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ID CAN 2019
ident_crac.h@50:84203e6242a3, 2020-03-11 (annotated)
- Committer:
- maximilienlv
- Date:
- Wed Mar 11 16:52:31 2020 +0000
- Revision:
- 50:84203e6242a3
- Parent:
- 48:fc849cd9baa8
new ident ventouses
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 | |
| gabrieltetar | 48:fc849cd9baa8 | 17 | |
| Artiom | 29:067c1f5996c4 | 18 | #define ASSERVISSEMENT_ERROR_MOTEUR 0x025 // robot s'arrete car percuté quelque chose |
| gabrieltetar | 48:fc849cd9baa8 | 19 | |
| kyxstark | 4:6769b20ff998 | 20 | //------------------------------------Asservissement ------------------------------------------------------------- |
| gabrieltetar | 48:fc849cd9baa8 | 21 | |
| kyxstark | 4:6769b20ff998 | 22 | #define ASSERVISSEMENT_ENABLE 0x1F7 // Activation asservissement (0 : désactivation, 1 : activation) |
| gabrieltetar | 48:fc849cd9baa8 | 23 | |
| gabrieltetar | 48:fc849cd9baa8 | 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) |
| kyxstark | 12:778c53dd493b | 27 | #define ASSERVISSEMENT_XYT_ROTATE 0x030//premiere rotation durant xy theta |
| kyxstark | 12:778c53dd493b | 28 | #define ASSERVISSEMENT_XYT_LINE 0x040//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) |
| gabrieltetar | 48:fc849cd9baa8 | 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 | |
| gabrieltetar | 48:fc849cd9baa8 | 45 | |
| gabrieltetar | 48:fc849cd9baa8 | 46 | |
| kyxstark | 4:6769b20ff998 | 47 | #define ASSERVISSEMENT_CONFIG 0x022 // Asservissement paramètre (définir les valeurs de vitesse max et d'eccélération max) |
| gabrieltetar | 48:fc849cd9baa8 | 48 | |
| kyxstark | 25:f6f596f6f88a | 49 | #define ASSERVISSEMENT_CONFIG_VIT 0x031 |
| kyxstark | 25:f6f596f6f88a | 50 | #define ASSERVISSEMENT_CONFIG_ACCEL 0x032 |
| gabrieltetar | 48:fc849cd9baa8 | 51 | |
| kyxstark | 4:6769b20ff998 | 52 | #define ASSERVISSEMENT_SPEED_DANGER 0x006 // Vitesse de danger |
| gabrieltetar | 48:fc849cd9baa8 | 53 | |
| gabrieltetar | 48:fc849cd9baa8 | 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 |
| gabrieltetar | 48:fc849cd9baa8 | 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 |
| gabrieltetar | 48:fc849cd9baa8 | 76 | |
| gabrieltetar | 48:fc849cd9baa8 | 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 |
| gabrieltetar | 48:fc849cd9baa8 | 92 | |
| kyxstark | 4:6769b20ff998 | 93 | |
| kyxstark | 4:6769b20ff998 | 94 | #define ERREUR_TEMP_CALCUL 0x5A0 |
| gabrieltetar | 48:fc849cd9baa8 | 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 |
| gabrieltetar | 48:fc849cd9baa8 | 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 |
| marwanesaich | 1:97f9d943a6aa | 147 | #define ALIVE_AX12 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_POMPES 0x104 // Acknowledge pompes |
| marwanesaich | 1:97f9d943a6aa | 164 | #define ACKNOWLEDGE_TELEMETRE 0x105 // Acknowledge telemetre |
| marwanesaich | 1:97f9d943a6aa | 165 | #define ACKNOWLEDGE_HERKULEX 0x106 // Ack ax12 |
| marwanesaich | 1:97f9d943a6aa | 166 | #define ACKNOWLEDGE_STRAT 0x10A // Acknowledge pompes |
| marwanesaich | 1:97f9d943a6aa | 167 | #define ACKNOWLEDGE_CAMERA 0x108 //Acknowledge couleur caméra |
| marwanesaich | 1:97f9d943a6aa | 168 | |
| marwanesaich | 1:97f9d943a6aa | 169 | |
| Ganstrich | 0:63cf4d3a2ff9 | 170 | #define INSTRUCTION_END_BALISE 0x110 // Fin instruction balise (Indique que l'instruction est terminée) |
| Ganstrich | 0:63cf4d3a2ff9 | 171 | #define INSTRUCTION_END_MOTEUR 0x111 // Fin instruction moteur (Indique que l'instruction est terminée) |
| Ganstrich | 0:63cf4d3a2ff9 | 172 | #define INSTRUCTION_END_IHM 0x112 // Fin instruction ecran tactile (Indique que l'instruction est terminée) |
| Ganstrich | 0:63cf4d3a2ff9 | 173 | #define INSTRUCTION_END_ACTIONNEURS 0x113 // Fin instruction actionneurs (Indique que l'instruction est terminée) |
| marwanesaich | 1:97f9d943a6aa | 174 | #define ACK_FIN_ACTION 0x116 |
| marwanesaich | 1:97f9d943a6aa | 175 | |
| marwanesaich | 1:97f9d943a6aa | 176 | |
| marwanesaich | 1:97f9d943a6aa | 177 | |
| marwanesaich | 1:97f9d943a6aa | 178 | /////////////////////////////////////////////////////////ERREURS//////////////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 179 | #define ERROR_OVERFLOW_BALISE 0x040 // Overflow odométrie |
| Ganstrich | 0:63cf4d3a2ff9 | 180 | #define ERROR_OVERFLOW_MOTEUR 0x041 // Overflow asservissement |
| Ganstrich | 0:63cf4d3a2ff9 | 181 | #define ERROR_OVERFLOW_IHM 0x042 // Overflow balise |
| Ganstrich | 0:63cf4d3a2ff9 | 182 | #define ERROR_OVERFLOW_STRAT 0x043 // Overflow stratégie |
| Ganstrich | 0:63cf4d3a2ff9 | 183 | #define ERROR_BALISE 0x785 // Bug balise |
| Ganstrich | 0:63cf4d3a2ff9 | 184 | #define ERROR_RTC 0x786 // Bug RTC |
| Ganstrich | 0:63cf4d3a2ff9 | 185 | #define ERROR_MOTEUR 0x787 // Bug moteur |
| Ganstrich | 0:63cf4d3a2ff9 | 186 | #define ERROR_TELEMETRIE 0x788 // Bug télémètre |
| Ganstrich | 0:63cf4d3a2ff9 | 187 | #define ERROR_STRATEGIE 0x789 // Bug stratégie |
| marwanesaich | 1:97f9d943a6aa | 188 | |
| maximilienlv | 42:bb83e097cde2 | 189 | |
| marwanesaich | 1:97f9d943a6aa | 190 | /////////////////////////////////////////////////ACTIONS SIMPLES DU ROBOT///////////////////////////////////////////// |
| marwanesaich | 1:97f9d943a6aa | 191 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
| maximilienlv | 42:bb83e097cde2 | 192 | #define ACCELERATEUR_INSERTION_AVANT_GAUCHE 0X218 |
| maximilienlv | 42:bb83e097cde2 | 193 | #define ACCELERATEUR_INSERTION_ARRIERE_GAUCHE 0X219 |
| gabrieltetar | 48:fc849cd9baa8 | 194 | |
| maximilienlv | 42:bb83e097cde2 | 195 | #define ASCENSEUR 0x230 //data 0 : 1 ou 0 allumer éteindre |
| maximilienlv | 42:bb83e097cde2 | 196 | #define VIDER_CONVOYEUR 0x231 // data 0 : 0 pour jeter bleu et 1 pour jeter rouge/vert |
| maximilienlv | 42:bb83e097cde2 | 197 | #define NB_PALETS_BLEU 0x232 // data 0 :nb palets bleu vidés |
| maximilienlv | 42:bb83e097cde2 | 198 | #define NB_PALETS_VERTS 0x233 // data 0 :nb palets vert/rouges vidés |
| maximilienlv | 42:bb83e097cde2 | 199 | #define RATEAU 0x234 // data 0 :1 en bas et 0 en haut |
| gabrieltetar | 48:fc849cd9baa8 | 200 | |
| gabrieltetar | 48:fc849cd9baa8 | 201 | |
| marwanesaich | 1:97f9d943a6aa | 202 | ///////////////////////////////////////////CAPTEURS/////////////////////////////////////////////////////////////////// |
| gabrieltetar | 48:fc849cd9baa8 | 203 | #define DATA_TELEMETRE 0x3B0 // Demande sa valeur à un télémètre parmis les |
| gabrieltetar | 48:fc849cd9baa8 | 204 | #define RECEPTION_DATA 0x3B1 // envoi de la valeur d'un des télémètres |
| gabrieltetar | 48:fc849cd9baa8 | 205 | #define TELEMETRE_OBJET 0x3B2 |
| gabrieltetar | 48:fc849cd9baa8 | 206 | #define OBJET_SUR_TABLE 0x3B3 |
| gabrieltetar | 48:fc849cd9baa8 | 207 | #define RECEPTION_RECALAGE 0x3B5 //Valeur des télémètres |
| gabrieltetar | 48:fc849cd9baa8 | 208 | #define DATA_RECALAGE 0x3B6 //Demande de la valeur de tous les télémètres afin de procèder au récalage |
| gabrieltetar | 48:fc849cd9baa8 | 209 | #define LIRE_PANNEAU 0x3B7 |
| gabrieltetar | 48:fc849cd9baa8 | 210 | #define VIBRO 0x3B8 |
| gabrieltetar | 48:fc849cd9baa8 | 211 | |
| gabrieltetar | 48:fc849cd9baa8 | 212 | #define DATA_TELEMETRE_LOGIQUE 0x3B9 |
| gabrieltetar | 48:fc849cd9baa8 | 213 | #define RECEPTION_TELEMETRE_LOGIQUE 0x3B0 |
| Artiom | 19:ee72fd557b2e | 214 | |
| marwanesaich | 1:97f9d943a6aa | 215 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
| gabrieltetar | 48:fc849cd9baa8 | 216 | |
| gabrieltetar | 48:fc849cd9baa8 | 217 | |
| gabrieltetar | 48:fc849cd9baa8 | 218 | |
| marwanesaich | 1:97f9d943a6aa | 219 | ///////////////////////////////////////////////////ENVOI DE PARAMETRES////////////////////////////////////////////////// |
| marwanesaich | 1:97f9d943a6aa | 220 | #define CHOICE_COLOR 0x602 // Couleur (0->VERT;1->ORANGE) |
| marwanesaich | 1:97f9d943a6aa | 221 | #define RECEPTION_COULEUR 0x603 //Code Couleur |
| marwanesaich | 1:97f9d943a6aa | 222 | #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 | 223 | |
| marwanesaich | 1:97f9d943a6aa | 224 | ///////////////////////////////////////////////////////////DEBUGS/////////////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 225 | #define DEBUG_STRATEGIE_AUTOMATE 0x760 // Etat automate stratégie (Permet de savoir l'etat de l'automate) |
| Ganstrich | 0:63cf4d3a2ff9 | 226 | #define DEBUG_FAKE_JAKE 0x761 // Fake jack (Permet d'outre passerr le JACk du robot) |
| Ganstrich | 0:63cf4d3a2ff9 | 227 | #define DEBUG_ASSERV 0x762 // Info debug carte moteur |
| marwanesaich | 1:97f9d943a6aa | 228 | |
| marwanesaich | 1:97f9d943a6aa | 229 | |
| marwanesaich | 1:97f9d943a6aa | 230 | |
| marwanesaich | 1:97f9d943a6aa | 231 | #define POMPE_PWM 0x9A // pwm des pompes (pwm entre 0 et 100) |
| marwanesaich | 1:97f9d943a6aa | 232 | |
| marwanesaich | 1:97f9d943a6aa | 233 | |
| kyxstark | 3:5d8692c71146 | 234 | |
| kyxstark | 3:5d8692c71146 | 235 | |
| kyxstark | 3:5d8692c71146 | 236 | ///////////////////////////////Carte Hacheur//////////////////////////////////// |
| gabrieltetar | 48:fc849cd9baa8 | 237 | |
| maximilienlv | 42:bb83e097cde2 | 238 | /* |
| kyxstark | 3:5d8692c71146 | 239 | #define HACHEUR_GET_ATOM 0x520 |
| kyxstark | 3:5d8692c71146 | 240 | #define HACHEUR_GET_ATOM_ACK 0x521 |
| gabrieltetar | 48:fc849cd9baa8 | 241 | |
| kyxstark | 3:5d8692c71146 | 242 | #define HACHEUR_RELEASE_ATOM 0x522 |
| kyxstark | 3:5d8692c71146 | 243 | #define HACHEUR_RELEASE_ATOM_ACK 0x523 |
| gabrieltetar | 48:fc849cd9baa8 | 244 | |
| kyxstark | 3:5d8692c71146 | 245 | #define HACHEUR_GET_PRESENTOIR_AV 0x524 |
| kyxstark | 3:5d8692c71146 | 246 | #define HACHEUR_RELEASE_AV 0x525 |
| gabrieltetar | 48:fc849cd9baa8 | 247 | |
| kyxstark | 3:5d8692c71146 | 248 | #define HACHEUR_GET_PRESENTOIR_AR 0x526 |
| kyxstark | 3:5d8692c71146 | 249 | #define HACHEUR_RELEASE_AR 0x527 |
| gabrieltetar | 48:fc849cd9baa8 | 250 | |
| kyxstark | 3:5d8692c71146 | 251 | #define HACHEUR_STATUT_VENTOUSES 0x528 |
| gabrieltetar | 48:fc849cd9baa8 | 252 | |
| kyxstark | 14:c21f935e276f | 253 | #define HACHEUR_ETAT_CONTACTS 0x529 |
| kyxstark | 14:c21f935e276f | 254 | #define HACHEUR_ID_COUROIES 0x530 //data 0 : 1 ou 0 allumer éteindre |
| maximilienlv | 42:bb83e097cde2 | 255 | */ |
| gabrieltetar | 48:fc849cd9baa8 | 256 | |
| kyxstark | 12:778c53dd493b | 257 | //////////////////////////////////////////////////////////ACK CARTES/////////////////////////////////////////////////// |
| kyxstark | 12:778c53dd493b | 258 | #define ALIVE_BALISE 0x070 // Alive balise |
| kyxstark | 12:778c53dd493b | 259 | #define ALIVE_MOTEUR 0x071 // Alive moteur |
| kyxstark | 12:778c53dd493b | 260 | #define ALIVE_IHM 0x072 // Alive écran tactile |
| kyxstark | 12:778c53dd493b | 261 | #define ALIVE_ACTIONNEURS_AVANT 0x073 // Alive actionneurs |
| kyxstark | 12:778c53dd493b | 262 | #define ALIVE_ACTIONNEURS_ARRIERE 0x074 // Alive pompes |
| kyxstark | 12:778c53dd493b | 263 | #define ALIVE_HERKULEX 0x075 // Alive AX12 |
| kyxstark | 12:778c53dd493b | 264 | #define ALIVE_TELEMETRE 0x076 // Alive telemetre |
| gabrieltetar | 48:fc849cd9baa8 | 265 | |
| maximilienlv | 37:17b7f0a5180e | 266 | //////////////////////////////////////SOMO////////////////////////////////////// |
| gabrieltetar | 48:fc849cd9baa8 | 267 | #define SOMO_playtrack 0x4A1 |
| gabrieltetar | 48:fc849cd9baa8 | 268 | #define SOMO_playalltracks 0x4A2 |
| gabrieltetar | 48:fc849cd9baa8 | 269 | #define SOMO_stop 0x4A3 |
| gabrieltetar | 48:fc849cd9baa8 | 270 | #define SOMO_volume 0x4A4 |
| gabrieltetar | 48:fc849cd9baa8 | 271 | |
| maximilienlv | 37:17b7f0a5180e | 272 | //////////////////////////////////////bras////////////////////////////////////// |
| maximilienlv | 34:ef436c50f271 | 273 | #define TEST_BRAS_A 0x250 |
| maximilienlv | 34:ef436c50f271 | 274 | #define TEST_BRAS_B 0x251 |
| maximilienlv | 34:ef436c50f271 | 275 | #define TEST_BRAS_C 0x252 |
| maximilienlv | 34:ef436c50f271 | 276 | #define TEST_BRAS_D 0x253 |
| maximilienlv | 42:bb83e097cde2 | 277 | //ces tests permettent de tester les bras pour attraper puis relacher directement |
| maximilienlv | 34:ef436c50f271 | 278 | #define TEST_BRAS_1 0x254 |
| maximilienlv | 34:ef436c50f271 | 279 | #define TEST_BRAS_2 0x255 |
| maximilienlv | 34:ef436c50f271 | 280 | #define TEST_BRAS_3 0x256 |
| maximilienlv | 34:ef436c50f271 | 281 | #define TEST_BRAS_4 0x257 |
| maximilienlv | 34:ef436c50f271 | 282 | #define TEST_BRAS_5 0x258 |
| maximilienlv | 34:ef436c50f271 | 283 | #define TEST_BRAS_6 0x259 |
| maximilienlv | 42:bb83e097cde2 | 284 | ///////////////////////define des bras stratégie//////////////////////////////// |
| gabrieltetar | 48:fc849cd9baa8 | 285 | #define TEST_BRAS_1_AT 0x280 |
| gabrieltetar | 48:fc849cd9baa8 | 286 | #define TEST_BRAS_2_AT 0x281 |
| gabrieltetar | 48:fc849cd9baa8 | 287 | #define TEST_BRAS_3_AT 0x282 |
| gabrieltetar | 48:fc849cd9baa8 | 288 | #define TEST_BRAS_4_AT 0x283 |
| gabrieltetar | 48:fc849cd9baa8 | 289 | #define TEST_BRAS_5_AT 0x284 |
| gabrieltetar | 48:fc849cd9baa8 | 290 | #define TEST_BRAS_6_AT 0x285 |
| gabrieltetar | 48:fc849cd9baa8 | 291 | |
| gabrieltetar | 48:fc849cd9baa8 | 292 | #define TEST_BRAS_1_RE 0x290 |
| gabrieltetar | 48:fc849cd9baa8 | 293 | #define TEST_BRAS_2_RE 0x291 |
| gabrieltetar | 48:fc849cd9baa8 | 294 | #define TEST_BRAS_3_RE 0x292 |
| gabrieltetar | 48:fc849cd9baa8 | 295 | #define TEST_BRAS_4_RE 0x293 |
| gabrieltetar | 48:fc849cd9baa8 | 296 | #define TEST_BRAS_5_RE 0x294 |
| gabrieltetar | 48:fc849cd9baa8 | 297 | #define TEST_BRAS_6_RE 0x295 |
| gabrieltetar | 48:fc849cd9baa8 | 298 | |
| gabrieltetar | 48:fc849cd9baa8 | 299 | #define BRAS_AT 0x260 |
| gabrieltetar | 48:fc849cd9baa8 | 300 | #define BRAS_RE 0x261 |
| gabrieltetar | 48:fc849cd9baa8 | 301 | #define GABARIT_ROBOT 0x263 |
| gabrieltetar | 48:fc849cd9baa8 | 302 | #define ECUEIL_ARRIERE_AT 0x264 |
| gabrieltetar | 48:fc849cd9baa8 | 303 | #define ECUEIL_AVANT_AT 0x265 |
| maximilienlv | 42:bb83e097cde2 | 304 | ////////////////////////////////////// ventouse/électrovanne ////////////////////////////////// |
| maximilienlv | 42:bb83e097cde2 | 305 | //les ventouses fonctionnent avec les électrovannes |
| maximilienlv | 50:84203e6242a3 | 306 | #define VENT_AT 0x266 |
| maximilienlv | 50:84203e6242a3 | 307 | #define VENT_RE 0x267 |
| maximilienlv | 42:bb83e097cde2 | 308 | //-----------------------------------define bras/ventouse valeur--------------------------// |
| gabrieltetar | 48:fc849cd9baa8 | 309 | #define AV_DROIT 0 |
| gabrieltetar | 48:fc849cd9baa8 | 310 | #define AV_CENTRE 1 |
| gabrieltetar | 48:fc849cd9baa8 | 311 | #define AV_GAUCHE 2 |
| gabrieltetar | 48:fc849cd9baa8 | 312 | |
| gabrieltetar | 48:fc849cd9baa8 | 313 | #define AR_DROIT 3 |
| gabrieltetar | 48:fc849cd9baa8 | 314 | #define AR_CENTRE 4 |
| gabrieltetar | 48:fc849cd9baa8 | 315 | #define AR_GAUCHE 5 |
| gabrieltetar | 48:fc849cd9baa8 | 316 | |
| maximilienlv | 42:bb83e097cde2 | 317 | #endif |