CRAC Team
/
code_carte_IHM_avec_modifs
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Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Revision 16:c6c765e8b982, committed 2020-03-12
- Comitter:
- maximilienlv
- Date:
- Thu Mar 12 09:25:48 2020 +0000
- Parent:
- 15:5ece9c3ba389
- Child:
- 17:1cf2043c5c01
- Commit message:
- demo;
Changed in this revision
| Globals/ident_crac.lib | Show annotated file Show diff for this revision Revisions of this file |
| Strategie/Strategie.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Globals/ident_crac.lib Wed Mar 11 16:35:39 2020 +0000 +++ b/Globals/ident_crac.lib Thu Mar 12 09:25:48 2020 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#fc849cd9baa8 +https://os.mbed.com/teams/CRAC-Team/code/ident_crac/#ec454822e423
--- a/Strategie/Strategie.cpp Wed Mar 11 16:35:39 2020 +0000
+++ b/Strategie/Strategie.cpp Thu Mar 12 09:25:48 2020 +0000
@@ -550,11 +550,12 @@
} else if(TEST_NUM.Touched()) {
while (TEST_NUM.Touched());
TEST_NUM.Draw(BLEU, BLANC);
- Debug_Audio(3,maximilien);
+ Debug_
+ Audio(3,maximilien);
} else if(TEST_PLUS.Touched()) {
while (TEST_PLUS.Touched());
TEST_PLUS.Draw(BLEU, BLANC);
- if(maximilien!=10)maximilien++;
+ if(maximilien!=20)maximilien++;
sprintf(toto,"%hd",maximilien);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
@@ -2458,87 +2459,12 @@
msgTx.type=CANData;
switch(id)
{
- case 101: //bras avant droit
- SendRawId(TEST_BRAS_1_AT);
- break;
- case 102: //bras avant millieu
- SendRawId(TEST_BRAS_2_AT);
- break;
- case 103: //attraper presentoir arriere
- //SendRawId(PRESENTOIR_ARRIERE);
- break;
- case 104: //balance avant
- //SendRawId(BALANCE_AVANT);
- break;
- case 105: //balance arriere
- //SendRawId(BALANCE_ARRIERE);
- break;
- case 106: //accelerateur avant
- //SendRawId(ACCELERATEUR_AVANT);
- //distance_recalage=arg1;
- //distance_revenir=arg2;
- //Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
- break;
- case 107: //accelerateur arriere
- //distance_recalage=arg1;
- //distance_revenir=arg2;
- //Send2Short(ACCELERATEUR_ARRIERE, distance_recalage,distance_revenir);
- break;
- case 108: //goldenium avant
- //SendRawId(GOLDENIUM_AVANT);
- x = arg1;
- if(InversStrat == 1) {
- y = 3000 - arg2;
- } else {
- y = arg2;
- }
- //Send2Short(GOLDENIUM_AVANT, x, y);
- break;
case 109: //goldenium arriere
x=arg1;
y=arg2;
//Send2Short(GOLDENIUM_ARRIERE, x,y);
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);
- break;
- case 112: //sol avant relache
- //SendRawId(SOL_AVANT_RELACHE);
- break;
- case 113: //sol arriere relache
- //SendRawId(SOL_ARRIERE_RELACHE);
- break;
- case 114://relache les 3 ventouses avants
- // SendRawId(AVANT_RELACHE);
- break;
- case 115://bras avant gauche attraper
- SendRawId(TEST_BRAS_3_AT);
- break;
-
- case 116://bras arreiere droit
- SendRawId(TEST_BRAS_6_AT);
- break;
/* case 116://relache une pompe
unsigned char arg_tempo;
if(InversStrat == 1) {
@@ -2565,15 +2491,6 @@
waitingAckFrom = 0;
waitingAckID =0;
break;*/
- case 117://bras arriere millieu
- SendRawId(TEST_BRAS_5_AT);
- break;
- case 118://bras arriere gauche
- SendRawId(TEST_BRAS_4_AT);
- break;
- case 119:
- //SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
- break;
case 120:
//SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
break;
@@ -2641,90 +2558,55 @@
waitingAckFrom = 0;
waitingAckID =0;
break;
-
- case 30://Action tempo
- wait_ms(arg1);
- 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);
+
+ case 214://test bras competition (attraper)
+ unsigned char argu_at_bras = arg1;
+ SendMsgCan(BRAS_AT, &argu_at_bras,sizeof(arg1));
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);
+
+ case 215://test bras competition(relacher)
+ unsigned char argu_re_bras = arg1;
+ SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
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;
- case 214://test bras competition (avant)
- unsigned char argu_at = arg1;
- SendMsgCan(BRAS_AT, &argu_at,sizeof(arg1));
+
+ case 216://test ventouses competition (attraper)
+ unsigned char argu_at_ventouse = arg1 - 1;
+ SendMsgCan(VENT_AT, &argu_at_ventouse,sizeof(arg1));
waitingAckFrom = 0;
waitingAckID =0;
break;
- case 215://test bras competition(arriere)
- unsigned char argu_re = arg1;
- SendMsgCan(BRAS_RE, &argu_re,sizeof(argu_re));
+ case 217://test ventouses competition(relacher)
+ unsigned char argu_re_ventouse = arg1 - 1;
+ SendMsgCan(VENT_RE, &argu_re_ventouse,sizeof(arg1));
waitingAckFrom = 0;
waitingAckID =0;
break;
+
+ case 218://Action tempo
+ SendRawId(ECUEIL_AVANT_AT);
+ break;
+
+ case 219://Action tempo
+ SendRawId(ECUEIL_ARRIERE_AT);
+ break;
+ case 220:
+ unsigned char argu_repertoire = arg1;
+ unsigned char argu_track = arg2;
+ Debug_Audio(argu_repertoire, argu_track);
+ waitingAckFrom = 0;
+ waitingAckID =0;
+ break;
default:
retour = 0;//L'action n'existe pas, il faut utiliser le CAN
-
+ break;
}
return retour;//L'action est spécifique.