test des capteurs/actionneurs petit robot
Fork of mbed_tes_cpt by
main.cpp@3:43843ab8af47, 2017-05-21 (annotated)
- Committer:
- matthieuvignon
- Date:
- Sun May 21 16:10:38 2017 +0000
- Revision:
- 3:43843ab8af47
- Parent:
- 2:9d280856a536
- Child:
- 5:7e1c328c5d50
Carte a tout faire
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
matthieuvignon | 2:9d280856a536 | 1 | #include "all_includes.h" |
matthieuvignon | 2:9d280856a536 | 2 | |
matthieuvignon | 2:9d280856a536 | 3 | Timer t; |
matthieuvignon | 2:9d280856a536 | 4 | Ticker flipper; |
matthieuvignon | 2:9d280856a536 | 5 | |
matthieuvignon | 2:9d280856a536 | 6 | CAN can(p30,p29); // Rx&Tx pour le CAN |
matthieuvignon | 2:9d280856a536 | 7 | CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN |
matthieuvignon | 2:9d280856a536 | 8 | |
matthieuvignon | 2:9d280856a536 | 9 | Serial pc(USBTX, USBRX); |
matthieuvignon | 2:9d280856a536 | 10 | |
matthieuvignon | 3:43843ab8af47 | 11 | #ifdef AVANT |
matthieuvignon | 3:43843ab8af47 | 12 | void gerer_turbine(unsigned char pwm_turbine); |
matthieuvignon | 3:43843ab8af47 | 13 | #endif |
matthieuvignon | 3:43843ab8af47 | 14 | |
matthieuvignon | 3:43843ab8af47 | 15 | unsigned char Cote=0; |
matthieuvignon | 3:43843ab8af47 | 16 | |
matthieuvignon | 3:43843ab8af47 | 17 | #ifdef AVANT |
matthieuvignon | 3:43843ab8af47 | 18 | PwmOut Pompe(p21); |
matthieuvignon | 3:43843ab8af47 | 19 | PwmOut ElectroVanne(p22); |
matthieuvignon | 3:43843ab8af47 | 20 | PwmOut turbine(p23); |
matthieuvignon | 3:43843ab8af47 | 21 | #endif |
matthieuvignon | 3:43843ab8af47 | 22 | |
matthieuvignon | 3:43843ab8af47 | 23 | #ifdef ARRIERE |
matthieuvignon | 3:43843ab8af47 | 24 | PwmOut Pompe(p21); |
matthieuvignon | 3:43843ab8af47 | 25 | PwmOut MotLanceur(p22); |
matthieuvignon | 3:43843ab8af47 | 26 | #endif |
matthieuvignon | 2:9d280856a536 | 27 | |
ClementBreteau | 0:7737d7573e3b | 28 | |
matthieuvignon | 2:9d280856a536 | 29 | |
matthieuvignon | 2:9d280856a536 | 30 | AnalogIn telemetre(p15); |
matthieuvignon | 2:9d280856a536 | 31 | |
matthieuvignon | 2:9d280856a536 | 32 | DigitalIn Jack(p25); |
matthieuvignon | 2:9d280856a536 | 33 | |
matthieuvignon | 2:9d280856a536 | 34 | |
matthieuvignon | 2:9d280856a536 | 35 | DigitalOut led(LED1); |
matthieuvignon | 2:9d280856a536 | 36 | DigitalOut led2(LED2); |
matthieuvignon | 2:9d280856a536 | 37 | |
matthieuvignon | 3:43843ab8af47 | 38 | unsigned char EtatPompe=0, EtatLanceur=0, EtatAx12=0, ChoixBras=0, ActionAx12=0, EtatTurbine=0, EtatElectroVanne=0; |
matthieuvignon | 2:9d280856a536 | 39 | unsigned char action_a_effectuer=0, ActionPompe=0; |
matthieuvignon | 2:9d280856a536 | 40 | |
ClementBreteau | 0:7737d7573e3b | 41 | |
ClementBreteau | 0:7737d7573e3b | 42 | /* |
ClementBreteau | 0:7737d7573e3b | 43 | DigitalIn IO1(p23); |
ClementBreteau | 0:7737d7573e3b | 44 | DigitalIn IO2(p24); |
ClementBreteau | 0:7737d7573e3b | 45 | DigitalIn IO3(p25); |
ClementBreteau | 0:7737d7573e3b | 46 | DigitalIn IO4(p26); |
ClementBreteau | 0:7737d7573e3b | 47 | |
ClementBreteau | 0:7737d7573e3b | 48 | AnalogIn A_in1(p15); |
ClementBreteau | 0:7737d7573e3b | 49 | AnalogIn A_in2(p16); |
ClementBreteau | 0:7737d7573e3b | 50 | AnalogIn A_in3(p17); |
ClementBreteau | 0:7737d7573e3b | 51 | AnalogIn A_in4(p18); |
ClementBreteau | 0:7737d7573e3b | 52 | AnalogIn A_in5(p19); |
ClementBreteau | 0:7737d7573e3b | 53 | AnalogIn A_in6(p20); |
ClementBreteau | 0:7737d7573e3b | 54 | |
ClementBreteau | 0:7737d7573e3b | 55 | PwmOut IRL_1(p21); |
ClementBreteau | 0:7737d7573e3b | 56 | PwmOut IRL_2(p22); |
ClementBreteau | 0:7737d7573e3b | 57 | */ |
ClementBreteau | 0:7737d7573e3b | 58 | |
ClementBreteau | 1:f3f702086a30 | 59 | |
ClementBreteau | 0:7737d7573e3b | 60 | |
matthieuvignon | 2:9d280856a536 | 61 | |
matthieuvignon | 2:9d280856a536 | 62 | int main() { |
matthieuvignon | 2:9d280856a536 | 63 | |
matthieuvignon | 2:9d280856a536 | 64 | can.frequency(1000000); // fréquence de travail 1Mbit/s |
matthieuvignon | 2:9d280856a536 | 65 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
matthieuvignon | 3:43843ab8af47 | 66 | |
matthieuvignon | 2:9d280856a536 | 67 | // message CAN autorise a declencher l'interruption |
matthieuvignon | 2:9d280856a536 | 68 | |
matthieuvignon | 3:43843ab8af47 | 69 | CAN2_wrFilter(POMPE); |
matthieuvignon | 3:43843ab8af47 | 70 | |
matthieuvignon | 2:9d280856a536 | 71 | CAN2_wrFilter(LANCEUR); |
matthieuvignon | 2:9d280856a536 | 72 | CAN2_wrFilter(TURBINE); |
matthieuvignon | 3:43843ab8af47 | 73 | CAN2_wrFilter(ELECTROVANNE); |
matthieuvignon | 2:9d280856a536 | 74 | CAN2_wrFilter(0x123); |
matthieuvignon | 2:9d280856a536 | 75 | |
matthieuvignon | 2:9d280856a536 | 76 | CAN2_wrFilter(SERVO_AX12_ACTION); |
matthieuvignon | 2:9d280856a536 | 77 | CAN2_wrFilter(SERVO_AX12_ACK); |
matthieuvignon | 2:9d280856a536 | 78 | CAN2_wrFilter(SERVO_AX12_END); |
matthieuvignon | 2:9d280856a536 | 79 | CAN2_wrFilter(CHECK_AX12); |
matthieuvignon | 2:9d280856a536 | 80 | |
matthieuvignon | 2:9d280856a536 | 81 | initialisation_AX12(); |
matthieuvignon | 2:9d280856a536 | 82 | |
matthieuvignon | 3:43843ab8af47 | 83 | #ifdef AVANT |
matthieuvignon | 3:43843ab8af47 | 84 | Pompe.period(0.001); |
matthieuvignon | 3:43843ab8af47 | 85 | ElectroVanne.period(0.001); |
matthieuvignon | 3:43843ab8af47 | 86 | #endif |
matthieuvignon | 3:43843ab8af47 | 87 | |
matthieuvignon | 3:43843ab8af47 | 88 | |
matthieuvignon | 3:43843ab8af47 | 89 | #ifdef ARRIERE |
matthieuvignon | 3:43843ab8af47 | 90 | Pompe.period(0.001); |
matthieuvignon | 3:43843ab8af47 | 91 | MotLanceur.period(0.001); |
matthieuvignon | 3:43843ab8af47 | 92 | #endif |
matthieuvignon | 3:43843ab8af47 | 93 | |
matthieuvignon | 2:9d280856a536 | 94 | |
matthieuvignon | 2:9d280856a536 | 95 | |
matthieuvignon | 2:9d280856a536 | 96 | while(1) { |
matthieuvignon | 2:9d280856a536 | 97 | led = !led; |
matthieuvignon | 2:9d280856a536 | 98 | canProcessRx();//Traitement des trames CAN en attente |
matthieuvignon | 2:9d280856a536 | 99 | |
matthieuvignon | 2:9d280856a536 | 100 | |
matthieuvignon | 2:9d280856a536 | 101 | if (action_a_effectuer==1) { |
matthieuvignon | 2:9d280856a536 | 102 | action_a_effectuer=0; |
matthieuvignon | 2:9d280856a536 | 103 | |
matthieuvignon | 3:43843ab8af47 | 104 | if (Cote==CARTE) { |
matthieuvignon | 3:43843ab8af47 | 105 | if (ActionAx12==1){ |
matthieuvignon | 3:43843ab8af47 | 106 | led2=!led2; |
matthieuvignon | 3:43843ab8af47 | 107 | AX12_automate(EtatAx12); |
matthieuvignon | 3:43843ab8af47 | 108 | ActionAx12=0; |
matthieuvignon | 3:43843ab8af47 | 109 | } |
matthieuvignon | 3:43843ab8af47 | 110 | |
matthieuvignon | 3:43843ab8af47 | 111 | if ((EtatPompe==1)&&(ActionPompe==1)) |
matthieuvignon | 3:43843ab8af47 | 112 | ActionPompe=0, Pompe.write(1); |
matthieuvignon | 3:43843ab8af47 | 113 | else if ((EtatPompe==0)&&(ActionPompe==1)) |
matthieuvignon | 3:43843ab8af47 | 114 | Pompe.write(0), ActionPompe=0; |
matthieuvignon | 3:43843ab8af47 | 115 | |
matthieuvignon | 3:43843ab8af47 | 116 | #ifdef AVANT |
matthieuvignon | 3:43843ab8af47 | 117 | if (EtatTurbine==1) |
matthieuvignon | 3:43843ab8af47 | 118 | gerer_turbine(1); |
matthieuvignon | 3:43843ab8af47 | 119 | else if (EtatTurbine==0) |
matthieuvignon | 3:43843ab8af47 | 120 | gerer_turbine(0); |
matthieuvignon | 3:43843ab8af47 | 121 | |
matthieuvignon | 3:43843ab8af47 | 122 | if (EtatElectroVanne==1) |
matthieuvignon | 3:43843ab8af47 | 123 | ElectroVanne.write(1); |
matthieuvignon | 3:43843ab8af47 | 124 | else if (EtatElectroVanne==0) |
matthieuvignon | 3:43843ab8af47 | 125 | ElectroVanne.write(0); |
matthieuvignon | 3:43843ab8af47 | 126 | #endif |
matthieuvignon | 3:43843ab8af47 | 127 | |
matthieuvignon | 3:43843ab8af47 | 128 | #ifdef ARRIERE |
matthieuvignon | 3:43843ab8af47 | 129 | if (EtatLanceur==1) |
matthieuvignon | 3:43843ab8af47 | 130 | MotLanceur.write(1); |
matthieuvignon | 3:43843ab8af47 | 131 | else if (EtatLanceur==0) |
matthieuvignon | 3:43843ab8af47 | 132 | MotLanceur.write(0); |
matthieuvignon | 3:43843ab8af47 | 133 | #endif |
matthieuvignon | 3:43843ab8af47 | 134 | |
matthieuvignon | 2:9d280856a536 | 135 | } |
matthieuvignon | 3:43843ab8af47 | 136 | } |
ClementBreteau | 0:7737d7573e3b | 137 | } |
ClementBreteau | 0:7737d7573e3b | 138 | } |
ClementBreteau | 0:7737d7573e3b | 139 |