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 33:c54841d11156, committed 2021-05-12
- Comitter:
- goldmas
- Date:
- Wed May 12 14:40:52 2021 +0000
- Parent:
- 32:7f8e3ee2adac
- Child:
- 34:c314feaa0d3e
- Commit message:
- adaptation manche a air et demo bras avec new ident fct;
Changed in this revision
--- a/Globals/ident_crac.lib Tue May 11 15:02:31 2021 +0000 +++ b/Globals/ident_crac.lib Wed May 12 14:40:52 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#6f81efc4aa46 +https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#f14b2127d83d
--- a/IHM/ihm.cpp Tue May 11 15:02:31 2021 +0000
+++ b/IHM/ihm.cpp Wed May 12 14:40:52 2021 +0000
@@ -19,7 +19,7 @@
/////////////////DEFINITION DES BOUTONS////////////////////
Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
-Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
+Button COTE_VIOLET(0, 350, 400, 300, "BLEU");
Button RETOUR (0, 680, 400, 110, "--Precedent--");
Button LANCER (0, 200, 400, 200, "--LANCER--");
Button CHECK (0, 420, 400, 200, "Valider");
@@ -418,7 +418,8 @@
break;
case TEST_SERVO_BRAS:
- char bras_select_0 = 0, bras_select_1 = 0, bras_select_2 = 0, bras_select_3 = 0, bras_select_4 = 0, bras_select_5 = 0 ;
+ char bras_select_0 = 7, bras_select_1 = 0, bras_select_2 = 0, bras_select_3 = 0, bras_select_4 = 0, bras_select_5 = 0 ;
+ unsigned char choix_bras;
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
@@ -445,89 +446,292 @@
else if(TEST_SERVO_0.Touched())
{
while (TEST_SERVO_0.Touched());
- if(bras_select_0)
+ if(bras_select_0 == 0)
+ {
+ bras_select_0 = 7 ;
+ TEST_SERVO_0.Draw(BLEU, BLANC);
+ }
+ else
{
bras_select_0 = 0 ;
TEST_SERVO_0.Draw(DIY_GREY, BLANC);
}
- else
- {
- bras_select_0 = 1 ;
- TEST_SERVO_0.Draw(BLEU, BLANC);
- }
}
else if(TEST_SERVO_1.Touched())
{
while (TEST_SERVO_1.Touched());
- if(bras_select_1)
+ if(bras_select_1 == 1)
{
bras_select_1 = 0 ;
- TEST_SERVO_1.Draw(DIY_GREY, BLANC);
+ TEST_SERVO_1.Draw(BLEU, BLANC);
}
else
{
bras_select_1 = 1 ;
- TEST_SERVO_1.Draw(BLEU, BLANC);
+ TEST_SERVO_1.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_2.Touched())
{
while (TEST_SERVO_2.Touched());
- if(bras_select_2)
+ if(bras_select_2 == 2)
{
bras_select_2 = 0 ;
- TEST_SERVO_2.Draw(DIY_GREY, BLANC);
+ TEST_SERVO_2.Draw(BLEU, BLANC);
}
else
{
- bras_select_2 = 1 ;
- TEST_SERVO_2.Draw(BLEU, BLANC);
+ bras_select_2 = 2 ;
+ TEST_SERVO_2.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_3.Touched())
{
while (TEST_SERVO_3.Touched());
- if(bras_select_3)
+ if(bras_select_3 == 3)
{
bras_select_3 = 0 ;
- TEST_SERVO_3.Draw(DIY_GREY, BLANC);
+ TEST_SERVO_3.Draw(BLEU, BLANC);
}
else
{
- bras_select_3 = 1 ;
- TEST_SERVO_3.Draw(BLEU, BLANC);
+ bras_select_3 = 3 ;
+ TEST_SERVO_3.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_4.Touched())
{
while (TEST_SERVO_4.Touched());
- if(bras_select_4)
+ if(bras_select_4 == 4)
{
bras_select_4 = 0 ;
- TEST_SERVO_4.Draw(DIY_GREY, BLANC);
+ TEST_SERVO_4.Draw(BLEU, BLANC);
}
else
{
- bras_select_4 = 1 ;
- TEST_SERVO_4.Draw(BLEU, BLANC);
+ bras_select_4 = 4 ;
+ TEST_SERVO_4.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_5.Touched())
{
while (TEST_SERVO_5.Touched());
- if(bras_select_5)
+ if(bras_select_5 == 5)
{
bras_select_5 = 0 ;
- TEST_SERVO_5.Draw(DIY_GREY, BLANC);
+ TEST_SERVO_5.Draw(BLEU, BLANC);
}
else
{
- bras_select_5 = 1 ;
- TEST_SERVO_5.Draw(BLEU, BLANC);
+ bras_select_5 = 5 ;
+ TEST_SERVO_5.Draw(DIY_GREY, BLANC);
}
}
else if (TEST_ATTRAPER.Touched())
{
+ while(TEST_ATTRAPER.Touched()) ;
+ unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche;
+ message_droit_at = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
+ message_gauche_at = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
+
+ switch (message_gauche_at)
+ {
+ case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
+ choix_bras = 66 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
+ choix_bras = 54 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
+ choix_bras = 53 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 43 :
+ choix_bras = 43 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
+ choix_bras = 5 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 40 :
+ choix_bras = 4 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 3 :
+ choix_bras = 3 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ }
+
+ switch (message_droit_at)
+ {
+ case 210 :
+ choix_bras = 210 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 217 :
+ choix_bras = 21 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 200 :
+ choix_bras = 20 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 10 :
+ choix_bras = 10 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 207 :
+ choix_bras = 2 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 17 :
+ choix_bras = 1 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 0 :
+ choix_bras = 0 ;
+ SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ }
+
+ message_droit_at = 0 ;
+ message_gauche_at = 0 ;
+
+ TEST_ATTRAPER.Draw(BLEU, BLANC);
+ }
+ else if (TEST_RELACHER.Touched())
+ {
+ while(TEST_RELACHER.Touched());
+ unsigned char message_droit_re, message_gauche_re;
+ message_droit_re = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
+ message_gauche_re = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
+ switch (message_droit_re)
+ {
+ case 210 :
+ choix_bras = 210 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 217 :
+ choix_bras = 21 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 200 :
+ choix_bras = 20 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 10 :
+ choix_bras = 10 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 207 :
+ choix_bras = 2 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 17 :
+ choix_bras = 1 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 0 :
+ choix_bras = 0 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ }
+
+ switch (message_gauche_re)
+ {
+ case 31 :
+ choix_bras = 66 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 28 :
+ choix_bras = 54 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 247 :
+ choix_bras = 53 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 43 :
+ choix_bras = 43 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 244 :
+ choix_bras = 5 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 40 :
+ choix_bras = 4 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ case 3 :
+ choix_bras = 3 ;
+ SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break ;
+ }
+ message_droit_re = 0 ;
+ message_gauche_re = 0 ;
+
+ TEST_RELACHER.Draw(BLEU, BLANC);
}
}
--- a/Strategie/Strategie.cpp Tue May 11 15:02:31 2021 +0000
+++ b/Strategie/Strategie.cpp Wed May 12 14:40:52 2021 +0000
@@ -1612,145 +1612,19 @@
break;
case 151:
- unsigned char argu_at_1_bras = arg1, numero_bras_at;
- if(argu_at_1_bras<6)
- {
- SendMsgCan(BRAS_AT_1, &argu_at_1_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- }
- else if(argu_at_1_bras>5)
- {
- switch(argu_at_1_bras)
- {
- case 10:
- numero_bras_at = 0 ;
- SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 20:
- numero_bras_at = 1 ;
- SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 21:
- numero_bras_at = 2 ;
- SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 210:
- numero_bras_at = 1 ;
- SendMsgCan(BRAS_AT_3, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 43:
- numero_bras_at = 3 ;
- SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 53:
- numero_bras_at = 4 ;
- SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 54:
- numero_bras_at = 5 ;
- SendMsgCan(BRAS_AT_2, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 543:
- numero_bras_at = 0 ;
- SendMsgCan(BRAS_AT_3, &numero_bras_at,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
- }
- }
+ unsigned char argu_at_bras = arg1;
+ if(argu_at_bras == 543) argu_at_bras = 66;
+ SendMsgCan(BRAS_AT, &argu_at_bras,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
break;
case 152:
- unsigned char argu_re_1_bras = arg1, numero_bras_re;
- if(argu_re_1_bras<6)
- {
- SendMsgCan(BRAS_RE_1, &argu_re_1_bras,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- }
- else if(argu_re_1_bras>5)
- {
- switch(argu_re_1_bras)
- {
- case 10:
- numero_bras_re = 0 ;
- SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 20:
- numero_bras_re = 1 ;
- SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 21:
- numero_bras_re = 2 ;
- SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 210:
- numero_bras_re = 1 ;
- SendMsgCan(BRAS_RE_3, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 43:
- numero_bras_re = 3 ;
- SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 53:
- numero_bras_re = 4 ;
- SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 54:
- numero_bras_re = 5 ;
- SendMsgCan(BRAS_RE_2, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
-
- case 543:
- numero_bras_re = 0 ;
- SendMsgCan(BRAS_RE_3, &numero_bras_re,sizeof(arg1));
- waitingAckFrom = 0;
- waitingAckID =0;
- break;
- }
- }
+ unsigned char argu_re_bras = arg1;
+ if(argu_re_bras == 543) argu_re_bras = 66;
+ SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
break;
case 153:
@@ -1768,6 +1642,18 @@
waitingAckID =0;
break;
+ case 157 :
+ unsigned char argu_manche_haut = arg1;
+ SendMsgCan(AUTOMATE_MANCHE_HAUT, &argu_manche_haut,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+
+ case 158 :
+ unsigned char argu_manche_bas = arg1;
+ SendMsgCan(AUTOMATE_MANCHE_BAS, &argu_manche_bas,sizeof(arg1));
+ waitingAckFrom = 0;
+ waitingAckID =0;
+
default:
retour = 0;//L'action n'existe pas, il faut utiliser le CAN
break;