9 153 break;
gabrieltetar 1:7e925468f9d9 154
gabrieltetar 1:7e925468f9d9 155 case 201 :
gabrieltetar 1:7e925468f9d9 156 SendRawId(0x99);//
gabrieltetar 1:7e925468f9d9 157 retour = 2;
gabrieltetar 1:7e925468f9d9 158 break;
gabrieltetar 1:7e925468f9d9 159
gabrieltetar 1:7e925468f9d9 160
gabrieltetar 1:7e925468f9d9 161 case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
gabrieltetar 1:7e925468f9d9 162 isStopEnable =(unsigned char) arg1;
gabrieltetar 1:7e925468f9d9 163 // SendMsgCan(0x5BC, &isStopEnable,1);
gabrieltetar 1:7e925468f9d9 164 waitingAckFrom = 0;
gabrieltetar 1:7e925468f9d9 165 waitingAckID =0;
gabrieltetar 1:7e925468f9d9 166 break;
gabrieltetar 1:7e925468f9d9 167
gabrieltetar 1:7e925468f9d9 168
gabrieltetar 1:7e925468f9d9 169
gabrieltetar 1:7e925468f9d9 170 case 20://Désactiver l'asservissement
gabrieltetar 1:7e925468f9d9 171 setAsservissementEtat(0);
gabrieltetar 1:7e925468f9d9 172 break;
gabrieltetar 1:7e925468f9d9 173
gabrieltetar 1:7e925468f9d9 174 case 21://Activer l'asservissement
gabrieltetar 1:7e925468f9d9 175 setAsservissementEtat(1);
gabrieltetar 1:7e925468f9d9 176 break;
gabrieltetar 1:7e925468f9d9 177
gabrieltetar 1:7e925468f9d9 178 case 22://Changer la vitesse du robot
gabrieltetar 1:7e925468f9d9 179 SendSpeed(arg1);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar 1:7e925468f9d9 180 wait_us(200);
gabrieltetar 1:7e925468f9d9 181 waitingAckFrom = 0;
gabrieltetar 1:7e925468f9d9 182 waitingAckID = 0;
gabrieltetar 1:7e925468f9d9 183 break;
gabrieltetar 1:7e925468f9d9 184 case 23:
gabrieltetar 1:7e925468f9d9 185 SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar 1:7e925468f9d9 186 wait_us(200);
gabrieltetar 1:7e925468f9d9 187 waitingAckFrom = 0;
gabrieltetar 1:7e925468f9d9 188 waitingAckID = 0;
gabrieltetar 1:7e925468f9d9 189 break;
gabrieltetar 1:7e925468f9d9 190
gabrieltetar 1:7e925468f9d9 191
gabrieltetar 1:7e925468f9d9 192 case 19: // CHANGER LA VITESSE + DECELERATION
gabrieltetar 1:7e925468f9d9 193 //SendSpeedDecel(arg1,(unsigned short) arg2);
gabrieltetar 1:7e925468f9d9 194 wait_us(200);
gabrieltetar 1:7e925468f9d9 195 waitingAckFrom = 0;
gabrieltetar 1:7e925468f9d9 196 waitingAckID =0;
gabrieltetar 1:7e925468f9d9 197 break;
gabrieltetar 1:7e925468f9d9 198
gabrieltetar 1:7e925468f9d9 199 case 30://Action tempo
gabrieltetar 1:7e925468f9d9 200 wait_ms(arg1);
gabrieltetar 1:7e925468f9d9 201 waitingAckFrom = 0;
gabrieltetar 1:7e925468f9d9 202 waitingAckID = 0;
gabrieltetar 1:7e925468f9d9 203 break;
gabrieltetar 1:7e925468f9d9 204
gabrieltetar 1:7e925468f9d9 205 default:
gabrieltetar 1:7e925468f9d9 206 retour = 0;//L'action n'existe pas, il faut utiliser le CAN
gabrieltetar 1:7e925468f9d9 207
gabrieltetar 1:7e925468f9d9 208 }
gabrieltetar 1:7e925468f9d9 209 return retour;//L'action est spécifique.
gabrieltetar 1:7e925468f9d9 210
gabrieltetar 1:7e925468f9d9 211 }
gabrieltetar 1:7e925468f9d9 212
gabrieltetar 1:7e925468f9d9 213
gabrieltetar 1:7e925468f9d9 214
gabrieltetar 1:7e925468f9d9 215 /****************************************************************************************/
gabrieltetar 1:7e925468f9d9 216 /* FUNCTION NAME: needToStop */
gabrieltetar 1:7e925468f9d9 217 /* DESCRIPTION : Savoir si il faut autoriser le stop du robot via balise */
gabrieltetar 1:7e925468f9d9 218 /****************************************************************************************/
gabrieltetar 1:7e925468f9d9 219 unsigned char needToStop(void)
gabrieltetar 1:7e925468f9d9 220 {
gabrieltetar 1:7e925468f9d9 221 return isStopEnable;
gabrieltetar 1:7e925468f9d9 222 }
gabrieltetar 1:7e925468f9d9 223
gabrieltetar 1:7e925468f9d9 224 /****************************************************************************************/
gabrieltetar 1:7e925468f9d9 225 /* FUNCTION NAME: doBeforeEndAction */
gabrieltetar 1:7e925468f9d9 226 /* DESCRIPTION : Terminer les actions du robot 1s avant la fin du match */
gabrieltetar 1:7e925468f9d9 227 /****************************************************************************************/
gabrieltetar 1:7e925468f9d9 228 void doBeforeEndAction(void)
gabrieltetar 1:7e925468f9d9 229 {
gabrieltetar 1:7e925468f9d9 230
gabrieltetar 1:7e925468f9d9 231 }