CRAC Team
code avec modifs, programme mit dans les robots pour les derniers matchs
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Revision 12:227c15c7ebe6, committed 2020-03-07
- Comitter:
- maximilienlv
- Date:
- Sat Mar 07 17:36:26 2020 +0000
- Parent:
- 11:848ea39838bf
- Child:
- 13:6b94eee81751
- Commit message:
- communication entre strategie et robot fonctionnelle;
Changed in this revision
--- a/Debug/debug.cpp Wed Mar 04 12:38:22 2020 +0000
+++ b/Debug/debug.cpp Sat Mar 07 17:36:26 2020 +0000
@@ -6,7 +6,7 @@
data[0]=0x01;
data[1]=repertoire;
data[2]=track;
- SendMsgCan(SOMO, data,3);
+ //SendMsgCan(SOMO, data,3);
}
//azezaea
--- a/Globals/global.h Wed Mar 04 12:38:22 2020 +0000 +++ b/Globals/global.h Sat Mar 07 17:36:26 2020 +0000 @@ -26,6 +26,7 @@ #include "LiaisonBluetooth.h" #include "Evitement.h" +#define ROBOT_SMALL 0 //#include "peripheriques.h" extern Serial pc; extern Serial rn42_Tx;
--- a/Globals/ident_crac.lib Wed Mar 04 12:38:22 2020 +0000 +++ b/Globals/ident_crac.lib Sat Mar 07 17:36:26 2020 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#b3e08bf1288d +https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#38346e001569
--- a/Robots/Strategie_small.cpp Wed Mar 04 12:38:22 2020 +0000
+++ b/Robots/Strategie_small.cpp Sat Mar 07 17:36:26 2020 +0000
@@ -33,12 +33,13 @@
msgTx.format=CANStandard;
msgTx.type=CANData;
//SendMsgCan(0x5BB, &id,1);
- switch(id) {
- case 101: //bras gabarit
- SendRawId(GABARIT_PETIT_ROBOT);
+ switch(id)
+ {
+ case 101: //bras avant droit
+ SendRawId(TEST_BRAS_1_AT);
break;
- case 102: //attraper presentoir avant
- SendRawId(PRESENTOIR_AVANT);
+ case 102: //bras avant millieu
+ SendRawId(TEST_BRAS_2_AT);
break;
case 103: //attraper presentoir arriere
SendRawId(PRESENTOIR_ARRIERE);
@@ -77,6 +78,23 @@
break;
case 110: //sol avant
SendRawId(SOL_AVANT);
+ case 130: //sol avant
+ SendRawId(TEST_BRAS_1_RE);
+ break;
+ case 131: //sol avant
+ SendRawId(TEST_BRAS_2_RE);
+ break;
+ case 132: //sol avant
+ SendRawId(TEST_BRAS_3_RE);
+ break;
+ case 133: //sol avant
+ SendRawId(TEST_BRAS_4_RE);
+ break;
+ case 134: //sol avant
+ SendRawId(TEST_BRAS_5_RE);
+ break;
+ case 135: //sol avant
+ SendRawId(TEST_BRAS_6_RE);
break;
case 111: //sol arriere
SendRawId(SOL_ARRIERE);
@@ -91,11 +109,14 @@
SendRawId(AVANT_RELACHE);
break;
- case 115://relache les 3 ventouses arrieres
- SendRawId(ARRIERE_RELACHE);
+ case 115://bras avant gauche attraper
+ SendRawId(TEST_BRAS_3_AT);
break;
-
- case 116://relache une pompe
+
+ case 116://bras arreiere droit
+ SendRawId(TEST_BRAS_6_AT);
+ break;
+ /* case 116://relache une pompe
unsigned char arg_tempo;
if(InversStrat == 1) {
switch(arg1) {
@@ -120,12 +141,12 @@
SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
waitingAckFrom = 0;
waitingAckID =0;
+ break;*/
+ case 117://bras arriere millieu
+ SendRawId(TEST_BRAS_5_AT);
break;
- case 117:
- SendRawId(RECROQUEVILLER);
- break;
- case 118:
- SendRawId(VENTOUSE_AV_CENTRE_BALANCE);
+ case 118://bras arriere gauche
+ SendRawId(TEST_BRAS_4_AT);
break;
case 119:
SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
@@ -203,7 +224,68 @@
waitingAckFrom = 0;
waitingAckID = 0;
break;
-
+ //pompe 1 à 6 ON
+ case 202 :
+ SendRawId(TEST_VENT_1_ON);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 203 :
+ SendRawId(TEST_VENT_2_ON);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 204 :
+ SendRawId(TEST_VENT_3_ON);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 205 :
+ SendRawId(TEST_VENT_4_ON);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 206 :
+ SendRawId(TEST_VENT_5_ON);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 207 :
+ SendRawId(TEST_VENT_6_ON);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 208 :
+ SendRawId(TEST_VENT_1_OFF);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 209 :
+ SendRawId(TEST_VENT_2_OFF);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 210 :
+ SendRawId(TEST_VENT_3_OFF);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 211 :
+ SendRawId(TEST_VENT_4_OFF);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 212 :
+ SendRawId(TEST_VENT_5_OFF);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+ case 213 :
+ SendRawId(TEST_VENT_6_OFF);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
+
default:
retour = 0;//L'action n'existe pas, il faut utiliser le CAN
--- a/Strategie/Strategie.cpp Wed Mar 04 12:38:22 2020 +0000
+++ b/Strategie/Strategie.cpp Sat Mar 07 17:36:26 2020 +0000
@@ -464,22 +464,22 @@
TEST_NUM.Draw(BLEU, BLANC);
switch(maximilien){
case 1:
- SendRawId(TEST_VENT_1);
+ SendRawId(TEST_VENT_1_ON);
break;
case 2:
- SendRawId(TEST_VENT_2);
+ SendRawId(TEST_VENT_2_ON);
break;
case 3:
- SendRawId(TEST_VENT_3);
+ SendRawId(TEST_VENT_3_ON);
break;
case 4:
- SendRawId(TEST_VENT_4);
+ SendRawId(TEST_VENT_4_ON);
break;
case 5:
- SendRawId(TEST_VENT_5);
+ SendRawId(TEST_VENT_5_ON);
break;
case 6:
- SendRawId(TEST_VENT_6);
+ SendRawId(TEST_VENT_6_ON);
break;
}
} else if(TEST_PLUS.Touched()) {
@@ -1485,9 +1485,9 @@
int tempo = 0;
waitingAckID= ACK_ACTION; //On veut un ack de type action
waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
- //tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
- // unsigned char test=(unsigned char) tempo;
- // SendMsgCan(0x5BD, &test,1);
+ tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
+ unsigned char test=(unsigned char) tempo;
+
if(tempo == 1) {
//L'action est spécifique
if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
@@ -1948,8 +1948,8 @@
}
break;
- case SOMO:
- break;
+ /*case SOMO:
+ break;*/
default:
break;
/*
--- a/main.cpp Wed Mar 04 12:38:22 2020 +0000
+++ b/main.cpp Sat Mar 07 17:36:26 2020 +0000
@@ -69,7 +69,7 @@
lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation", LEFT_MODE);
led1 = 1;
bluetooth_init();
- //lecture_fichier(); //bloquant si pas de carte SD
+ lecture_fichier(); //bloquant si pas de carte SD
led1 = 0;
wait_ms(2000);//Attente pour que toutes les cartes se lancent et surtout le CANBlue
while(true) {