![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
code avec la sortie d'évitement en plus géré par un ticker, ce code et le code "avec_modifs" buggent en match avec seulement la stratégie agressive.
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Globals/global.h@12:227c15c7ebe6, 2020-03-07 (annotated)
- Committer:
- maximilienlv
- Date:
- Sat Mar 07 17:36:26 2020 +0000
- Revision:
- 12:227c15c7ebe6
- Parent:
- 1:7e925468f9d9
communication entre strategie et robot fonctionnelle;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gabrieltetar | 1:7e925468f9d9 | 1 | #ifndef GLOBAL_H |
gabrieltetar | 1:7e925468f9d9 | 2 | #define GLOBAL_H |
gabrieltetar | 1:7e925468f9d9 | 3 | |
gabrieltetar | 1:7e925468f9d9 | 4 | #include "mbed.h" |
gabrieltetar | 1:7e925468f9d9 | 5 | #include "ident_crac.h" |
gabrieltetar | 1:7e925468f9d9 | 6 | |
gabrieltetar | 1:7e925468f9d9 | 7 | |
gabrieltetar | 1:7e925468f9d9 | 8 | #include <CAN.h> |
gabrieltetar | 1:7e925468f9d9 | 9 | #include <DirHandle.h> |
gabrieltetar | 1:7e925468f9d9 | 10 | #include "SDFileSystem.h" |
gabrieltetar | 1:7e925468f9d9 | 11 | #include "conv_data.h" |
gabrieltetar | 1:7e925468f9d9 | 12 | #include "Config_big.h" |
gabrieltetar | 1:7e925468f9d9 | 13 | #include "constantes.h" |
gabrieltetar | 1:7e925468f9d9 | 14 | #include "Instruction.h" |
gabrieltetar | 1:7e925468f9d9 | 15 | #include "Strategie.h" |
gabrieltetar | 1:7e925468f9d9 | 16 | #include "lecture_repertoire.h" |
gabrieltetar | 1:7e925468f9d9 | 17 | #include "StrategieManager.h" |
gabrieltetar | 1:7e925468f9d9 | 18 | #include "SerialHalfDuplex.h" |
gabrieltetar | 1:7e925468f9d9 | 19 | #include "debug.h" |
gabrieltetar | 1:7e925468f9d9 | 20 | #include "Asservissement.h" |
gabrieltetar | 1:7e925468f9d9 | 21 | #include "TS_DISCO_F469NI.h" |
gabrieltetar | 1:7e925468f9d9 | 22 | #include "LCD_DISCO_F469NI.h" |
gabrieltetar | 1:7e925468f9d9 | 23 | #include "fonts.h" |
gabrieltetar | 1:7e925468f9d9 | 24 | #include "F469_GUI.hpp" |
gabrieltetar | 1:7e925468f9d9 | 25 | #include "Config_big.h" |
gabrieltetar | 1:7e925468f9d9 | 26 | #include "LiaisonBluetooth.h" |
gabrieltetar | 1:7e925468f9d9 | 27 | #include "Evitement.h" |
gabrieltetar | 1:7e925468f9d9 | 28 | |
maximilienlv | 12:227c15c7ebe6 | 29 | #define ROBOT_SMALL 0 |
gabrieltetar | 1:7e925468f9d9 | 30 | //#include "peripheriques.h" |
gabrieltetar | 1:7e925468f9d9 | 31 | extern Serial pc; |
gabrieltetar | 1:7e925468f9d9 | 32 | extern Serial rn42_Tx; |
gabrieltetar | 1:7e925468f9d9 | 33 | extern Serial rn42_Rx; |
gabrieltetar | 1:7e925468f9d9 | 34 | extern Serial rn42_pr; |
gabrieltetar | 1:7e925468f9d9 | 35 | extern LiaisonBluetooth liaison_Tx; |
gabrieltetar | 1:7e925468f9d9 | 36 | extern LiaisonBluetooth liaison_Rx; |
gabrieltetar | 1:7e925468f9d9 | 37 | extern LiaisonBluetooth liaison_pr; |
gabrieltetar | 1:7e925468f9d9 | 38 | |
gabrieltetar | 1:7e925468f9d9 | 39 | extern CAN can1; |
gabrieltetar | 1:7e925468f9d9 | 40 | extern CAN can2; |
gabrieltetar | 1:7e925468f9d9 | 41 | extern CANMessage msgRxBuffer[SIZE_FIFO]; |
gabrieltetar | 1:7e925468f9d9 | 42 | extern unsigned char FIFO_ecriture; |
gabrieltetar | 1:7e925468f9d9 | 43 | extern char strat_sd[10][SIZE+8]; |
gabrieltetar | 1:7e925468f9d9 | 44 | extern char PATH[10][SIZE+8]; |
gabrieltetar | 1:7e925468f9d9 | 45 | |
gabrieltetar | 1:7e925468f9d9 | 46 | extern signed char Strategie; |
gabrieltetar | 1:7e925468f9d9 | 47 | |
gabrieltetar | 1:7e925468f9d9 | 48 | extern int ack_bluetooth; |
gabrieltetar | 1:7e925468f9d9 | 49 | |
gabrieltetar | 1:7e925468f9d9 | 50 | extern DigitalOut led1,led2,led3,led4; |
gabrieltetar | 1:7e925468f9d9 | 51 | extern LCD_DISCO_F469NI lcd; |
gabrieltetar | 1:7e925468f9d9 | 52 | extern char cheminFileStart[SIZE+8]; //Le chemin du fichier de strat, utiliser strcpy(cheminFileStart,"/local/strat.txt"); |
gabrieltetar | 1:7e925468f9d9 | 53 | extern short SCORE_GLOBAL; |
gabrieltetar | 1:7e925468f9d9 | 54 | extern short SCORE_PR, SCORE_GR; |
gabrieltetar | 1:7e925468f9d9 | 55 | |
gabrieltetar | 1:7e925468f9d9 | 56 | extern struct S_Instruction strat_instructions[SIZE_BUFFER_FILE]; //La liste des instruction chargé en mémoire |
gabrieltetar | 1:7e925468f9d9 | 57 | extern unsigned char nb_instructions; //Le nombre d'instruction dans le fichier de strategie |
gabrieltetar | 1:7e925468f9d9 | 58 | extern unsigned char actual_instruction;//La ligne de l'instruction en cours d'execution |
gabrieltetar | 1:7e925468f9d9 | 59 | |
gabrieltetar | 1:7e925468f9d9 | 60 | extern unsigned short telemetreDistance; |
gabrieltetar | 1:7e925468f9d9 | 61 | extern char couleur1, couleur2, couleur3; |
gabrieltetar | 1:7e925468f9d9 | 62 | extern unsigned char InversStrat;//Si à 1, indique que l'on part de l'autre cote de la table(inversion des Y) |
gabrieltetar | 1:7e925468f9d9 | 63 | |
gabrieltetar | 1:7e925468f9d9 | 64 | extern unsigned short waitingAckID;//L'id du ack attendu |
gabrieltetar | 1:7e925468f9d9 | 65 | extern unsigned short waitingAckFrom;//La provenance du ack attendu |
gabrieltetar | 1:7e925468f9d9 | 66 | extern char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre |
gabrieltetar | 1:7e925468f9d9 | 67 | extern unsigned short waitingId; |
gabrieltetar | 1:7e925468f9d9 | 68 | |
gabrieltetar | 1:7e925468f9d9 | 69 | extern unsigned char isStopEnable; |
gabrieltetar | 1:7e925468f9d9 | 70 | #endif |