ident leo
Dependents: carte_straegie_2019 Carte_Pompe_V2 carte_esclave201_petit_rob CRAC-Strat_2019 ... more
ID CAN 2019
ident_crac.h@76:717b5b4659dd, 2022-05-16 (annotated)
- Committer:
- ares1999
- Date:
- Mon May 16 16:47:47 2022 +0000
- Revision:
- 76:717b5b4659dd
- Parent:
- 75:4f8853f89b44
- Child:
- 77:9f0ffc15fc5b
;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
marwanesaich | 1:97f9d943a6aa | 1 | #ifndef CRAC_IDENTH |
marwanesaich | 1:97f9d943a6aa | 2 | #define CRAC_IDENTH |
marwanesaich | 1:97f9d943a6aa | 3 | |
Ganstrich | 0:63cf4d3a2ff9 | 4 | #define GLOBAL_GAME_END 0x004 // Stop fin du match |
Ganstrich | 0:63cf4d3a2ff9 | 5 | #define GLOBAL_START 0x002 // Start |
Ganstrich | 0:63cf4d3a2ff9 | 6 | #define GLOBAL_END_INIT_POSITION 0x005 // Fin positionnement robot avant depart |
marwanesaich | 1:97f9d943a6aa | 7 | #define GLOBAL_JACK 0x008 |
marwanesaich | 1:97f9d943a6aa | 8 | #define ACKNOWLEDGE_JACK 0X009 |
Artiom | 27:7f6dea0592e5 | 9 | #define RECALAGE_START 0x010//on a commencé le recalage de début |
marwanesaich | 1:97f9d943a6aa | 10 | |
marwanesaich | 1:97f9d943a6aa | 11 | #define BALISE_STOP 0x003 // Trame stop |
marwanesaich | 1:97f9d943a6aa | 12 | |
marwanesaich | 1:97f9d943a6aa | 13 | #define BALISE_DANGER 0xA // Trame danger |
marwanesaich | 1:97f9d943a6aa | 14 | |
Ganstrich | 0:63cf4d3a2ff9 | 15 | #define BALISE_END_DANGER 0xB // Trame fin de danger |
marwanesaich | 1:97f9d943a6aa | 16 | |
maximilienlv | 51:d75024b4ad63 | 17 | |
goldmas | 69:55036d818d21 | 18 | #define ASSERVISSEMENT_ERROR_MOTEUR 0x015 // robot s'arrete car percuté quelque chose |
maximilienlv | 51:d75024b4ad63 | 19 | |
kyxstark | 4:6769b20ff998 | 20 | //------------------------------------Asservissement ------------------------------------------------------------- |
maximilienlv | 51:d75024b4ad63 | 21 | |
kyxstark | 4:6769b20ff998 | 22 | #define ASSERVISSEMENT_ENABLE 0x1F7 // Activation asservissement (0 : désactivation, 1 : activation) |
maximilienlv | 51:d75024b4ad63 | 23 | |
maximilienlv | 51:d75024b4ad63 | 24 | |
Ganstrich | 0:63cf4d3a2ff9 | 25 | #define ASSERVISSEMENT_STOP 0x001 // Stop moteur |
Ganstrich | 0:63cf4d3a2ff9 | 26 | #define ASSERVISSEMENT_XYT 0x020 // Asservissement (x,y,theta) (0 : au choix 1 : avant -1 : arrière) |
goldmas | 69:55036d818d21 | 27 | #define ASSERVISSEMENT_XYT_ROTATE 0x037//premiere rotation durant xy theta |
goldmas | 69:55036d818d21 | 28 | #define ASSERVISSEMENT_XYT_LINE 0x038//ligne droite durant xy theta |
Ganstrich | 0:63cf4d3a2ff9 | 29 | #define ASSERVISSEMENT_COURBURE 0x021 // Asservissement rayon de courbure (+ gauche, - droite , sens : 1avt , -1arr; enchainement => 1 oui, 0 => non, 2=>derniére instruction de l'enchainement) |
Ganstrich | 0:63cf4d3a2ff9 | 30 | #define ASSERVISSEMENT_ROTATION 0x023 // Asservissement rotation |
Ganstrich | 0:63cf4d3a2ff9 | 31 | #define ASSERVISSEMENT_RECALAGE 0x024 // Moteur tout droit (recalage : 0 mouvement seul, 1 x, 2y valeur : coordonnée à laquelle est recalé x/y; enchainement => 1 oui, 0 => non) |
Villanut | 23:a5e47b8ed2b2 | 32 | #define ASSERVISSEMENT_BEZIER 0x02A |
kyxstark | 4:6769b20ff998 | 33 | |
kyxstark | 4:6769b20ff998 | 34 | |
Ganstrich | 0:63cf4d3a2ff9 | 35 | #define ODOMETRIE_BIG_VITESSE 0x027 // Odométrie vitesse (Indication sur l'état actuel) |
kyxstark | 4:6769b20ff998 | 36 | #define ODOMETRIE_SMALL_VITESSE 0x027 // Odométrie vitesse (Indication sur l'état actuel) |
kyxstark | 4:6769b20ff998 | 37 | |
kyxstark | 12:778c53dd493b | 38 | #define ODOMETRIE_BIG_POSITION 0x028 // Odométrie position robot (Position actuel du robot) |
kyxstark | 12:778c53dd493b | 39 | #define ODOMETRIE_SMALL_POSITION 0x026 // Odométrie position robot (Position actuel du robot) |
maximilienlv | 51:d75024b4ad63 | 40 | |
kyxstark | 12:778c53dd493b | 41 | //#define ODOMETRIE 0x026 // Odométrie position robot (Position actuel du robot) |
kyxstark | 12:778c53dd493b | 42 | //#define ODOMETRIE_DBUG 0x028 // Odométrie position robot (Position actuel du robot) |
marwanesaich | 1:97f9d943a6aa | 43 | |
marwanesaich | 1:97f9d943a6aa | 44 | |
maximilienlv | 51:d75024b4ad63 | 45 | |
maximilienlv | 51:d75024b4ad63 | 46 | |
kyxstark | 4:6769b20ff998 | 47 | #define ASSERVISSEMENT_CONFIG 0x022 // Asservissement paramètre (définir les valeurs de vitesse max et d'eccélération max) |
maximilienlv | 51:d75024b4ad63 | 48 | |
goldmas | 69:55036d818d21 | 49 | #define ASSERVISSEMENT_CONFIG_VIT 0x011 |
goldmas | 69:55036d818d21 | 50 | #define ASSERVISSEMENT_CONFIG_ACCEL 0x012 |
maximilienlv | 51:d75024b4ad63 | 51 | |
kyxstark | 4:6769b20ff998 | 52 | #define ASSERVISSEMENT_SPEED_DANGER 0x006 // Vitesse de danger |
maximilienlv | 51:d75024b4ad63 | 53 | |
maximilienlv | 51:d75024b4ad63 | 54 | |
kyxstark | 4:6769b20ff998 | 55 | #define ASSERVISSEMENT_INFO_CONSIGNE 0x1F0 // Info Consigne et Commande moteur |
kyxstark | 4:6769b20ff998 | 56 | #define ASSERVISSEMENT_CONFIG_KPP_DROITE 0x1F1 // Config coef KPP_Droit |
kyxstark | 4:6769b20ff998 | 57 | #define ASSERVISSEMENT_CONFIG_KPI_DROITE 0x1F2 // Config coef KPI_Droit |
kyxstark | 4:6769b20ff998 | 58 | #define ASSERVISSEMENT_CONFIG_KPD_DROITE 0x1F3 // Config coef KPD_Droit |
kyxstark | 4:6769b20ff998 | 59 | #define ASSERVISSEMENT_CONFIG_KPP_GAUCHE 0x1F4 // Config coef KPP_Gauche |
kyxstark | 4:6769b20ff998 | 60 | #define ASSERVISSEMENT_CONFIG_KPI_GAUCHE 0x1F5 // Config coef KPI_Gauche |
kyxstark | 4:6769b20ff998 | 61 | #define ASSERVISSEMENT_CONFIG_KPD_GAUCHE 0x1F6 // Config coef KPD_Gauche |
maximilienlv | 51:d75024b4ad63 | 62 | |
kyxstark | 4:6769b20ff998 | 63 | #define ASSERVISSEMENT_CONFIG_KPP 0x710 // Config coef KPP |
kyxstark | 4:6769b20ff998 | 64 | #define ASSERVISSEMENT_CONFIG_KPI 0x711 // Config coef KPI |
kyxstark | 4:6769b20ff998 | 65 | #define ASSERVISSEMENT_CONFIG_KPD 0x712 // Config coef KPD |
kyxstark | 4:6769b20ff998 | 66 | #define ASSERVISSEMENT_CONFIG_LARG 0x713 |
kyxstark | 4:6769b20ff998 | 67 | #define ASSERVISSEMENT_CONFIG_PERIM 0x714 |
kyxstark | 4:6769b20ff998 | 68 | #define ASSERVISSEMENT_CONFIG_COEF_G 0x715 |
kyxstark | 4:6769b20ff998 | 69 | #define ASSERVISSEMENT_CONFIG_COEF_D 0x716 |
marwanesaich | 1:97f9d943a6aa | 70 | |
kyxstark | 4:6769b20ff998 | 71 | //--------------Débug asserv -------- |
kyxstark | 4:6769b20ff998 | 72 | |
kyxstark | 4:6769b20ff998 | 73 | #define ASSERVISSEMENT_ERREUR 0x025 |
kyxstark | 4:6769b20ff998 | 74 | |
kyxstark | 4:6769b20ff998 | 75 | #define ID_FIN_CLOTHO 0x501 |
maximilienlv | 51:d75024b4ad63 | 76 | |
maximilienlv | 51:d75024b4ad63 | 77 | |
kyxstark | 4:6769b20ff998 | 78 | |
kyxstark | 4:6769b20ff998 | 79 | #define ID_ENTRAXE 0x510 |
kyxstark | 4:6769b20ff998 | 80 | #define ID_RAYON 0x511 |
kyxstark | 4:6769b20ff998 | 81 | #define ID_ALPHA 0x512 |
kyxstark | 4:6769b20ff998 | 82 | #define ID_VITESSE 0x513 |
kyxstark | 4:6769b20ff998 | 83 | #define ID_ACCELERATION 0x514 |
kyxstark | 4:6769b20ff998 | 84 | #define ID_TCLOTHO 0x515 |
kyxstark | 4:6769b20ff998 | 85 | #define ID_TARC 0x516 |
kyxstark | 4:6769b20ff998 | 86 | #define ID_TEMPS 0x517 |
kyxstark | 4:6769b20ff998 | 87 | #define ID_VIT 0x518 |
kyxstark | 4:6769b20ff998 | 88 | #define ID_VIT1 0x519 |
kyxstark | 4:6769b20ff998 | 89 | #define ID_POS 0x520 |
kyxstark | 4:6769b20ff998 | 90 | #define ID_POS1 0x521 |
kyxstark | 4:6769b20ff998 | 91 | #define ID_T_CALCUL 0x522 |
maximilienlv | 51:d75024b4ad63 | 92 | |
kyxstark | 4:6769b20ff998 | 93 | |
kyxstark | 4:6769b20ff998 | 94 | #define ERREUR_TEMP_CALCUL 0x5A0 |
maximilienlv | 51:d75024b4ad63 | 95 | |
kyxstark | 4:6769b20ff998 | 96 | #define ID_DBUG_ETAT 0x5A1 |
kyxstark | 4:6769b20ff998 | 97 | #define ID_DBUG_ETAT_DPL 0x5A2 |
kyxstark | 4:6769b20ff998 | 98 | |
kyxstark | 4:6769b20ff998 | 99 | |
kyxstark | 4:6769b20ff998 | 100 | #define ID_DBUG_LIGNE_TPS 0x5A3 |
kyxstark | 4:6769b20ff998 | 101 | #define ID_DBUG_LIGNE_PCONS 0x5A4 |
kyxstark | 4:6769b20ff998 | 102 | #define ID_DBUG_LIGNE_VIT 0x5A5 |
kyxstark | 4:6769b20ff998 | 103 | #define ID_DIST_TIC_GENE 0x5A6 |
kyxstark | 4:6769b20ff998 | 104 | #define ID_TEMPS_CALCUL_CLOTHO 0x5A7 |
kyxstark | 4:6769b20ff998 | 105 | #define ID_DBUG_LIGNE_GENE_VIT 0x5A8 |
kyxstark | 4:6769b20ff998 | 106 | #define ID_CLOTHO_IMPOSSIBLE 0x5A9 |
kyxstark | 4:6769b20ff998 | 107 | |
kyxstark | 4:6769b20ff998 | 108 | #define ID_TRAIT_LIGNE_GENE 0x5C0 |
kyxstark | 4:6769b20ff998 | 109 | #define ID_TRAIT_CLOTHO 0x5C1 |
kyxstark | 4:6769b20ff998 | 110 | #define ID_TRAIT 0x5C2 |
kyxstark | 4:6769b20ff998 | 111 | |
kyxstark | 4:6769b20ff998 | 112 | #define ID_TEMPS_LONG_1 0x5C3 |
kyxstark | 4:6769b20ff998 | 113 | #define ID_TEMPS_LONG_2 0x5C4 |
kyxstark | 4:6769b20ff998 | 114 | |
kyxstark | 4:6769b20ff998 | 115 | #define ID_TEST_VITESSE 0x5C5 |
kyxstark | 4:6769b20ff998 | 116 | |
kyxstark | 4:6769b20ff998 | 117 | #define ID_REACLLAGE_AVANT 0x5C6 |
maximilienlv | 51:d75024b4ad63 | 118 | |
marwanesaich | 1:97f9d943a6aa | 119 | //////////////////////////////////////////////////////////RESETS/////////////////////////////////////////////////// |
Ganstrich | 0:63cf4d3a2ff9 | 120 | #define RESET_BALISE 0x030 // Reset balise |
Ganstrich | 0:63cf4d3a2ff9 | 121 | #define RESET_MOTEUR 0x031 // Reset moteur |
Ganstrich | 0:63cf4d3a2ff9 | 122 | #define RESET_IHM 0x032 // Reset écran tactile |
Ganstrich | 0:63cf4d3a2ff9 | 123 | #define RESET_ACTIONNEURS 0x033 // Reset actionneurs |
marwanesaich | 1:97f9d943a6aa | 124 | #define RESET_POMPES 0x034 // Reset pompes |
marwanesaich | 1:97f9d943a6aa | 125 | #define RESET_AX12 0x035 // Reset AX12 |
marwanesaich | 1:97f9d943a6aa | 126 | #define RESET_TELEMETRE 0x036 // Reset telemetre |
marwanesaich | 1:97f9d943a6aa | 127 | |
marwanesaich | 1:97f9d943a6aa | 128 | |
marwanesaich | 1:97f9d943a6aa | 129 | |
Ganstrich | 0:63cf4d3a2ff9 | 130 | #define RESET_STRAT 0x3A // Reset stratégie |
marwanesaich | 1:97f9d943a6aa | 131 | |
marwanesaich | 1:97f9d943a6aa | 132 | //////////////////////////////////////////////////////////CHECK CARTES///////////////////////////////////////////////// |
Ganstrich | 0:63cf4d3a2ff9 | 133 | #define CHECK_BALISE 0x060 // Check balise |
Ganstrich | 0:63cf4d3a2ff9 | 134 | #define CHECK_MOTEUR 0x061 // Check moteur |
Ganstrich | 0:63cf4d3a2ff9 | 135 | #define CHECK_IHM 0x062 // Check écran tactile |
marwanesaich | 1:97f9d943a6aa | 136 | #define CHECK_ACTIONNEURS_AVANT 0x063 // Check actionneurs |
marwanesaich | 1:97f9d943a6aa | 137 | #define CHECK_ACTIONNEURS_ARRIERE 0x064 // Check pompes |
marwanesaich | 1:97f9d943a6aa | 138 | #define CHECK_AX12 0x065 // Check AX12 |
marwanesaich | 1:97f9d943a6aa | 139 | #define CHECK_OK_TELEMETRE 0x066 // Check telemetre |
marwanesaich | 1:97f9d943a6aa | 140 | |
marwanesaich | 1:97f9d943a6aa | 141 | //////////////////////////////////////////////////////////ACK CARTES/////////////////////////////////////////////////// |
Ganstrich | 0:63cf4d3a2ff9 | 142 | #define ALIVE_BALISE 0x070 // Alive balise |
Ganstrich | 0:63cf4d3a2ff9 | 143 | #define ALIVE_MOTEUR 0x071 // Alive moteur |
Ganstrich | 0:63cf4d3a2ff9 | 144 | #define ALIVE_IHM 0x072 // Alive écran tactile |
marwanesaich | 1:97f9d943a6aa | 145 | #define ALIVE_ACTIONNEURS_AVANT 0x073 // Alive actionneurs |
marwanesaich | 1:97f9d943a6aa | 146 | #define ALIVE_ACTIONNEURS_ARRIERE 0x074 // Alive pompes |
goldmas | 69:55036d818d21 | 147 | #define ALIVE_HERKULEX 0x075 // Alive AX12 |
marwanesaich | 1:97f9d943a6aa | 148 | #define ALIVE_TELEMETRE 0x076 // Alive telemetre |
marwanesaich | 1:97f9d943a6aa | 149 | |
marwanesaich | 1:97f9d943a6aa | 150 | |
marwanesaich | 1:97f9d943a6aa | 151 | /////////////////////////////////////////////////////ACTIONS COMPLEXES///////////////////////////////////////////////// |
marwanesaich | 1:97f9d943a6aa | 152 | #define MONTER_IMMEUBLE_DOUBLE 0x090 // Monte deux immeubles selon un code couleur |
marwanesaich | 1:97f9d943a6aa | 153 | #define MONTER_IMMEUBLE 0x091 |
marwanesaich | 1:97f9d943a6aa | 154 | #define ACK_ACTION 0x99 //autre action possible via les herkulex, ne peut pas passer en sendrawid |
marwanesaich | 1:97f9d943a6aa | 155 | |
marwanesaich | 1:97f9d943a6aa | 156 | |
marwanesaich | 1:97f9d943a6aa | 157 | |
marwanesaich | 1:97f9d943a6aa | 158 | /////////////////////////////////////////////////////////ACKS//////////////////////////////////////////////////////////// |
Ganstrich | 0:63cf4d3a2ff9 | 159 | #define ACKNOWLEDGE_BALISE 0x100 // Acknowledge balise |
Ganstrich | 0:63cf4d3a2ff9 | 160 | #define ACKNOWLEDGE_MOTEUR 0x101 // Acknowledge moteur |
Ganstrich | 0:63cf4d3a2ff9 | 161 | #define ACKNOWLEDGE_IHM 0x102 // Acknowledge ecran tactile |
Ganstrich | 0:63cf4d3a2ff9 | 162 | #define ACKNOWLEDGE_ACTIONNEURS 0x103 // Acknowledge actionneurs |
marwanesaich | 1:97f9d943a6aa | 163 | #define ACKNOWLEDGE_TELEMETRE 0x105 // Acknowledge telemetre |
ares1999 | 76:717b5b4659dd | 164 | #define ACKNOWLEDGE_HERKULEX 0x106 // Ack servo |
marwanesaich | 1:97f9d943a6aa | 165 | #define ACKNOWLEDGE_STRAT 0x10A // Acknowledge pompes |
marwanesaich | 1:97f9d943a6aa | 166 | #define ACKNOWLEDGE_CAMERA 0x108 //Acknowledge couleur caméra |
marwanesaich | 1:97f9d943a6aa | 167 | |
marwanesaich | 1:97f9d943a6aa | 168 | |
Ganstrich | 0:63cf4d3a2ff9 | 169 | #define INSTRUCTION_END_BALISE 0x110 // Fin instruction balise (Indique que l'instruction est terminée) |
Ganstrich | 0:63cf4d3a2ff9 | 170 | #define INSTRUCTION_END_MOTEUR 0x111 // Fin instruction moteur (Indique que l'instruction est terminée) |
Ganstrich | 0:63cf4d3a2ff9 | 171 | #define INSTRUCTION_END_IHM 0x112 // Fin instruction ecran tactile (Indique que l'instruction est terminée) |
Ganstrich | 0:63cf4d3a2ff9 | 172 | #define INSTRUCTION_END_ACTIONNEURS 0x113 // Fin instruction actionneurs (Indique que l'instruction est terminée) |
marwanesaich | 1:97f9d943a6aa | 173 | #define ACK_FIN_ACTION 0x116 |
marwanesaich | 1:97f9d943a6aa | 174 | |
marwanesaich | 1:97f9d943a6aa | 175 | |
marwanesaich | 1:97f9d943a6aa | 176 | |
marwanesaich | 1:97f9d943a6aa | 177 | /////////////////////////////////////////////////////////ERREURS//////////////////////////////////////////////////////// |
Ganstrich | 0:63cf4d3a2ff9 | 178 | #define ERROR_OVERFLOW_BALISE 0x040 // Overflow odométrie |
Ganstrich | 0:63cf4d3a2ff9 | 179 | #define ERROR_OVERFLOW_MOTEUR 0x041 // Overflow asservissement |
Ganstrich | 0:63cf4d3a2ff9 | 180 | #define ERROR_OVERFLOW_IHM 0x042 // Overflow balise |
Ganstrich | 0:63cf4d3a2ff9 | 181 | #define ERROR_OVERFLOW_STRAT 0x043 // Overflow stratégie |
Ganstrich | 0:63cf4d3a2ff9 | 182 | #define ERROR_BALISE 0x785 // Bug balise |
Ganstrich | 0:63cf4d3a2ff9 | 183 | #define ERROR_RTC 0x786 // Bug RTC |
Ganstrich | 0:63cf4d3a2ff9 | 184 | #define ERROR_MOTEUR 0x787 // Bug moteur |
Ganstrich | 0:63cf4d3a2ff9 | 185 | #define ERROR_TELEMETRIE 0x788 // Bug télémètre |
Ganstrich | 0:63cf4d3a2ff9 | 186 | #define ERROR_STRATEGIE 0x789 // Bug stratégie |
marwanesaich | 1:97f9d943a6aa | 187 | |
maximilienlv | 42:bb83e097cde2 | 188 | |
marwanesaich | 1:97f9d943a6aa | 189 | /////////////////////////////////////////////////ACTIONS SIMPLES DU ROBOT///////////////////////////////////////////// |
marwanesaich | 1:97f9d943a6aa | 190 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
maximilienlv | 42:bb83e097cde2 | 191 | #define ACCELERATEUR_INSERTION_AVANT_GAUCHE 0X218 |
maximilienlv | 42:bb83e097cde2 | 192 | #define ACCELERATEUR_INSERTION_ARRIERE_GAUCHE 0X219 |
maximilienlv | 51:d75024b4ad63 | 193 | |
maximilienlv | 51:d75024b4ad63 | 194 | |
marwanesaich | 1:97f9d943a6aa | 195 | ///////////////////////////////////////////CAPTEURS/////////////////////////////////////////////////////////////////// |
maximilienlv | 51:d75024b4ad63 | 196 | #define DATA_TELEMETRE 0x3B0 // Demande sa valeur à un télémètre parmis les |
maximilienlv | 51:d75024b4ad63 | 197 | #define RECEPTION_DATA 0x3B1 // envoi de la valeur d'un des télémètres |
maximilienlv | 51:d75024b4ad63 | 198 | #define TELEMETRE_OBJET 0x3B2 |
maximilienlv | 51:d75024b4ad63 | 199 | #define OBJET_SUR_TABLE 0x3B3 |
maximilienlv | 51:d75024b4ad63 | 200 | #define RECEPTION_RECALAGE 0x3B5 //Valeur des télémètres |
maximilienlv | 51:d75024b4ad63 | 201 | #define DATA_RECALAGE 0x3B6 //Demande de la valeur de tous les télémètres afin de procèder au récalage |
maximilienlv | 51:d75024b4ad63 | 202 | #define LIRE_PANNEAU 0x3B7 |
maximilienlv | 51:d75024b4ad63 | 203 | #define VIBRO 0x3B8 |
maximilienlv | 51:d75024b4ad63 | 204 | |
maximilienlv | 51:d75024b4ad63 | 205 | #define DATA_TELEMETRE_LOGIQUE 0x3B9 |
maximilienlv | 51:d75024b4ad63 | 206 | #define RECEPTION_TELEMETRE_LOGIQUE 0x3B0 |
Artiom | 19:ee72fd557b2e | 207 | |
marwanesaich | 1:97f9d943a6aa | 208 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
maximilienlv | 51:d75024b4ad63 | 209 | |
maximilienlv | 51:d75024b4ad63 | 210 | |
maximilienlv | 51:d75024b4ad63 | 211 | |
marwanesaich | 1:97f9d943a6aa | 212 | ///////////////////////////////////////////////////ENVOI DE PARAMETRES////////////////////////////////////////////////// |
maximilienlv | 56:8bfec47638c7 | 213 | #define CHOICE_COLOR 0x602 // Couleur (0->VERT;1->ORANGE) |
maximilienlv | 56:8bfec47638c7 | 214 | #define RECEPTION_COULEUR 0x603 //Code Couleur |
marwanesaich | 1:97f9d943a6aa | 215 | #define ECRAN_ALL_CHECK 0x620 // Carte all check (Si provient de carte strat => toutes les cartes sont en ligne, Si provient IHM => forcer le lancement) |
marwanesaich | 1:97f9d943a6aa | 216 | |
marwanesaich | 1:97f9d943a6aa | 217 | ///////////////////////////////////////////////////////////DEBUGS/////////////////////////////////////////////////////// |
Ganstrich | 0:63cf4d3a2ff9 | 218 | #define DEBUG_STRATEGIE_AUTOMATE 0x760 // Etat automate stratégie (Permet de savoir l'etat de l'automate) |
Ganstrich | 0:63cf4d3a2ff9 | 219 | #define DEBUG_FAKE_JAKE 0x761 // Fake jack (Permet d'outre passerr le JACk du robot) |
Ganstrich | 0:63cf4d3a2ff9 | 220 | #define DEBUG_ASSERV 0x762 // Info debug carte moteur |
maximilienlv | 51:d75024b4ad63 | 221 | |
maximilienlv | 37:17b7f0a5180e | 222 | //////////////////////////////////////SOMO////////////////////////////////////// |
maximilienlv | 52:ec454822e423 | 223 | #define SOMO_answers 0x4A0 |
maximilienlv | 51:d75024b4ad63 | 224 | #define SOMO_playtrack 0x4A1 |
maximilienlv | 51:d75024b4ad63 | 225 | #define SOMO_playalltracks 0x4A2 |
maximilienlv | 51:d75024b4ad63 | 226 | #define SOMO_stop 0x4A3 |
maximilienlv | 51:d75024b4ad63 | 227 | #define SOMO_volume 0x4A4 |
maximilienlv | 52:ec454822e423 | 228 | #define SOMO_pause 0x4A5 |
maximilienlv | 52:ec454822e423 | 229 | #define SOMO_resume 0x4A6 |
maximilienlv | 52:ec454822e423 | 230 | #define SOMO_reset 0x4A7 |
maximilienlv | 52:ec454822e423 | 231 | #define SOMO_set_EQ 0x4A8 |
maximilienlv | 52:ec454822e423 | 232 | #define SOMO_random_track 0x4A9 |
maximilienlv | 52:ec454822e423 | 233 | #define SOMO_next 0x4AA |
maximilienlv | 52:ec454822e423 | 234 | #define SOMO_previous 0x4AB |
maximilienlv | 52:ec454822e423 | 235 | #define SOMO_repeat 0x4AC |
maximilienlv | 51:d75024b4ad63 | 236 | |
maximilienlv | 55:b85ad81e8c67 | 237 | //////////////////////////////////////bras test////////////////////////////////////// |
maximilienlv | 34:ef436c50f271 | 238 | #define TEST_BRAS_A 0x250 |
maximilienlv | 34:ef436c50f271 | 239 | #define TEST_BRAS_B 0x251 |
maximilienlv | 34:ef436c50f271 | 240 | #define TEST_BRAS_C 0x252 |
maximilienlv | 34:ef436c50f271 | 241 | #define TEST_BRAS_D 0x253 |
maximilienlv | 55:b85ad81e8c67 | 242 | //ces tests permettent de tester chaque bras |
maximilienlv | 34:ef436c50f271 | 243 | #define TEST_BRAS_1 0x254 |
maximilienlv | 34:ef436c50f271 | 244 | #define TEST_BRAS_2 0x255 |
maximilienlv | 34:ef436c50f271 | 245 | #define TEST_BRAS_3 0x256 |
maximilienlv | 34:ef436c50f271 | 246 | #define TEST_BRAS_4 0x257 |
maximilienlv | 34:ef436c50f271 | 247 | #define TEST_BRAS_5 0x258 |
gein | 73:03f028eacefe | 248 | #define TEST_BRAS_6 59 |
maximilienlv | 55:b85ad81e8c67 | 249 | |
maximilienlv | 42:bb83e097cde2 | 250 | ///////////////////////define des bras stratégie//////////////////////////////// |
maximilienlv | 58:10114001bd59 | 251 | #define GABARIT_ROBOT 0x26A |
maximilienlv | 55:b85ad81e8c67 | 252 | |
goldmas | 65:4cda87fa3b7f | 253 | #define BRAS_AT 0x260 |
goldmas | 65:4cda87fa3b7f | 254 | #define BRAS_RE 0x261 |
maximilienlv | 34:ef436c50f271 | 255 | |
goldmas | 69:55036d818d21 | 256 | #define BRAS_PREPA 0x270 |
goldmas | 69:55036d818d21 | 257 | #define BRAS_POSE 0x271 |
maximilienlv | 55:b85ad81e8c67 | 258 | |
maximilienlv | 42:bb83e097cde2 | 259 | ////////////////////////////////////// ventouse/électrovanne ////////////////////////////////// |
maximilienlv | 42:bb83e097cde2 | 260 | //les ventouses fonctionnent avec les électrovannes |
maximilienlv | 51:d75024b4ad63 | 261 | #define VENT_AT 0x266 |
maximilienlv | 51:d75024b4ad63 | 262 | #define VENT_RE 0x267 |
maximilienlv | 55:b85ad81e8c67 | 263 | |
maximilienlv | 57:01d1adc948df | 264 | #define TEST_VENT_1_ON 0x268 |
maximilienlv | 57:01d1adc948df | 265 | #define TEST_VENT_1_OFF 0x269 |
maximilienlv | 59:60b92524978a | 266 | #define VENT_ETAT 0x27A |
gein | 73:03f028eacefe | 267 | //-----------------------------------define bras/ventouse 2022 (valeur)--------------------------// |
ares1999 | 76:717b5b4659dd | 268 | //Constantes de temps |
ares1999 | 76:717b5b4659dd | 269 | #define PLAYTIME 30 //Vitesse de mouvement |
ares1999 | 76:717b5b4659dd | 270 | #define TEMPO 50 |
ares1999 | 76:717b5b4659dd | 271 | #define TEMPO_LONGUE 450 |
ares1999 | 76:717b5b4659dd | 272 | #define TEMPO_POMPE 800 |
ares1999 | 76:717b5b4659dd | 273 | //Serial carte interface |
ares1999 | 76:717b5b4659dd | 274 | #define SERIAL_GAUCHE 1 //bras 0 et 5 |
ares1999 | 76:717b5b4659dd | 275 | #define SERIAL_MILIEU 3 //bras 1 et 4 |
ares1999 | 76:717b5b4659dd | 276 | #define SERIAL_DROITE 4 //bras 2 et 3 |
ares1999 | 76:717b5b4659dd | 277 | #define SERIAL_SPECIAL 5 //bras mesure et chasse neige |
ares1999 | 76:717b5b4659dd | 278 | //1 serial est cassé aléatoirement sur chaque carte |
ares1999 | 76:717b5b4659dd | 279 | |
ares1999 | 76:717b5b4659dd | 280 | /* Correspondance serial --> RX-TX sur la carte |
ares1999 | 76:717b5b4659dd | 281 | serial1 : RX1-TX1 |
ares1999 | 76:717b5b4659dd | 282 | serial2 : RX5-TX5 |
ares1999 | 76:717b5b4659dd | 283 | serial3 : RX3-TX3 |
ares1999 | 76:717b5b4659dd | 284 | serial4 : RX6-TX6 |
ares1999 | 76:717b5b4659dd | 285 | serial5 : RX4-TX4*/ |
ares1999 | 76:717b5b4659dd | 286 | |
ares1999 | 76:717b5b4659dd | 287 | |
ares1999 | 76:717b5b4659dd | 288 | //ID servo bras Bas Avant (BAV) |
ares1999 | 76:717b5b4659dd | 289 | #define BAV_BASE 1 |
ares1999 | 76:717b5b4659dd | 290 | #define BAV_MILIEU 2 |
ares1999 | 76:717b5b4659dd | 291 | #define BAV_HAUT 3 |
ares1999 | 76:717b5b4659dd | 292 | //ID servo bras Bas Arriere (BAR) |
ares1999 | 76:717b5b4659dd | 293 | #define BAR_BASE 4 |
ares1999 | 76:717b5b4659dd | 294 | #define BAR_MILIEU 5 |
ares1999 | 76:717b5b4659dd | 295 | #define BAR_HAUT 6 |
ares1999 | 76:717b5b4659dd | 296 | //ID servo bras Haut Avant (HAV) |
ares1999 | 76:717b5b4659dd | 297 | #define HAV_BASE 7 |
ares1999 | 76:717b5b4659dd | 298 | #define HAV_MILIEU 8 |
ares1999 | 76:717b5b4659dd | 299 | #define HAV_HAUT 9 |
ares1999 | 76:717b5b4659dd | 300 | //ID servo bras Haut Arriere (HAR) |
ares1999 | 76:717b5b4659dd | 301 | #define HAR_BASE 10 |
ares1999 | 76:717b5b4659dd | 302 | #define HAR_MILIEU 11 |
ares1999 | 76:717b5b4659dd | 303 | #define HAR_HAUT 12 |
ares1999 | 76:717b5b4659dd | 304 | |
ares1999 | 76:717b5b4659dd | 305 | //ID servo bras spéciaux |
ares1999 | 76:717b5b4659dd | 306 | #define SPE_GAUCHE_BASE 101 |
ares1999 | 76:717b5b4659dd | 307 | #define SPE_GAUCHE_HAUT 102 |
ares1999 | 76:717b5b4659dd | 308 | #define SPE_DROITE_BASE 103 |
ares1999 | 76:717b5b4659dd | 309 | #define SPE_DROITE_HAUT 104 |
ares1999 | 76:717b5b4659dd | 310 | |
ares1999 | 76:717b5b4659dd | 311 | #define CN_GAUCHE_AV 5 |
ares1999 | 76:717b5b4659dd | 312 | #define CN_DROITE_AV 6 |
ares1999 | 76:717b5b4659dd | 313 | #define CN_GAUCHE_AR 7 |
ares1999 | 76:717b5b4659dd | 314 | #define CN_DROITE_AR 8 |
maximilienlv | 53:afebb76bafe9 | 315 | |
ekey29 | 74:99048eedfda3 | 316 | #define BF_RANGER 0x156 |
ekey29 | 74:99048eedfda3 | 317 | #define BF_PRETEST 0x154 |
ekey29 | 74:99048eedfda3 | 318 | #define BF_MESURE 0x155 |
gein | 73:03f028eacefe | 319 | #define BF_COLOR 0x703 |
gein | 73:03f028eacefe | 320 | #define BF_POS 0x704 |
gein | 73:03f028eacefe | 321 | #define BF_TEST 0x705 |
ares1999 | 76:717b5b4659dd | 322 | #define ID_HAUT 104 |
ares1999 | 76:717b5b4659dd | 323 | #define ID_MILLIEU 103 |
ares1999 | 76:717b5b4659dd | 324 | |
ares1999 | 76:717b5b4659dd | 325 | #define CHASSE_NEIGE 0x170 |
ares1999 | 76:717b5b4659dd | 326 | |
ares1999 | 76:717b5b4659dd | 327 | #define PRISE_BAS 0x171 |
ares1999 | 76:717b5b4659dd | 328 | #define PASSE 0x172 |
ares1999 | 76:717b5b4659dd | 329 | #define RELACHE_BAS 0x173 |
ares1999 | 76:717b5b4659dd | 330 | #define POSE_HAUT 0x174 |
ares1999 | 76:717b5b4659dd | 331 | |
ares1999 | 76:717b5b4659dd | 332 | #define PRISE_BORDURE 0x175 // |
ares1999 | 76:717b5b4659dd | 333 | #define POSE_BORDURE 0x176 //A FAIRE |
ares1999 | 76:717b5b4659dd | 334 | #define PRISE_DISTRIBUTEUR 0x177 // |
ares1999 | 76:717b5b4659dd | 335 | |
ares1999 | 76:717b5b4659dd | 336 | #define RANGEMENT 0x178 |
ares1999 | 76:717b5b4659dd | 337 | #define GESTION_TORQUE 0x179 |
ares1999 | 76:717b5b4659dd | 338 | |
ares1999 | 76:717b5b4659dd | 339 | |
goldmas | 69:55036d818d21 | 340 | //-----------------------------------define actions manche à air et pavillon---------------------------// |
goldmas | 66:a0c3845d3e9e | 341 | #define AUTOMATE_MANCHE_HAUT 0x262 |
goldmas | 69:55036d818d21 | 342 | #define AUTOMATE_MANCHE_MOY 0x263 |
goldmas | 69:55036d818d21 | 343 | #define AUTOMATE_MANCHE_BAS 0x264 |
goldmas | 69:55036d818d21 | 344 | |
goldmas | 69:55036d818d21 | 345 | #define PAVILLON_DEPLOYE 0x265 |
goldmas | 69:55036d818d21 | 346 | |
goldmas | 69:55036d818d21 | 347 | //-----------------------------------define lecture girouette et bon port--------------------------// |
goldmas | 69:55036d818d21 | 348 | #define ARRIVER_BON_PORT 0x300 |
goldmas | 69:55036d818d21 | 349 | |
goldmas | 69:55036d818d21 | 350 | #define LECTURE_GIROUETTE 0x420 |
goldmas | 69:55036d818d21 | 351 | #define VALEUR_GIROUETTE 0x421 |
goldmas | 69:55036d818d21 | 352 | #define TEST_LECTURE_GIROUETTE 0x422 |
goldmas | 69:55036d818d21 | 353 | |
goldmas | 69:55036d818d21 | 354 | //-----------------------------------define attendre--------------------------// |
goldmas | 69:55036d818d21 | 355 | #define ATTENDRE 0x285 |
goldmas | 64:70b14fa37b35 | 356 | |
maximilienlv | 42:bb83e097cde2 | 357 | #endif |