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ID CAN 2019
ident_crac.h@17:d46f9ad0a9d0, 2019-05-25 (annotated)
- Committer:
- Artiom
- Date:
- Sat May 25 14:56:16 2019 +0000
- Revision:
- 17:d46f9ad0a9d0
- Parent:
- 12:778c53dd493b
pendant tout les XYT desactive la balise sur la premiere rotation
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 | |
| kyxstark | 3:5d8692c71146 | 4 | |
| Ganstrich | 0:63cf4d3a2ff9 | 5 | #define GLOBAL_GAME_END 0x004 // Stop fin du match |
| Ganstrich | 0:63cf4d3a2ff9 | 6 | #define GLOBAL_START 0x002 // Start |
| Ganstrich | 0:63cf4d3a2ff9 | 7 | #define GLOBAL_END_INIT_POSITION 0x005 // Fin positionnement robot avant depart |
| Ganstrich | 0:63cf4d3a2ff9 | 8 | #define GLOBAL_FUNNY_ACTION 0x007 // Funny action start (0: start, 1: stop) |
| marwanesaich | 1:97f9d943a6aa | 9 | #define GLOBAL_JACK 0x008 |
| marwanesaich | 1:97f9d943a6aa | 10 | #define ACKNOWLEDGE_JACK 0X009 |
| marwanesaich | 1:97f9d943a6aa | 11 | |
| marwanesaich | 1:97f9d943a6aa | 12 | #define BALISE_STOP 0x003 // Trame stop |
| marwanesaich | 1:97f9d943a6aa | 13 | |
| marwanesaich | 1:97f9d943a6aa | 14 | #define BALISE_DANGER 0xA // Trame danger |
| marwanesaich | 1:97f9d943a6aa | 15 | |
| Ganstrich | 0:63cf4d3a2ff9 | 16 | #define BALISE_END_DANGER 0xB // Trame fin de danger |
| marwanesaich | 1:97f9d943a6aa | 17 | |
| kyxstark | 4:6769b20ff998 | 18 | |
| kyxstark | 4:6769b20ff998 | 19 | #define ACTION_BIG_DEMARRAGE 0x025 // Action de départ du GR (Lancement de la trajectoire de départ du GR) |
| kyxstark | 4:6769b20ff998 | 20 | |
| kyxstark | 4:6769b20ff998 | 21 | //------------------------------------Asservissement ------------------------------------------------------------- |
| kyxstark | 4:6769b20ff998 | 22 | |
| kyxstark | 4:6769b20ff998 | 23 | #define ASSERVISSEMENT_ENABLE 0x1F7 // Activation asservissement (0 : désactivation, 1 : activation) |
| kyxstark | 4:6769b20ff998 | 24 | |
| kyxstark | 4:6769b20ff998 | 25 | |
| Ganstrich | 0:63cf4d3a2ff9 | 26 | #define ASSERVISSEMENT_STOP 0x001 // Stop moteur |
| Ganstrich | 0:63cf4d3a2ff9 | 27 | #define ASSERVISSEMENT_XYT 0x020 // Asservissement (x,y,theta) (0 : au choix 1 : avant -1 : arrière) |
| kyxstark | 12:778c53dd493b | 28 | #define ASSERVISSEMENT_XYT_ROTATE 0x030//premiere rotation durant xy theta |
| kyxstark | 12:778c53dd493b | 29 | #define ASSERVISSEMENT_XYT_LINE 0x040//ligne droite durant xy theta |
| Ganstrich | 0:63cf4d3a2ff9 | 30 | #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 | 31 | #define ASSERVISSEMENT_ROTATION 0x023 // Asservissement rotation |
| Ganstrich | 0:63cf4d3a2ff9 | 32 | #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) |
| kyxstark | 4:6769b20ff998 | 33 | #define ASSERVISSEMENT_BEZIER 0x008 |
| kyxstark | 4:6769b20ff998 | 34 | |
| kyxstark | 4:6769b20ff998 | 35 | |
| Ganstrich | 0:63cf4d3a2ff9 | 36 | #define ODOMETRIE_BIG_VITESSE 0x027 // Odométrie vitesse (Indication sur l'état actuel) |
| kyxstark | 4:6769b20ff998 | 37 | #define ODOMETRIE_SMALL_VITESSE 0x027 // Odométrie vitesse (Indication sur l'état actuel) |
| kyxstark | 4:6769b20ff998 | 38 | |
| kyxstark | 12:778c53dd493b | 39 | #define ODOMETRIE_BIG_POSITION 0x028 // Odométrie position robot (Position actuel du robot) |
| kyxstark | 12:778c53dd493b | 40 | #define ODOMETRIE_SMALL_POSITION 0x026 // Odométrie position robot (Position actuel du robot) |
| kyxstark | 4:6769b20ff998 | 41 | |
| kyxstark | 12:778c53dd493b | 42 | //#define ODOMETRIE 0x026 // Odométrie position robot (Position actuel du robot) |
| kyxstark | 12:778c53dd493b | 43 | //#define ODOMETRIE_DBUG 0x028 // Odométrie position robot (Position actuel du robot) |
| marwanesaich | 1:97f9d943a6aa | 44 | |
| marwanesaich | 1:97f9d943a6aa | 45 | |
| kyxstark | 4:6769b20ff998 | 46 | |
| kyxstark | 4:6769b20ff998 | 47 | |
| kyxstark | 4:6769b20ff998 | 48 | #define ASSERVISSEMENT_CONFIG 0x022 // Asservissement paramètre (définir les valeurs de vitesse max et d'eccélération max) |
| kyxstark | 4:6769b20ff998 | 49 | #define ASSERVISSEMENT_SPEED_DANGER 0x006 // Vitesse de danger |
| kyxstark | 4:6769b20ff998 | 50 | |
| kyxstark | 4:6769b20ff998 | 51 | |
| kyxstark | 4:6769b20ff998 | 52 | #define ASSERVISSEMENT_INFO_CONSIGNE 0x1F0 // Info Consigne et Commande moteur |
| kyxstark | 4:6769b20ff998 | 53 | #define ASSERVISSEMENT_CONFIG_KPP_DROITE 0x1F1 // Config coef KPP_Droit |
| kyxstark | 4:6769b20ff998 | 54 | #define ASSERVISSEMENT_CONFIG_KPI_DROITE 0x1F2 // Config coef KPI_Droit |
| kyxstark | 4:6769b20ff998 | 55 | #define ASSERVISSEMENT_CONFIG_KPD_DROITE 0x1F3 // Config coef KPD_Droit |
| kyxstark | 4:6769b20ff998 | 56 | #define ASSERVISSEMENT_CONFIG_KPP_GAUCHE 0x1F4 // Config coef KPP_Gauche |
| kyxstark | 4:6769b20ff998 | 57 | #define ASSERVISSEMENT_CONFIG_KPI_GAUCHE 0x1F5 // Config coef KPI_Gauche |
| kyxstark | 4:6769b20ff998 | 58 | #define ASSERVISSEMENT_CONFIG_KPD_GAUCHE 0x1F6 // Config coef KPD_Gauche |
| kyxstark | 4:6769b20ff998 | 59 | |
| kyxstark | 4:6769b20ff998 | 60 | #define ASSERVISSEMENT_CONFIG_KPP 0x710 // Config coef KPP |
| kyxstark | 4:6769b20ff998 | 61 | #define ASSERVISSEMENT_CONFIG_KPI 0x711 // Config coef KPI |
| kyxstark | 4:6769b20ff998 | 62 | #define ASSERVISSEMENT_CONFIG_KPD 0x712 // Config coef KPD |
| kyxstark | 4:6769b20ff998 | 63 | #define ASSERVISSEMENT_CONFIG_LARG 0x713 |
| kyxstark | 4:6769b20ff998 | 64 | #define ASSERVISSEMENT_CONFIG_PERIM 0x714 |
| kyxstark | 4:6769b20ff998 | 65 | #define ASSERVISSEMENT_CONFIG_COEF_G 0x715 |
| kyxstark | 4:6769b20ff998 | 66 | #define ASSERVISSEMENT_CONFIG_COEF_D 0x716 |
| kyxstark | 4:6769b20ff998 | 67 | |
| kyxstark | 4:6769b20ff998 | 68 | |
| kyxstark | 4:6769b20ff998 | 69 | // à retirer ne fonctionne plus !!!!!!!!!!!!!!! |
| kyxstark | 4:6769b20ff998 | 70 | //#define ASSERVISSEMENT_CONFIG_DECEL 0x019 // à retirer ne fonctionne plus !!!!!!!!!!!!!!! Asservissement paramètre (définir les valeurs de vitesse max et de decélération max) |
| marwanesaich | 1:97f9d943a6aa | 71 | |
| kyxstark | 4:6769b20ff998 | 72 | //--------------Débug asserv -------- |
| kyxstark | 4:6769b20ff998 | 73 | |
| kyxstark | 4:6769b20ff998 | 74 | #define ASSERVISSEMENT_ERREUR 0x025 |
| kyxstark | 4:6769b20ff998 | 75 | |
| kyxstark | 4:6769b20ff998 | 76 | #define ID_FIN_CLOTHO 0x501 |
| kyxstark | 4:6769b20ff998 | 77 | |
| kyxstark | 4:6769b20ff998 | 78 | |
| kyxstark | 4:6769b20ff998 | 79 | |
| kyxstark | 4:6769b20ff998 | 80 | |
| kyxstark | 4:6769b20ff998 | 81 | #define ID_ENTRAXE 0x510 |
| kyxstark | 4:6769b20ff998 | 82 | #define ID_RAYON 0x511 |
| kyxstark | 4:6769b20ff998 | 83 | #define ID_ALPHA 0x512 |
| kyxstark | 4:6769b20ff998 | 84 | #define ID_VITESSE 0x513 |
| kyxstark | 4:6769b20ff998 | 85 | #define ID_ACCELERATION 0x514 |
| kyxstark | 4:6769b20ff998 | 86 | #define ID_TCLOTHO 0x515 |
| kyxstark | 4:6769b20ff998 | 87 | #define ID_TARC 0x516 |
| kyxstark | 4:6769b20ff998 | 88 | #define ID_TEMPS 0x517 |
| kyxstark | 4:6769b20ff998 | 89 | #define ID_VIT 0x518 |
| kyxstark | 4:6769b20ff998 | 90 | #define ID_VIT1 0x519 |
| kyxstark | 4:6769b20ff998 | 91 | #define ID_POS 0x520 |
| kyxstark | 4:6769b20ff998 | 92 | #define ID_POS1 0x521 |
| kyxstark | 4:6769b20ff998 | 93 | #define ID_T_CALCUL 0x522 |
| kyxstark | 4:6769b20ff998 | 94 | |
| kyxstark | 4:6769b20ff998 | 95 | |
| kyxstark | 4:6769b20ff998 | 96 | #define ERREUR_TEMP_CALCUL 0x5A0 |
| kyxstark | 4:6769b20ff998 | 97 | |
| kyxstark | 4:6769b20ff998 | 98 | #define ID_DBUG_ETAT 0x5A1 |
| kyxstark | 4:6769b20ff998 | 99 | #define ID_DBUG_ETAT_DPL 0x5A2 |
| kyxstark | 4:6769b20ff998 | 100 | |
| kyxstark | 4:6769b20ff998 | 101 | |
| kyxstark | 4:6769b20ff998 | 102 | #define ID_DBUG_LIGNE_TPS 0x5A3 |
| kyxstark | 4:6769b20ff998 | 103 | #define ID_DBUG_LIGNE_PCONS 0x5A4 |
| kyxstark | 4:6769b20ff998 | 104 | #define ID_DBUG_LIGNE_VIT 0x5A5 |
| kyxstark | 4:6769b20ff998 | 105 | #define ID_DIST_TIC_GENE 0x5A6 |
| kyxstark | 4:6769b20ff998 | 106 | #define ID_TEMPS_CALCUL_CLOTHO 0x5A7 |
| kyxstark | 4:6769b20ff998 | 107 | #define ID_DBUG_LIGNE_GENE_VIT 0x5A8 |
| kyxstark | 4:6769b20ff998 | 108 | #define ID_CLOTHO_IMPOSSIBLE 0x5A9 |
| kyxstark | 4:6769b20ff998 | 109 | |
| kyxstark | 4:6769b20ff998 | 110 | #define ID_TRAIT_LIGNE_GENE 0x5C0 |
| kyxstark | 4:6769b20ff998 | 111 | #define ID_TRAIT_CLOTHO 0x5C1 |
| kyxstark | 4:6769b20ff998 | 112 | #define ID_TRAIT 0x5C2 |
| kyxstark | 4:6769b20ff998 | 113 | |
| kyxstark | 4:6769b20ff998 | 114 | #define ID_TEMPS_LONG_1 0x5C3 |
| kyxstark | 4:6769b20ff998 | 115 | #define ID_TEMPS_LONG_2 0x5C4 |
| kyxstark | 4:6769b20ff998 | 116 | |
| kyxstark | 4:6769b20ff998 | 117 | #define ID_TEST_VITESSE 0x5C5 |
| kyxstark | 4:6769b20ff998 | 118 | |
| kyxstark | 4:6769b20ff998 | 119 | #define ID_REACLLAGE_AVANT 0x5C6 |
| kyxstark | 4:6769b20ff998 | 120 | // -------------------------------------- |
| kyxstark | 4:6769b20ff998 | 121 | |
| kyxstark | 4:6769b20ff998 | 122 | |
| kyxstark | 4:6769b20ff998 | 123 | |
| marwanesaich | 1:97f9d943a6aa | 124 | |
| marwanesaich | 1:97f9d943a6aa | 125 | //////////////////////////////////////////////////////////RESETS/////////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 126 | #define RESET_BALISE 0x030 // Reset balise |
| Ganstrich | 0:63cf4d3a2ff9 | 127 | #define RESET_MOTEUR 0x031 // Reset moteur |
| Ganstrich | 0:63cf4d3a2ff9 | 128 | #define RESET_IHM 0x032 // Reset écran tactile |
| Ganstrich | 0:63cf4d3a2ff9 | 129 | #define RESET_ACTIONNEURS 0x033 // Reset actionneurs |
| marwanesaich | 1:97f9d943a6aa | 130 | #define RESET_POMPES 0x034 // Reset pompes |
| marwanesaich | 1:97f9d943a6aa | 131 | #define RESET_AX12 0x035 // Reset AX12 |
| marwanesaich | 1:97f9d943a6aa | 132 | #define RESET_TELEMETRE 0x036 // Reset telemetre |
| marwanesaich | 1:97f9d943a6aa | 133 | |
| marwanesaich | 1:97f9d943a6aa | 134 | |
| marwanesaich | 1:97f9d943a6aa | 135 | |
| Ganstrich | 0:63cf4d3a2ff9 | 136 | #define RESET_STRAT 0x3A // Reset stratégie |
| marwanesaich | 1:97f9d943a6aa | 137 | |
| marwanesaich | 1:97f9d943a6aa | 138 | //////////////////////////////////////////////////////////CHECK CARTES///////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 139 | #define CHECK_BALISE 0x060 // Check balise |
| Ganstrich | 0:63cf4d3a2ff9 | 140 | #define CHECK_MOTEUR 0x061 // Check moteur |
| Ganstrich | 0:63cf4d3a2ff9 | 141 | #define CHECK_IHM 0x062 // Check écran tactile |
| marwanesaich | 1:97f9d943a6aa | 142 | #define CHECK_ACTIONNEURS_AVANT 0x063 // Check actionneurs |
| marwanesaich | 1:97f9d943a6aa | 143 | #define CHECK_ACTIONNEURS_ARRIERE 0x064 // Check pompes |
| marwanesaich | 1:97f9d943a6aa | 144 | #define CHECK_AX12 0x065 // Check AX12 |
| marwanesaich | 1:97f9d943a6aa | 145 | #define CHECK_OK_TELEMETRE 0x066 // Check telemetre |
| marwanesaich | 1:97f9d943a6aa | 146 | |
| marwanesaich | 1:97f9d943a6aa | 147 | //////////////////////////////////////////////////////////ACK CARTES/////////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 148 | #define ALIVE_BALISE 0x070 // Alive balise |
| Ganstrich | 0:63cf4d3a2ff9 | 149 | #define ALIVE_MOTEUR 0x071 // Alive moteur |
| Ganstrich | 0:63cf4d3a2ff9 | 150 | #define ALIVE_IHM 0x072 // Alive écran tactile |
| marwanesaich | 1:97f9d943a6aa | 151 | #define ALIVE_ACTIONNEURS_AVANT 0x073 // Alive actionneurs |
| marwanesaich | 1:97f9d943a6aa | 152 | #define ALIVE_ACTIONNEURS_ARRIERE 0x074 // Alive pompes |
| marwanesaich | 1:97f9d943a6aa | 153 | #define ALIVE_AX12 0x075 // Alive AX12 |
| marwanesaich | 1:97f9d943a6aa | 154 | #define ALIVE_TELEMETRE 0x076 // Alive telemetre |
| marwanesaich | 1:97f9d943a6aa | 155 | |
| marwanesaich | 1:97f9d943a6aa | 156 | |
| marwanesaich | 1:97f9d943a6aa | 157 | /////////////////////////////////////////////////////ACTIONS COMPLEXES///////////////////////////////////////////////// |
| marwanesaich | 1:97f9d943a6aa | 158 | #define MONTER_IMMEUBLE_DOUBLE 0x090 // Monte deux immeubles selon un code couleur |
| marwanesaich | 1:97f9d943a6aa | 159 | #define MONTER_IMMEUBLE 0x091 |
| marwanesaich | 1:97f9d943a6aa | 160 | #define ACK_ACTION 0x99 //autre action possible via les herkulex, ne peut pas passer en sendrawid |
| marwanesaich | 1:97f9d943a6aa | 161 | |
| marwanesaich | 1:97f9d943a6aa | 162 | |
| marwanesaich | 1:97f9d943a6aa | 163 | |
| marwanesaich | 1:97f9d943a6aa | 164 | /////////////////////////////////////////////////////////ACKS//////////////////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 165 | #define ACKNOWLEDGE_BALISE 0x100 // Acknowledge balise |
| Ganstrich | 0:63cf4d3a2ff9 | 166 | #define ACKNOWLEDGE_MOTEUR 0x101 // Acknowledge moteur |
| Ganstrich | 0:63cf4d3a2ff9 | 167 | #define ACKNOWLEDGE_IHM 0x102 // Acknowledge ecran tactile |
| Ganstrich | 0:63cf4d3a2ff9 | 168 | #define ACKNOWLEDGE_ACTIONNEURS 0x103 // Acknowledge actionneurs |
| marwanesaich | 1:97f9d943a6aa | 169 | #define ACKNOWLEDGE_POMPES 0x104 // Acknowledge pompes |
| marwanesaich | 1:97f9d943a6aa | 170 | #define ACKNOWLEDGE_TELEMETRE 0x105 // Acknowledge telemetre |
| marwanesaich | 1:97f9d943a6aa | 171 | #define ACKNOWLEDGE_HERKULEX 0x106 // Ack ax12 |
| marwanesaich | 1:97f9d943a6aa | 172 | #define ACKNOWLEDGE_STRAT 0x10A // Acknowledge pompes |
| marwanesaich | 1:97f9d943a6aa | 173 | #define ACKNOWLEDGE_CAMERA 0x108 //Acknowledge couleur caméra |
| marwanesaich | 1:97f9d943a6aa | 174 | |
| marwanesaich | 1:97f9d943a6aa | 175 | |
| Ganstrich | 0:63cf4d3a2ff9 | 176 | #define INSTRUCTION_END_BALISE 0x110 // Fin instruction balise (Indique que l'instruction est terminée) |
| Ganstrich | 0:63cf4d3a2ff9 | 177 | #define INSTRUCTION_END_MOTEUR 0x111 // Fin instruction moteur (Indique que l'instruction est terminée) |
| Ganstrich | 0:63cf4d3a2ff9 | 178 | #define INSTRUCTION_END_IHM 0x112 // Fin instruction ecran tactile (Indique que l'instruction est terminée) |
| Ganstrich | 0:63cf4d3a2ff9 | 179 | #define INSTRUCTION_END_ACTIONNEURS 0x113 // Fin instruction actionneurs (Indique que l'instruction est terminée) |
| marwanesaich | 1:97f9d943a6aa | 180 | #define ACK_FIN_ACTION 0x116 |
| marwanesaich | 1:97f9d943a6aa | 181 | |
| marwanesaich | 1:97f9d943a6aa | 182 | |
| marwanesaich | 1:97f9d943a6aa | 183 | |
| marwanesaich | 1:97f9d943a6aa | 184 | /////////////////////////////////////////////////////////ERREURS//////////////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 185 | #define ERROR_OVERFLOW_BALISE 0x040 // Overflow odométrie |
| Ganstrich | 0:63cf4d3a2ff9 | 186 | #define ERROR_OVERFLOW_MOTEUR 0x041 // Overflow asservissement |
| Ganstrich | 0:63cf4d3a2ff9 | 187 | #define ERROR_OVERFLOW_IHM 0x042 // Overflow balise |
| Ganstrich | 0:63cf4d3a2ff9 | 188 | #define ERROR_OVERFLOW_STRAT 0x043 // Overflow stratégie |
| Ganstrich | 0:63cf4d3a2ff9 | 189 | #define ERROR_BALISE 0x785 // Bug balise |
| Ganstrich | 0:63cf4d3a2ff9 | 190 | #define ERROR_RTC 0x786 // Bug RTC |
| Ganstrich | 0:63cf4d3a2ff9 | 191 | #define ERROR_MOTEUR 0x787 // Bug moteur |
| Ganstrich | 0:63cf4d3a2ff9 | 192 | #define ERROR_TELEMETRIE 0x788 // Bug télémètre |
| Ganstrich | 0:63cf4d3a2ff9 | 193 | #define ERROR_STRATEGIE 0x789 // Bug stratégie |
| marwanesaich | 1:97f9d943a6aa | 194 | |
| marwanesaich | 1:97f9d943a6aa | 195 | |
| marwanesaich | 1:97f9d943a6aa | 196 | |
| marwanesaich | 1:97f9d943a6aa | 197 | /////////////////////////////////////////////////ACTIONS SIMPLES DU ROBOT///////////////////////////////////////////// |
| marwanesaich | 1:97f9d943a6aa | 198 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
| Artiom | 2:9ab15ac5855b | 199 | #define GABARIT_PETIT_ROBOT 0x200 |
| Artiom | 2:9ab15ac5855b | 200 | |
| Artiom | 2:9ab15ac5855b | 201 | #define PRESENTOIR_AVANT 0x201 |
| Artiom | 2:9ab15ac5855b | 202 | #define PRESENTOIR_ARRIERE 0x202 |
| Artiom | 2:9ab15ac5855b | 203 | |
| Artiom | 2:9ab15ac5855b | 204 | #define BALANCE_AVANT 0x203 |
| Artiom | 2:9ab15ac5855b | 205 | #define BALANCE_ARRIERE 0x204 |
| Artiom | 2:9ab15ac5855b | 206 | |
| Artiom | 2:9ab15ac5855b | 207 | #define ACCELERATEUR_AVANT 0x205 |
| Artiom | 2:9ab15ac5855b | 208 | #define ACCELERATEUR_ARRIERE 0x206 |
| Artiom | 2:9ab15ac5855b | 209 | |
| Artiom | 2:9ab15ac5855b | 210 | #define GOLDENIUM_AVANT 0x207 |
| Artiom | 2:9ab15ac5855b | 211 | #define GOLDENIUM_ARRIERE 0x208 |
| Artiom | 2:9ab15ac5855b | 212 | |
| Artiom | 2:9ab15ac5855b | 213 | #define SOL_AVANT 0x209 |
| Artiom | 2:9ab15ac5855b | 214 | #define SOL_ARRIERE 0x210 |
| Artiom | 2:9ab15ac5855b | 215 | |
| Artiom | 2:9ab15ac5855b | 216 | #define SOL_AVANT_RELACHE 0x211 |
| Artiom | 2:9ab15ac5855b | 217 | #define SOL_ARRIERE_RELACHE 0x212 |
| Artiom | 2:9ab15ac5855b | 218 | |
| Artiom | 2:9ab15ac5855b | 219 | #define AVANT_RELACHE 0x213 |
| Artiom | 2:9ab15ac5855b | 220 | #define ARRIERE_RELACHE 0x214 |
| Artiom | 2:9ab15ac5855b | 221 | |
| Artiom | 2:9ab15ac5855b | 222 | #define RECROQUEVILLER 0x215 |
| Artiom | 2:9ab15ac5855b | 223 | |
| Artiom | 2:9ab15ac5855b | 224 | #define VENTOUSE_AV_CENTRE_BALANCE 0x216 |
| Artiom | 2:9ab15ac5855b | 225 | #define VENTOUSE_AR_CENTRE_BALANCE 0x217 |
| Artiom | 2:9ab15ac5855b | 226 | |
| Artiom | 8:a85881bd535b | 227 | #define ACCELERATEUR_INSERTION_AVANT_GAUCHE 0X218 |
| Artiom | 8:a85881bd535b | 228 | #define ACCELERATEUR_INSERTION_ARRIERE_GAUCHE 0X219 |
| Artiom | 8:a85881bd535b | 229 | |
| kyxstark | 4:6769b20ff998 | 230 | #define ASCENSEUR 0x230 //data 0 : 1 ou 0 allumer éteindre |
| Artiom | 2:9ab15ac5855b | 231 | |
| marwanesaich | 1:97f9d943a6aa | 232 | ///////////////////////////////////////////CAPTEURS/////////////////////////////////////////////////////////////////// |
| Artiom | 2:9ab15ac5855b | 233 | #define DATA_TELEMETRE 0x310 // Demande sa valeur à un télémètre parmis les |
| Artiom | 2:9ab15ac5855b | 234 | #define RECEPTION_DATA 0x311 // envoi de la valeur d'un des télémètres |
| Artiom | 2:9ab15ac5855b | 235 | #define TELEMETRE_OBJET 0x312 |
| Artiom | 2:9ab15ac5855b | 236 | #define OBJET_SUR_TABLE 0x313 |
| Artiom | 2:9ab15ac5855b | 237 | #define RECEPTION_RECALAGE 0x315 //Valeur des télémètres |
| Artiom | 2:9ab15ac5855b | 238 | #define DATA_RECALAGE 0x316 //Demande de la valeur de tous les télémètres afin de procèder au récalage |
| Artiom | 2:9ab15ac5855b | 239 | #define LIRE_PANNEAU 0x317 |
| Artiom | 2:9ab15ac5855b | 240 | #define VIBRO 0x318 |
| Artiom | 17:d46f9ad0a9d0 | 241 | |
| Artiom | 17:d46f9ad0a9d0 | 242 | #define DATA_TELEMETRE_LOGIQUE 0x319 |
| Artiom | 17:d46f9ad0a9d0 | 243 | #define RECEPTION_TELEMETRE_LOGIQUE 0x320 |
| marwanesaich | 1:97f9d943a6aa | 244 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
| kyxstark | 3:5d8692c71146 | 245 | |
| kyxstark | 3:5d8692c71146 | 246 | |
| kyxstark | 3:5d8692c71146 | 247 | |
| marwanesaich | 1:97f9d943a6aa | 248 | ///////////////////////////////////////////////////ENVOI DE PARAMETRES////////////////////////////////////////////////// |
| marwanesaich | 1:97f9d943a6aa | 249 | #define CHOICE_COLOR 0x602 // Couleur (0->VERT;1->ORANGE) |
| marwanesaich | 1:97f9d943a6aa | 250 | #define RECEPTION_COULEUR 0x603 //Code Couleur |
| marwanesaich | 1:97f9d943a6aa | 251 | #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 | 252 | |
| marwanesaich | 1:97f9d943a6aa | 253 | ///////////////////////////////////////////////////////////DEBUGS/////////////////////////////////////////////////////// |
| Ganstrich | 0:63cf4d3a2ff9 | 254 | #define DEBUG_STRATEGIE_AUTOMATE 0x760 // Etat automate stratégie (Permet de savoir l'etat de l'automate) |
| Ganstrich | 0:63cf4d3a2ff9 | 255 | #define DEBUG_FAKE_JAKE 0x761 // Fake jack (Permet d'outre passerr le JACk du robot) |
| Ganstrich | 0:63cf4d3a2ff9 | 256 | #define DEBUG_ASSERV 0x762 // Info debug carte moteur |
| marwanesaich | 1:97f9d943a6aa | 257 | |
| marwanesaich | 1:97f9d943a6aa | 258 | |
| marwanesaich | 1:97f9d943a6aa | 259 | |
| marwanesaich | 1:97f9d943a6aa | 260 | #define POMPE_PWM 0x9A // pwm des pompes (pwm entre 0 et 100) |
| marwanesaich | 1:97f9d943a6aa | 261 | |
| marwanesaich | 1:97f9d943a6aa | 262 | |
| kyxstark | 3:5d8692c71146 | 263 | |
| kyxstark | 3:5d8692c71146 | 264 | |
| kyxstark | 3:5d8692c71146 | 265 | ///////////////////////////////Carte Hacheur//////////////////////////////////// |
| kyxstark | 3:5d8692c71146 | 266 | |
| kyxstark | 3:5d8692c71146 | 267 | #define HACHEUR_GET_ATOM 0x520 |
| kyxstark | 3:5d8692c71146 | 268 | #define HACHEUR_GET_ATOM_ACK 0x521 |
| kyxstark | 12:778c53dd493b | 269 | |
| kyxstark | 3:5d8692c71146 | 270 | #define HACHEUR_RELEASE_ATOM 0x522 |
| kyxstark | 3:5d8692c71146 | 271 | #define HACHEUR_RELEASE_ATOM_ACK 0x523 |
| kyxstark | 12:778c53dd493b | 272 | |
| kyxstark | 3:5d8692c71146 | 273 | #define HACHEUR_GET_PRESENTOIR_AV 0x524 |
| kyxstark | 3:5d8692c71146 | 274 | #define HACHEUR_RELEASE_AV 0x525 |
| kyxstark | 12:778c53dd493b | 275 | |
| kyxstark | 3:5d8692c71146 | 276 | #define HACHEUR_GET_PRESENTOIR_AR 0x526 |
| kyxstark | 3:5d8692c71146 | 277 | #define HACHEUR_RELEASE_AR 0x527 |
| kyxstark | 12:778c53dd493b | 278 | |
| kyxstark | 3:5d8692c71146 | 279 | #define HACHEUR_STATUT_VENTOUSES 0x528 |
| kyxstark | 3:5d8692c71146 | 280 | |
| kyxstark | 4:6769b20ff998 | 281 | #define HACHEUR_ID_COUROIES 0x600 //data 0 : 1 ou 0 allumer éteindre |
| kyxstark | 3:5d8692c71146 | 282 | |
| kyxstark | 6:660ff744e474 | 283 | #define AV_DROIT 0 |
| kyxstark | 6:660ff744e474 | 284 | #define AV_CENTRE 1 |
| kyxstark | 6:660ff744e474 | 285 | #define AV_GAUCHE 2 |
| kyxstark | 6:660ff744e474 | 286 | #define AV_BAS 3 |
| kyxstark | 3:5d8692c71146 | 287 | |
| kyxstark | 6:660ff744e474 | 288 | #define AR_DROIT 4 |
| kyxstark | 6:660ff744e474 | 289 | #define AR_CENTRE 5 |
| kyxstark | 6:660ff744e474 | 290 | #define AR_GAUCHE 6 |
| kyxstark | 6:660ff744e474 | 291 | #define AR_BAS 7 |
| kyxstark | 3:5d8692c71146 | 292 | |
| kyxstark | 6:660ff744e474 | 293 | /* |
| kyxstark | 3:5d8692c71146 | 294 | #define PGR_DROIT 0 |
| kyxstark | 3:5d8692c71146 | 295 | #define PGR_CENTRE 1 |
| kyxstark | 6:660ff744e474 | 296 | #define PGR_GAUCHE 2*/ |
| kyxstark | 3:5d8692c71146 | 297 | |
| kyxstark | 3:5d8692c71146 | 298 | |
| kyxstark | 3:5d8692c71146 | 299 | //////////////////////////////////////////////////////////////////////////////// |
| kyxstark | 3:5d8692c71146 | 300 | |
| kyxstark | 3:5d8692c71146 | 301 | |
| kyxstark | 12:778c53dd493b | 302 | /* |
| kyxstark | 3:5d8692c71146 | 303 | |
| kyxstark | 12:778c53dd493b | 304 | //#define BAISSER_ATTRAPE_BLOC_AvG 0x222 |
| kyxstark | 12:778c53dd493b | 305 | #define RELEVER_ATTRAPE_BLOC_AvG 0x223 |
| kyxstark | 12:778c53dd493b | 306 | |
| kyxstark | 12:778c53dd493b | 307 | #define BAISSER_ATTRAPE_BLOC_AvD 0x224 |
| kyxstark | 12:778c53dd493b | 308 | #define RELEVER_ATTRAPE_BLOC_AvD 0x225 |
| kyxstark | 12:778c53dd493b | 309 | |
| kyxstark | 12:778c53dd493b | 310 | #define INTER_BAISSER_ATTRAPE_BLOC_AvG 0x226 |
| kyxstark | 12:778c53dd493b | 311 | #define INTER_BAISSER_ATTRAPE_BLOC_AvD 0x227 |
| kyxstark | 12:778c53dd493b | 312 | |
| kyxstark | 12:778c53dd493b | 313 | #define RANGER_ATTRAPE_BLOC_AvD 0x228 |
| kyxstark | 12:778c53dd493b | 314 | #define RANGER_ATTRAPE_BLOC_AvG 0x229 |
| kyxstark | 12:778c53dd493b | 315 | |
| kyxstark | 12:778c53dd493b | 316 | #define BRAS_VENTOUSE_1 0x22A |
| kyxstark | 12:778c53dd493b | 317 | #define BRAS_VENTOUSE_2 0x22B |
| kyxstark | 12:778c53dd493b | 318 | |
| kyxstark | 12:778c53dd493b | 319 | #define BRAS_ABEILLE_UP 0x202 |
| kyxstark | 12:778c53dd493b | 320 | #define BRAS_ABEILLE_DOWN 0x203 |
| kyxstark | 12:778c53dd493b | 321 | #define INCLINAISON_CHATEAU 0x204 |
| kyxstark | 12:778c53dd493b | 322 | #define INCLINAISON_EPURATION 0x205 |
| kyxstark | 12:778c53dd493b | 323 | #define ALLUMER_PANNEAU_UP 0x206 |
| kyxstark | 12:778c53dd493b | 324 | #define ALLUMER_PANNEAU_DOWN 0x207 |
| kyxstark | 12:778c53dd493b | 325 | #define BLOCAGE_BALLE 0x208 |
| kyxstark | 12:778c53dd493b | 326 | #define LANCEMENT_MOTEUR_TIR_ON 0x209 |
| kyxstark | 12:778c53dd493b | 327 | #define LANCEMENT_MOTEUR_TIR_OFF 0x20A |
| kyxstark | 12:778c53dd493b | 328 | #define AIGUILLEUR_CENTRE 0x20B |
| kyxstark | 12:778c53dd493b | 329 | #define AIGUILLEUR_GAUCHE 0x20C |
| kyxstark | 12:778c53dd493b | 330 | #define AIGUILLEUR_DROITE 0x20D |
| kyxstark | 12:778c53dd493b | 331 | #define TRI_BALLE 0x20E |
| kyxstark | 12:778c53dd493b | 332 | #define NO_BLOC 0x20F |
| kyxstark | 12:778c53dd493b | 333 | */ |
| kyxstark | 12:778c53dd493b | 334 | |
| kyxstark | 12:778c53dd493b | 335 | //////////////////////////////////////////////////////////ACK CARTES/////////////////////////////////////////////////// |
| kyxstark | 12:778c53dd493b | 336 | #define ALIVE_BALISE 0x070 // Alive balise |
| kyxstark | 12:778c53dd493b | 337 | #define ALIVE_MOTEUR 0x071 // Alive moteur |
| kyxstark | 12:778c53dd493b | 338 | #define ALIVE_IHM 0x072 // Alive écran tactile |
| kyxstark | 12:778c53dd493b | 339 | #define ALIVE_ACTIONNEURS_AVANT 0x073 // Alive actionneurs |
| kyxstark | 12:778c53dd493b | 340 | #define ALIVE_ACTIONNEURS_ARRIERE 0x074 // Alive pompes |
| kyxstark | 12:778c53dd493b | 341 | #define ALIVE_HERKULEX 0x075 // Alive AX12 |
| kyxstark | 12:778c53dd493b | 342 | #define ALIVE_TELEMETRE 0x076 // Alive telemetre |
| kyxstark | 4:6769b20ff998 | 343 | |
| marwanesaich | 1:97f9d943a6aa | 344 | |
| marwanesaich | 1:97f9d943a6aa | 345 | #endif |
| marwanesaich | 1:97f9d943a6aa | 346 |