CRAC Team
test des capteurs/actionneurs petit robot
Fork of
mbed_tes_cpt
by 
CRAC Team
Actionneur.cpp@5:7e1c328c5d50, 2017-05-25 (annotated)
- Committer:
- matthieuvignon
- Date:
- Thu May 25 06:35:22 2017 +0000
- Revision:
- 5:7e1c328c5d50
- Parent:
- 3:43843ab8af47
Version Gatien Nuit
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| matthieuvignon | 2:9d280856a536 | 1 | #include "Actionneur.h" |
| matthieuvignon | 2:9d280856a536 | 2 | |
| matthieuvignon | 2:9d280856a536 | 3 | extern CAN can; |
| matthieuvignon | 2:9d280856a536 | 4 | |
| matthieuvignon | 2:9d280856a536 | 5 | /* DECLARATION VARIABLES */ |
| matthieuvignon | 2:9d280856a536 | 6 | |
| matthieuvignon | 2:9d280856a536 | 7 | extern unsigned char FlagAx12; |
| matthieuvignon | 2:9d280856a536 | 8 | extern "C" void mbed_reset();//Pour pouvoir reset la carte |
| matthieuvignon | 2:9d280856a536 | 9 | |
| matthieuvignon | 2:9d280856a536 | 10 | extern DigitalOut led2; |
| matthieuvignon | 2:9d280856a536 | 11 | extern Serial pc; |
| matthieuvignon | 2:9d280856a536 | 12 | extern void GetPositionAx12(void); |
| matthieuvignon | 3:43843ab8af47 | 13 | |
| matthieuvignon | 3:43843ab8af47 | 14 | extern PwmOut Pompe; |
| matthieuvignon | 5:7e1c328c5d50 | 15 | #define MULT_TIMEOUT 30 |
| matthieuvignon | 5:7e1c328c5d50 | 16 | |
| matthieuvignon | 5:7e1c328c5d50 | 17 | unsigned char timeout=0; |
| matthieuvignon | 5:7e1c328c5d50 | 18 | Timeout flipper; |
| matthieuvignon | 3:43843ab8af47 | 19 | |
| matthieuvignon | 2:9d280856a536 | 20 | |
| matthieuvignon | 3:43843ab8af47 | 21 | AX12 *Ax12_HautBrasModuleAvant, *Ax12_DevantPinceDroite, *Ax12_DevantPinceGauche, *Ax12_MilieuBrasModuleAvant, *BrasModuleAx12, *TabBrasModule; |
| matthieuvignon | 3:43843ab8af47 | 22 | AX12 *Ax12_MilieuBrasPompe, *Ax12_HautBrasPompe, *Ax12_BasBrasPompe, *BrasPompeAx12, *TabBrasPompe; |
| matthieuvignon | 5:7e1c328c5d50 | 23 | AX12 *Ax12_HautBrasAspirateur, *Ax12_BasBrasAspirateur, *BrasAspirateurAx12, *TabBrasAspirateur, *Ax12_FunnyAction; |
| matthieuvignon | 5:7e1c328c5d50 | 24 | AX12 *Ax12_Porte; |
| matthieuvignon | 2:9d280856a536 | 25 | |
| matthieuvignon | 2:9d280856a536 | 26 | |
| matthieuvignon | 2:9d280856a536 | 27 | /* ANGLE */ |
| matthieuvignon | 2:9d280856a536 | 28 | |
| matthieuvignon | 2:9d280856a536 | 29 | /* 10° = 0x21, 0x00 | 110°= 0x6E, 0x01 | 210°= 0xBC, 0x02 |
| matthieuvignon | 2:9d280856a536 | 30 | 20° = 0x42, 0x00 | 120°= 0x90, 0x01 | 220°= 0xDD, 0x02 |
| matthieuvignon | 2:9d280856a536 | 31 | 30° = 0x64, 0x00 | 130°= 0xB1, 0x01 |
| matthieuvignon | 2:9d280856a536 | 32 | 40° = 0x85, 0x00 | 140°= 0xD2, 0x01 |
| matthieuvignon | 2:9d280856a536 | 33 | 50° = 0xA6, 0x00 | 150°= 0xF4, 0x01 |
| matthieuvignon | 2:9d280856a536 | 34 | 60° = 0xC8, 0x00 | 160°= 0x15, 0x02 |
| matthieuvignon | 2:9d280856a536 | 35 | 70° = 0xE9, 0x00 | 170°= 0x36, 0x02 |
| matthieuvignon | 2:9d280856a536 | 36 | 80° = 0x0A, 0x01 | 180°= 0x58, 0x02 |
| matthieuvignon | 2:9d280856a536 | 37 | 90° = 0x2C, 0x01 | 190°= 0x79, 0x02 |
| matthieuvignon | 2:9d280856a536 | 38 | 100°= 0x4D, 0x01 | 200°= 0x9A, 0x02 */ |
| matthieuvignon | 2:9d280856a536 | 39 | |
| matthieuvignon | 2:9d280856a536 | 40 | /* NUMERO AX12 */ |
| matthieuvignon | 2:9d280856a536 | 41 | |
| matthieuvignon | 2:9d280856a536 | 42 | /* 0 = 0x00 | 9 = 0x09 | 18 = 0x12 |
| matthieuvignon | 2:9d280856a536 | 43 | 1 = 0x01 | 10 = 0x0A |
| matthieuvignon | 2:9d280856a536 | 44 | 2 = 0x02 | 11 = 0x0B |
| matthieuvignon | 2:9d280856a536 | 45 | 3 = 0x03 | 12 = 0x0C |
| matthieuvignon | 2:9d280856a536 | 46 | 4 = 0x04 | 13 = 0x0D |
| matthieuvignon | 2:9d280856a536 | 47 | 5 = 0x05 | 14 = 0x0E |
| matthieuvignon | 2:9d280856a536 | 48 | 6 = 0x06 | 15 = 0x0F |
| matthieuvignon | 2:9d280856a536 | 49 | 7 = 0x07 | 16 = 0x10 |
| matthieuvignon | 2:9d280856a536 | 50 | 8 = 0x08 | 17 = 0x11 */ |
| matthieuvignon | 2:9d280856a536 | 51 | |
| matthieuvignon | 2:9d280856a536 | 52 | |
| matthieuvignon | 2:9d280856a536 | 53 | |
| matthieuvignon | 2:9d280856a536 | 54 | /* MAIN */ |
| matthieuvignon | 2:9d280856a536 | 55 | |
| matthieuvignon | 2:9d280856a536 | 56 | void initialisation_AX12(void) |
| matthieuvignon | 2:9d280856a536 | 57 | { |
| matthieuvignon | 5:7e1c328c5d50 | 58 | short vitesse=900; |
| matthieuvignon | 2:9d280856a536 | 59 | |
| matthieuvignon | 3:43843ab8af47 | 60 | |
| matthieuvignon | 3:43843ab8af47 | 61 | Ax12_HautBrasPompe = new AX12(p9, p10, 3, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 62 | Ax12_MilieuBrasPompe = new AX12(p9, p10, 2, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 63 | Ax12_BasBrasPompe = new AX12(p9, p10, 1, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 64 | |
| matthieuvignon | 3:43843ab8af47 | 65 | Ax12_HautBrasModuleAvant = new AX12(p13, p14, 4, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 66 | Ax12_MilieuBrasModuleAvant = new AX12(p13, p14, 5, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 67 | Ax12_DevantPinceGauche = new AX12(p13, p14, 6, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 68 | Ax12_DevantPinceDroite = new AX12(p13, p14, 7, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 69 | |
| matthieuvignon | 5:7e1c328c5d50 | 70 | #ifdef AVANT |
| matthieuvignon | 5:7e1c328c5d50 | 71 | Ax12_HautBrasAspirateur = new AX12(p28, p27, 9, 1000000); |
| matthieuvignon | 5:7e1c328c5d50 | 72 | Ax12_BasBrasAspirateur = new AX12(p28, p27, 10, 1000000); |
| matthieuvignon | 5:7e1c328c5d50 | 73 | Ax12_FunnyAction = new AX12(p28, p27, 15, 1000000); |
| matthieuvignon | 5:7e1c328c5d50 | 74 | BrasAspirateurAx12 = new AX12(p28, p27,0xFE,1000000); |
| matthieuvignon | 5:7e1c328c5d50 | 75 | #endif |
| matthieuvignon | 2:9d280856a536 | 76 | |
| matthieuvignon | 2:9d280856a536 | 77 | BrasPompeAx12 = new AX12(p9,p10,0xFE,1000000); |
| matthieuvignon | 5:7e1c328c5d50 | 78 | BrasModuleAx12 = new AX12(p13, p14, 0xFE, 1000000); |
| matthieuvignon | 5:7e1c328c5d50 | 79 | |
| matthieuvignon | 2:9d280856a536 | 80 | |
| matthieuvignon | 5:7e1c328c5d50 | 81 | #ifdef ARRIERE |
| matthieuvignon | 5:7e1c328c5d50 | 82 | Ax12_Porte = new AX12(p28, p27, 8, 1000000); |
| matthieuvignon | 5:7e1c328c5d50 | 83 | #endif |
| matthieuvignon | 5:7e1c328c5d50 | 84 | |
| matthieuvignon | 3:43843ab8af47 | 85 | Ax12_HautBrasPompe->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 86 | Ax12_MilieuBrasPompe->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 87 | Ax12_BasBrasPompe->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 88 | Ax12_HautBrasModuleAvant->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 89 | Ax12_MilieuBrasModuleAvant->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 90 | Ax12_DevantPinceGauche->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 91 | Ax12_DevantPinceDroite->Set_Goal_speed(vitesse); |
| matthieuvignon | 5:7e1c328c5d50 | 92 | #ifdef AVANT |
| matthieuvignon | 5:7e1c328c5d50 | 93 | Ax12_HautBrasAspirateur->Set_Goal_speed(vitesse); |
| matthieuvignon | 5:7e1c328c5d50 | 94 | Ax12_BasBrasAspirateur->Set_Goal_speed(vitesse); |
| matthieuvignon | 5:7e1c328c5d50 | 95 | Ax12_FunnyAction->Set_Goal_speed(vitesse); |
| matthieuvignon | 5:7e1c328c5d50 | 96 | #endif |
| matthieuvignon | 5:7e1c328c5d50 | 97 | #ifdef ARRIERE |
| matthieuvignon | 5:7e1c328c5d50 | 98 | Ax12_Porte->Set_Goal_speed(vitesse); |
| matthieuvignon | 5:7e1c328c5d50 | 99 | #endif |
| matthieuvignon | 3:43843ab8af47 | 100 | |
| matthieuvignon | 3:43843ab8af47 | 101 | Ax12_HautBrasPompe->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 102 | Ax12_MilieuBrasPompe->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 103 | Ax12_BasBrasPompe->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 104 | Ax12_HautBrasModuleAvant->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 105 | Ax12_MilieuBrasModuleAvant->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 106 | Ax12_DevantPinceGauche->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 107 | Ax12_DevantPinceDroite->Set_Mode(0); |
| matthieuvignon | 5:7e1c328c5d50 | 108 | #ifdef AVANT |
| matthieuvignon | 5:7e1c328c5d50 | 109 | Ax12_HautBrasAspirateur->Set_Mode(0); |
| matthieuvignon | 5:7e1c328c5d50 | 110 | Ax12_BasBrasAspirateur->Set_Mode(0); |
| matthieuvignon | 5:7e1c328c5d50 | 111 | Ax12_FunnyAction->Set_Mode(0); |
| matthieuvignon | 5:7e1c328c5d50 | 112 | #endif |
| matthieuvignon | 5:7e1c328c5d50 | 113 | #ifdef ARRIERE |
| matthieuvignon | 5:7e1c328c5d50 | 114 | Ax12_Porte->Set_Mode(0); |
| matthieuvignon | 5:7e1c328c5d50 | 115 | #endif |
| matthieuvignon | 2:9d280856a536 | 116 | } |
| matthieuvignon | 2:9d280856a536 | 117 | |
| matthieuvignon | 2:9d280856a536 | 118 | void GetPositionAx12(void) { |
| matthieuvignon | 3:43843ab8af47 | 119 | |
| matthieuvignon | 3:43843ab8af47 | 120 | pc.printf("\n\r * Get Position * \n\r"); |
| matthieuvignon | 2:9d280856a536 | 121 | |
| matthieuvignon | 3:43843ab8af47 | 122 | pc.printf("\n\r BRAS AVANT \n\r"); |
| matthieuvignon | 3:43843ab8af47 | 123 | pc.printf("Haut Av: %lf \n\r ", Ax12_HautBrasModuleAvant->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 124 | pc.printf("Milieu Av: %lf \n\r ", Ax12_MilieuBrasModuleAvant->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 125 | pc.printf("Gauche Av: %lf \n\r ", Ax12_DevantPinceGauche->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 126 | pc.printf("Droite Av: %lf \n\r ", Ax12_DevantPinceDroite->Get_Position() ); |
| matthieuvignon | 2:9d280856a536 | 127 | |
| matthieuvignon | 5:7e1c328c5d50 | 128 | #ifdef AVANT |
| matthieuvignon | 5:7e1c328c5d50 | 129 | pc.printf("\n\r BRAS ASPIRATEUR \n\r"); |
| matthieuvignon | 5:7e1c328c5d50 | 130 | pc.printf("Haut Asp : %lf \n\r ", Ax12_HautBrasAspirateur->Get_Position() ); |
| matthieuvignon | 5:7e1c328c5d50 | 131 | pc.printf("Bas Asp : %lf \n\r ", Ax12_BasBrasAspirateur->Get_Position() ); |
| matthieuvignon | 5:7e1c328c5d50 | 132 | pc.printf("Funny Action : %lf \n\r ", Ax12_FunnyAction->Get_Position() ); |
| matthieuvignon | 5:7e1c328c5d50 | 133 | #endif |
| matthieuvignon | 5:7e1c328c5d50 | 134 | |
| matthieuvignon | 3:43843ab8af47 | 135 | |
| matthieuvignon | 3:43843ab8af47 | 136 | pc.printf("\n\r BRAS POMPE \n\r"); |
| matthieuvignon | 3:43843ab8af47 | 137 | pc.printf("Haut Pompe : %lf \n\r ", Ax12_HautBrasPompe->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 138 | pc.printf("Milieu Pompe : %lf \n\r ", Ax12_MilieuBrasPompe->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 139 | pc.printf("Bas Pompe : %lf \n\r ", Ax12_BasBrasPompe->Get_Position() ); |
| matthieuvignon | 2:9d280856a536 | 140 | |
| matthieuvignon | 5:7e1c328c5d50 | 141 | #ifdef ARRIERE |
| matthieuvignon | 5:7e1c328c5d50 | 142 | pc.printf("\n\r PORTE \n\r"); |
| matthieuvignon | 5:7e1c328c5d50 | 143 | pc.printf("Haut Pompe : %lf \n\r ", Ax12_Porte->Get_Position() ); |
| matthieuvignon | 5:7e1c328c5d50 | 144 | #endif |
| matthieuvignon | 5:7e1c328c5d50 | 145 | |
| matthieuvignon | 2:9d280856a536 | 146 | } |
| matthieuvignon | 2:9d280856a536 | 147 | |
| matthieuvignon | 2:9d280856a536 | 148 | |
| matthieuvignon | 2:9d280856a536 | 149 | /****************************************************************************************/ |
| matthieuvignon | 2:9d280856a536 | 150 | /* FUNCTION NAME: Automate_ax12 */ |
| matthieuvignon | 2:9d280856a536 | 151 | /* DESCRIPTION : Fonction qui gère les différentes actions des AX12 */ |
| matthieuvignon | 2:9d280856a536 | 152 | /****************************************************************************************/ |
| matthieuvignon | 3:43843ab8af47 | 153 | void AX12_automate(unsigned char etat_ax12){ |
| matthieuvignon | 2:9d280856a536 | 154 | |
| matthieuvignon | 2:9d280856a536 | 155 | unsigned short speed; |
| matthieuvignon | 2:9d280856a536 | 156 | |
| matthieuvignon | 3:43843ab8af47 | 157 | unsigned int GoalPos1, GoalPos2, GoalPos3, GoalPos4, GoalPos5, GoalPos6, GoalPos7, GoalPos9, GoalPos10, GoalPos15; |
| matthieuvignon | 3:43843ab8af47 | 158 | |
| matthieuvignon | 3:43843ab8af47 | 159 | |
| matthieuvignon | 3:43843ab8af47 | 160 | |
| matthieuvignon | 5:7e1c328c5d50 | 161 | switch(etat_ax12){ |
| matthieuvignon | 5:7e1c328c5d50 | 162 | |
| matthieuvignon | 5:7e1c328c5d50 | 163 | case AX12_OUVRIR_PORTE: |
| matthieuvignon | 5:7e1c328c5d50 | 164 | Ax12_Porte->Set_Secure_Goal(60); |
| matthieuvignon | 5:7e1c328c5d50 | 165 | Fin_action(); |
| matthieuvignon | 5:7e1c328c5d50 | 166 | break; |
| matthieuvignon | 5:7e1c328c5d50 | 167 | |
| matthieuvignon | 5:7e1c328c5d50 | 168 | case AX12_FERMER_PORTE: |
| matthieuvignon | 5:7e1c328c5d50 | 169 | Ax12_Porte->Set_Secure_Goal(240); |
| matthieuvignon | 5:7e1c328c5d50 | 170 | Fin_action(); |
| matthieuvignon | 5:7e1c328c5d50 | 171 | break; |
| matthieuvignon | 3:43843ab8af47 | 172 | |
| matthieuvignon | 3:43843ab8af47 | 173 | case AX12_GET_POSITION: |
| matthieuvignon | 3:43843ab8af47 | 174 | GetPositionAx12(); |
| matthieuvignon | 3:43843ab8af47 | 175 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 176 | break; |
| matthieuvignon | 3:43843ab8af47 | 177 | |
| matthieuvignon | 3:43843ab8af47 | 178 | case AX12_POS_INIT_POMPE_JAUNE_AVANT: |
| matthieuvignon | 5:7e1c328c5d50 | 179 | speed=1023; |
| matthieuvignon | 3:43843ab8af47 | 180 | |
| matthieuvignon | 3:43843ab8af47 | 181 | GoalPos3=1443; |
| matthieuvignon | 3:43843ab8af47 | 182 | GoalPos2=625; |
| matthieuvignon | 3:43843ab8af47 | 183 | GoalPos1=1500; |
| matthieuvignon | 3:43843ab8af47 | 184 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 185 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 186 | break; |
| matthieuvignon | 2:9d280856a536 | 187 | |
| matthieuvignon | 3:43843ab8af47 | 188 | case AX12_VIDER_FUSEE_POMPE_JAUNE_AVANT: |
| matthieuvignon | 5:7e1c328c5d50 | 189 | speed=1023; |
| matthieuvignon | 3:43843ab8af47 | 190 | |
| matthieuvignon | 3:43843ab8af47 | 191 | GoalPos3=1440; |
| matthieuvignon | 3:43843ab8af47 | 192 | GoalPos2=603; |
| matthieuvignon | 3:43843ab8af47 | 193 | GoalPos1=2400; |
| matthieuvignon | 3:43843ab8af47 | 194 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 195 | GoalPos3=1795; //1180 |
| matthieuvignon | 3:43843ab8af47 | 196 | GoalPos2=340; //2000 |
| matthieuvignon | 3:43843ab8af47 | 197 | GoalPos1=2393; //2400 |
| matthieuvignon | 3:43843ab8af47 | 198 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 199 | GoalPos3=2147; //640 |
| matthieuvignon | 3:43843ab8af47 | 200 | GoalPos2=229; //2840 |
| matthieuvignon | 3:43843ab8af47 | 201 | GoalPos1=2400; //2720 |
| matthieuvignon | 3:43843ab8af47 | 202 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 203 | GoalPos3=2346; |
| matthieuvignon | 3:43843ab8af47 | 204 | GoalPos2=205; |
| matthieuvignon | 3:43843ab8af47 | 205 | GoalPos1=2123; |
| matthieuvignon | 3:43843ab8af47 | 206 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 207 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 208 | break; |
| matthieuvignon | 3:43843ab8af47 | 209 | |
| matthieuvignon | 3:43843ab8af47 | 210 | case AX12_POSE_MODULE_POMPE_JAUNE_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 211 | speed=300; |
| matthieuvignon | 3:43843ab8af47 | 212 | |
| matthieuvignon | 3:43843ab8af47 | 213 | GoalPos3=2613; |
| matthieuvignon | 3:43843ab8af47 | 214 | GoalPos2=610; |
| matthieuvignon | 3:43843ab8af47 | 215 | GoalPos1=1352; |
| matthieuvignon | 3:43843ab8af47 | 216 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 217 | |
| matthieuvignon | 3:43843ab8af47 | 218 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 219 | |
| matthieuvignon | 3:43843ab8af47 | 220 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 221 | break; |
| matthieuvignon | 3:43843ab8af47 | 222 | |
| matthieuvignon | 2:9d280856a536 | 223 | |
| matthieuvignon | 3:43843ab8af47 | 224 | case AX12_POSE_MODULE_POMPE_BLEU_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 225 | speed=300; |
| matthieuvignon | 3:43843ab8af47 | 226 | |
| matthieuvignon | 3:43843ab8af47 | 227 | GoalPos3=2613; |
| matthieuvignon | 3:43843ab8af47 | 228 | GoalPos2=610; |
| matthieuvignon | 3:43843ab8af47 | 229 | GoalPos1=1352; |
| matthieuvignon | 3:43843ab8af47 | 230 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 231 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 232 | GoalPos3=2610; |
| matthieuvignon | 3:43843ab8af47 | 233 | GoalPos2=850; |
| matthieuvignon | 3:43843ab8af47 | 234 | GoalPos1=2999; |
| matthieuvignon | 3:43843ab8af47 | 235 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 236 | |
| matthieuvignon | 3:43843ab8af47 | 237 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 238 | |
| matthieuvignon | 3:43843ab8af47 | 239 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 240 | break; |
| matthieuvignon | 3:43843ab8af47 | 241 | |
| matthieuvignon | 3:43843ab8af47 | 242 | case AX12_REMISE_PLACE_BRAS_POMPE_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 243 | |
| matthieuvignon | 5:7e1c328c5d50 | 244 | speed=1023; |
| matthieuvignon | 3:43843ab8af47 | 245 | |
| matthieuvignon | 3:43843ab8af47 | 246 | GoalPos3=2200; |
| matthieuvignon | 3:43843ab8af47 | 247 | GoalPos2=214; |
| matthieuvignon | 3:43843ab8af47 | 248 | GoalPos1=2038; |
| matthieuvignon | 3:43843ab8af47 | 249 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 250 | GoalPos3=1730; |
| matthieuvignon | 3:43843ab8af47 | 251 | GoalPos2=355; |
| matthieuvignon | 3:43843ab8af47 | 252 | GoalPos1=2197; |
| matthieuvignon | 3:43843ab8af47 | 253 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 254 | GoalPos3=1487; |
| matthieuvignon | 3:43843ab8af47 | 255 | GoalPos2=500; |
| matthieuvignon | 3:43843ab8af47 | 256 | GoalPos1=2197; |
| matthieuvignon | 3:43843ab8af47 | 257 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 258 | GoalPos3=1440; |
| matthieuvignon | 3:43843ab8af47 | 259 | GoalPos2=639; |
| matthieuvignon | 3:43843ab8af47 | 260 | GoalPos1=2400; |
| matthieuvignon | 3:43843ab8af47 | 261 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 262 | |
| matthieuvignon | 3:43843ab8af47 | 263 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 264 | break; |
| matthieuvignon | 3:43843ab8af47 | 265 | |
| matthieuvignon | 5:7e1c328c5d50 | 266 | case AX12_REPOS_BRAS_POMPE_AVANT: |
| matthieuvignon | 5:7e1c328c5d50 | 267 | speed=1023; |
| matthieuvignon | 5:7e1c328c5d50 | 268 | |
| matthieuvignon | 5:7e1c328c5d50 | 269 | GoalPos3=1890; |
| matthieuvignon | 5:7e1c328c5d50 | 270 | GoalPos2=242; |
| matthieuvignon | 5:7e1c328c5d50 | 271 | GoalPos1=1500; |
| matthieuvignon | 5:7e1c328c5d50 | 272 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 5:7e1c328c5d50 | 273 | Fin_action(); |
| matthieuvignon | 5:7e1c328c5d50 | 274 | break; |
| matthieuvignon | 5:7e1c328c5d50 | 275 | |
| matthieuvignon | 3:43843ab8af47 | 276 | |
| matthieuvignon | 3:43843ab8af47 | 277 | case AX12_POS_INIT_POMPE_JAUNE_ARRIERE: |
| matthieuvignon | 5:7e1c328c5d50 | 278 | speed=1023; |
| matthieuvignon | 3:43843ab8af47 | 279 | |
| matthieuvignon | 3:43843ab8af47 | 280 | GoalPos3=1615; |
| matthieuvignon | 3:43843ab8af47 | 281 | GoalPos2=2349; |
| matthieuvignon | 3:43843ab8af47 | 282 | GoalPos1=1500; |
| matthieuvignon | 3:43843ab8af47 | 283 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 284 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 285 | break; |
| matthieuvignon | 2:9d280856a536 | 286 | |
| matthieuvignon | 3:43843ab8af47 | 287 | |
| matthieuvignon | 2:9d280856a536 | 288 | |
| matthieuvignon | 3:43843ab8af47 | 289 | case AX12_VIDER_FUSEE_POMPE_JAUNE_ARRIERE: |
| matthieuvignon | 5:7e1c328c5d50 | 290 | speed=1023; |
| matthieuvignon | 3:43843ab8af47 | 291 | |
| matthieuvignon | 3:43843ab8af47 | 292 | GoalPos3=1650; |
| matthieuvignon | 3:43843ab8af47 | 293 | GoalPos2=2380; |
| matthieuvignon | 3:43843ab8af47 | 294 | GoalPos1=1500; |
| matthieuvignon | 3:43843ab8af47 | 295 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 296 | GoalPos3=1545; |
| matthieuvignon | 3:43843ab8af47 | 297 | GoalPos2=2480; |
| matthieuvignon | 3:43843ab8af47 | 298 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 299 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 300 | GoalPos3=1146; //1595 |
| matthieuvignon | 3:43843ab8af47 | 301 | GoalPos2=2698; //2349 |
| matthieuvignon | 3:43843ab8af47 | 302 | GoalPos1=581; //2400 |
| matthieuvignon | 3:43843ab8af47 | 303 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 304 | GoalPos3=724; //953 |
| matthieuvignon | 3:43843ab8af47 | 305 | GoalPos2=2783; //2806 |
| matthieuvignon | 3:43843ab8af47 | 306 | GoalPos1=757; //2551 |
| matthieuvignon | 3:43843ab8af47 | 307 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 308 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 309 | break; |
| matthieuvignon | 3:43843ab8af47 | 310 | |
| matthieuvignon | 3:43843ab8af47 | 311 | case AX12_POSE_MODULE_POMPE_JAUNE_ARRIERE: |
| matthieuvignon | 5:7e1c328c5d50 | 312 | speed=300; |
| matthieuvignon | 3:43843ab8af47 | 313 | |
| matthieuvignon | 3:43843ab8af47 | 314 | GoalPos3=401; |
| matthieuvignon | 3:43843ab8af47 | 315 | GoalPos2=2340; |
| matthieuvignon | 3:43843ab8af47 | 316 | GoalPos1=1094; |
| matthieuvignon | 3:43843ab8af47 | 317 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 318 | GoalPos3=401; |
| matthieuvignon | 5:7e1c328c5d50 | 319 | GoalPos2=2250; |
| matthieuvignon | 3:43843ab8af47 | 320 | GoalPos1=80; |
| matthieuvignon | 3:43843ab8af47 | 321 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 322 | |
| matthieuvignon | 3:43843ab8af47 | 323 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 324 | |
| matthieuvignon | 3:43843ab8af47 | 325 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 326 | break; |
| matthieuvignon | 3:43843ab8af47 | 327 | |
| matthieuvignon | 2:9d280856a536 | 328 | |
| matthieuvignon | 3:43843ab8af47 | 329 | case AX12_POSE_MODULE_POMPE_BLEU_ARRIERE: |
| matthieuvignon | 5:7e1c328c5d50 | 330 | speed=300; |
| matthieuvignon | 2:9d280856a536 | 331 | |
| matthieuvignon | 3:43843ab8af47 | 332 | GoalPos3=384; |
| matthieuvignon | 3:43843ab8af47 | 333 | GoalPos2=2774; |
| matthieuvignon | 3:43843ab8af47 | 334 | GoalPos1=1094; |
| matthieuvignon | 3:43843ab8af47 | 335 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 336 | GoalPos3=330; |
| matthieuvignon | 3:43843ab8af47 | 337 | GoalPos2=2506; |
| matthieuvignon | 3:43843ab8af47 | 338 | GoalPos1=1587; |
| matthieuvignon | 3:43843ab8af47 | 339 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 340 | |
| matthieuvignon | 3:43843ab8af47 | 341 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 342 | |
| matthieuvignon | 3:43843ab8af47 | 343 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 344 | break; |
| matthieuvignon | 3:43843ab8af47 | 345 | |
| matthieuvignon | 3:43843ab8af47 | 346 | case AX12_REMISE_PLACE_BRAS_POMPE_ARRIERE: |
| matthieuvignon | 3:43843ab8af47 | 347 | |
| matthieuvignon | 5:7e1c328c5d50 | 348 | speed=1023; |
| matthieuvignon | 2:9d280856a536 | 349 | |
| matthieuvignon | 3:43843ab8af47 | 350 | GoalPos3=450; //449 |
| matthieuvignon | 3:43843ab8af47 | 351 | GoalPos2=2800; //2833 |
| matthieuvignon | 3:43843ab8af47 | 352 | GoalPos1=1500; //2762 |
| matthieuvignon | 3:43843ab8af47 | 353 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 354 | GoalPos3=765; |
| matthieuvignon | 3:43843ab8af47 | 355 | GoalPos2=2796; |
| matthieuvignon | 3:43843ab8af47 | 356 | GoalPos1=880; |
| matthieuvignon | 3:43843ab8af47 | 357 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 358 | GoalPos3=1200; |
| matthieuvignon | 3:43843ab8af47 | 359 | GoalPos2=2750; |
| matthieuvignon | 3:43843ab8af47 | 360 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 361 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 5:7e1c328c5d50 | 362 | GoalPos3=1480; |
| matthieuvignon | 5:7e1c328c5d50 | 363 | GoalPos2=2550; |
| matthieuvignon | 3:43843ab8af47 | 364 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 365 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 366 | |
| matthieuvignon | 3:43843ab8af47 | 367 | GoalPos3=1650; |
| matthieuvignon | 3:43843ab8af47 | 368 | GoalPos2=2380; |
| matthieuvignon | 3:43843ab8af47 | 369 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 370 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 371 | |
| matthieuvignon | 3:43843ab8af47 | 372 | Fin_action(); |
| matthieuvignon | 5:7e1c328c5d50 | 373 | break; |
| matthieuvignon | 5:7e1c328c5d50 | 374 | |
| matthieuvignon | 5:7e1c328c5d50 | 375 | case AX12_REPOS_BRAS_POMPE_ARRIERE: |
| matthieuvignon | 5:7e1c328c5d50 | 376 | speed=1023; |
| matthieuvignon | 5:7e1c328c5d50 | 377 | |
| matthieuvignon | 5:7e1c328c5d50 | 378 | GoalPos3=1209; |
| matthieuvignon | 5:7e1c328c5d50 | 379 | GoalPos2=2693; |
| matthieuvignon | 5:7e1c328c5d50 | 380 | GoalPos1=1500; |
| matthieuvignon | 5:7e1c328c5d50 | 381 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 5:7e1c328c5d50 | 382 | Fin_action(); |
| matthieuvignon | 5:7e1c328c5d50 | 383 | break; |
| matthieuvignon | 5:7e1c328c5d50 | 384 | |
| matthieuvignon | 3:43843ab8af47 | 385 | |
| matthieuvignon | 2:9d280856a536 | 386 | |
| matthieuvignon | 3:43843ab8af47 | 387 | case AX12_INITIALISATION : |
| matthieuvignon | 5:7e1c328c5d50 | 388 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 389 | GoalPos4=2200; |
| matthieuvignon | 3:43843ab8af47 | 390 | GoalPos5=1522; |
| matthieuvignon | 3:43843ab8af47 | 391 | GoalPos6=2528; |
| matthieuvignon | 3:43843ab8af47 | 392 | GoalPos7=513; |
| matthieuvignon | 3:43843ab8af47 | 393 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 394 | GoalPos4=2379; |
| matthieuvignon | 3:43843ab8af47 | 395 | GoalPos5=1522; |
| matthieuvignon | 3:43843ab8af47 | 396 | GoalPos6=2528; |
| matthieuvignon | 3:43843ab8af47 | 397 | GoalPos7=513; |
| matthieuvignon | 3:43843ab8af47 | 398 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 399 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 400 | break; |
| matthieuvignon | 3:43843ab8af47 | 401 | |
| matthieuvignon | 3:43843ab8af47 | 402 | case AX12_PREPARATION_PRISE : |
| matthieuvignon | 5:7e1c328c5d50 | 403 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 404 | |
| matthieuvignon | 3:43843ab8af47 | 405 | GoalPos4=970; |
| matthieuvignon | 3:43843ab8af47 | 406 | GoalPos5=2060; |
| matthieuvignon | 3:43843ab8af47 | 407 | GoalPos6=1891; |
| matthieuvignon | 3:43843ab8af47 | 408 | GoalPos7=1150; |
| matthieuvignon | 3:43843ab8af47 | 409 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 410 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 411 | break; |
| matthieuvignon | 3:43843ab8af47 | 412 | |
| matthieuvignon | 3:43843ab8af47 | 413 | case AX12_STOCKAGE_HAUT : |
| matthieuvignon | 5:7e1c328c5d50 | 414 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 415 | GoalPos4=970; |
| matthieuvignon | 3:43843ab8af47 | 416 | GoalPos5=2060; |
| matthieuvignon | 3:43843ab8af47 | 417 | GoalPos6=2520; |
| matthieuvignon | 3:43843ab8af47 | 418 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 419 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 420 | GoalPos4=1587; |
| matthieuvignon | 3:43843ab8af47 | 421 | GoalPos5=2032; |
| matthieuvignon | 3:43843ab8af47 | 422 | GoalPos6=2520; |
| matthieuvignon | 3:43843ab8af47 | 423 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 424 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 425 | GoalPos4=2003; |
| matthieuvignon | 3:43843ab8af47 | 426 | GoalPos5=1810; |
| matthieuvignon | 3:43843ab8af47 | 427 | GoalPos6=2520; |
| matthieuvignon | 3:43843ab8af47 | 428 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 429 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 430 | GoalPos4=2041; |
| matthieuvignon | 3:43843ab8af47 | 431 | GoalPos5=2018; |
| matthieuvignon | 3:43843ab8af47 | 432 | GoalPos6=2300; |
| matthieuvignon | 3:43843ab8af47 | 433 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 434 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 435 | GoalPos4=2041; |
| matthieuvignon | 3:43843ab8af47 | 436 | GoalPos5=2018; |
| matthieuvignon | 3:43843ab8af47 | 437 | GoalPos6=2200; |
| matthieuvignon | 3:43843ab8af47 | 438 | GoalPos7=750; |
| matthieuvignon | 3:43843ab8af47 | 439 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 2:9d280856a536 | 440 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 441 | break; |
| matthieuvignon | 3:43843ab8af47 | 442 | |
| matthieuvignon | 3:43843ab8af47 | 443 | case AX12_STOCKAGE_BAS : |
| matthieuvignon | 5:7e1c328c5d50 | 444 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 445 | GoalPos4=970; |
| matthieuvignon | 3:43843ab8af47 | 446 | GoalPos5=2060; |
| matthieuvignon | 3:43843ab8af47 | 447 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 448 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 449 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 450 | GoalPos4=1587; |
| matthieuvignon | 3:43843ab8af47 | 451 | GoalPos5=2032; |
| matthieuvignon | 3:43843ab8af47 | 452 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 453 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 454 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 455 | |
| matthieuvignon | 3:43843ab8af47 | 456 | GoalPos4=1510; |
| matthieuvignon | 3:43843ab8af47 | 457 | GoalPos5=1126; |
| matthieuvignon | 3:43843ab8af47 | 458 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 459 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 460 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 461 | GoalPos4=1580; |
| matthieuvignon | 3:43843ab8af47 | 462 | GoalPos5=660; |
| matthieuvignon | 3:43843ab8af47 | 463 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 464 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 465 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 466 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 467 | break; |
| matthieuvignon | 3:43843ab8af47 | 468 | |
| matthieuvignon | 3:43843ab8af47 | 469 | case AX12_DEPOSER : |
| matthieuvignon | 5:7e1c328c5d50 | 470 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 471 | GoalPos4=1580; |
| matthieuvignon | 3:43843ab8af47 | 472 | GoalPos5=660; |
| matthieuvignon | 3:43843ab8af47 | 473 | GoalPos6=2200; |
| matthieuvignon | 3:43843ab8af47 | 474 | GoalPos7=800; |
| matthieuvignon | 3:43843ab8af47 | 475 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 476 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 477 | break; |
| matthieuvignon | 3:43843ab8af47 | 478 | |
| matthieuvignon | 3:43843ab8af47 | 479 | case AX12_PREPARATION_DEPOT_HAUT : |
| matthieuvignon | 5:7e1c328c5d50 | 480 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 481 | GoalPos4=1970; |
| matthieuvignon | 3:43843ab8af47 | 482 | GoalPos5=2140; |
| matthieuvignon | 3:43843ab8af47 | 483 | GoalPos6=2000; |
| matthieuvignon | 3:43843ab8af47 | 484 | GoalPos7=850; |
| matthieuvignon | 3:43843ab8af47 | 485 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 486 | GoalPos4=1994; |
| matthieuvignon | 3:43843ab8af47 | 487 | GoalPos5=2110; |
| matthieuvignon | 3:43843ab8af47 | 488 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 489 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 490 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 491 | GoalPos4=1977; |
| matthieuvignon | 3:43843ab8af47 | 492 | GoalPos5=1713; |
| matthieuvignon | 3:43843ab8af47 | 493 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 494 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 495 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 496 | |
| matthieuvignon | 3:43843ab8af47 | 497 | GoalPos4=1580; |
| matthieuvignon | 3:43843ab8af47 | 498 | GoalPos5=660; |
| matthieuvignon | 3:43843ab8af47 | 499 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 500 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 501 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 502 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 503 | |
| matthieuvignon | 3:43843ab8af47 | 504 | break; |
| matthieuvignon | 3:43843ab8af47 | 505 | |
| matthieuvignon | 3:43843ab8af47 | 506 | case AX12_POUSSER_MODULE : |
| matthieuvignon | 5:7e1c328c5d50 | 507 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 508 | GoalPos4=1880; |
| matthieuvignon | 3:43843ab8af47 | 509 | GoalPos5=440; |
| matthieuvignon | 3:43843ab8af47 | 510 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 511 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 512 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 513 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 514 | break; |
| matthieuvignon | 3:43843ab8af47 | 515 | |
| matthieuvignon | 3:43843ab8af47 | 516 | case AX12_DESCENDRE_ASPIRATEUR : |
| matthieuvignon | 3:43843ab8af47 | 517 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 518 | GoalPos9=1700; |
| matthieuvignon | 3:43843ab8af47 | 519 | GoalPos10=2200; |
| matthieuvignon | 3:43843ab8af47 | 520 | GoalPos15=2400; |
| matthieuvignon | 3:43843ab8af47 | 521 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 3:43843ab8af47 | 522 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 523 | break; |
| matthieuvignon | 3:43843ab8af47 | 524 | |
| matthieuvignon | 3:43843ab8af47 | 525 | case AX12_MONTER_ASPIRATEUR : |
| matthieuvignon | 3:43843ab8af47 | 526 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 527 | GoalPos9=540; |
| matthieuvignon | 3:43843ab8af47 | 528 | GoalPos10=2370; |
| matthieuvignon | 3:43843ab8af47 | 529 | GoalPos15=2400; |
| matthieuvignon | 3:43843ab8af47 | 530 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 3:43843ab8af47 | 531 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 532 | break; |
| matthieuvignon | 3:43843ab8af47 | 533 | |
| matthieuvignon | 3:43843ab8af47 | 534 | case AX12_FUNNY_ACTION: |
| matthieuvignon | 3:43843ab8af47 | 535 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 536 | GoalPos9=540; |
| matthieuvignon | 3:43843ab8af47 | 537 | GoalPos10=2370; |
| matthieuvignon | 3:43843ab8af47 | 538 | GoalPos15=1250; |
| matthieuvignon | 3:43843ab8af47 | 539 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 5:7e1c328c5d50 | 540 | wait(1); |
| matthieuvignon | 3:43843ab8af47 | 541 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 542 | GoalPos9=540; |
| matthieuvignon | 3:43843ab8af47 | 543 | GoalPos10=2370; |
| matthieuvignon | 3:43843ab8af47 | 544 | GoalPos15=2400; |
| matthieuvignon | 3:43843ab8af47 | 545 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 3:43843ab8af47 | 546 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 547 | break; |
| matthieuvignon | 3:43843ab8af47 | 548 | |
| matthieuvignon | 3:43843ab8af47 | 549 | case AX12_DEFAUT : |
| matthieuvignon | 3:43843ab8af47 | 550 | |
| matthieuvignon | 3:43843ab8af47 | 551 | break; |
| matthieuvignon | 3:43843ab8af47 | 552 | } |
| matthieuvignon | 2:9d280856a536 | 553 | |
| matthieuvignon | 2:9d280856a536 | 554 | } |
| matthieuvignon | 2:9d280856a536 | 555 | |
| matthieuvignon | 2:9d280856a536 | 556 | |
| matthieuvignon | 3:43843ab8af47 | 557 | unsigned char mvtBrasAvantPompe(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
| matthieuvignon | 2:9d280856a536 | 558 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
| matthieuvignon | 2:9d280856a536 | 559 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3) |
| matthieuvignon | 2:9d280856a536 | 560 | { |
| matthieuvignon | 2:9d280856a536 | 561 | char TabPompeBras[15]; |
| matthieuvignon | 2:9d280856a536 | 562 | unsigned short GPosition1_1, GPosition2_1, GPosition3_1; |
| matthieuvignon | 5:7e1c328c5d50 | 563 | Timer timeout; |
| matthieuvignon | 2:9d280856a536 | 564 | |
| matthieuvignon | 2:9d280856a536 | 565 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
| matthieuvignon | 2:9d280856a536 | 566 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
| matthieuvignon | 2:9d280856a536 | 567 | GPosition3_1=((unsigned long)GPosition3*341/1000); |
| matthieuvignon | 2:9d280856a536 | 568 | |
| matthieuvignon | 2:9d280856a536 | 569 | TabPompeBras[0] = ID1; |
| matthieuvignon | 2:9d280856a536 | 570 | TabPompeBras[1] = GPosition1_1; |
| matthieuvignon | 2:9d280856a536 | 571 | TabPompeBras[2] = GPosition1_1>>8; |
| matthieuvignon | 2:9d280856a536 | 572 | TabPompeBras[3] = GSpeed1; |
| matthieuvignon | 2:9d280856a536 | 573 | TabPompeBras[4] = GSpeed1>>8; /// (haut, milieu, bas) |
| matthieuvignon | 2:9d280856a536 | 574 | |
| matthieuvignon | 2:9d280856a536 | 575 | TabPompeBras[5] = ID2; |
| matthieuvignon | 2:9d280856a536 | 576 | TabPompeBras[6] = GPosition2_1; |
| matthieuvignon | 2:9d280856a536 | 577 | TabPompeBras[7] = GPosition2_1>>8; |
| matthieuvignon | 2:9d280856a536 | 578 | TabPompeBras[8] = GSpeed2; |
| matthieuvignon | 2:9d280856a536 | 579 | TabPompeBras[9] = GSpeed2>>8; |
| matthieuvignon | 2:9d280856a536 | 580 | |
| matthieuvignon | 2:9d280856a536 | 581 | TabPompeBras[10] = ID3; |
| matthieuvignon | 2:9d280856a536 | 582 | TabPompeBras[11] = GPosition3_1; |
| matthieuvignon | 2:9d280856a536 | 583 | TabPompeBras[12] = GPosition3_1>>8; |
| matthieuvignon | 2:9d280856a536 | 584 | TabPompeBras[13] = GSpeed3; |
| matthieuvignon | 2:9d280856a536 | 585 | TabPompeBras[14] = GSpeed3>>8 ; |
| matthieuvignon | 2:9d280856a536 | 586 | |
| matthieuvignon | 2:9d280856a536 | 587 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 2:9d280856a536 | 588 | wait(TIME); |
| matthieuvignon | 2:9d280856a536 | 589 | |
| matthieuvignon | 5:7e1c328c5d50 | 590 | timeout.start(); |
| matthieuvignon | 5:7e1c328c5d50 | 591 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_HautBrasPompe->Get_Position()*10)>GPosition3*110/100) |
| matthieuvignon | 5:7e1c328c5d50 | 592 | || ((unsigned short)(Ax12_HautBrasPompe->Get_Position()*10)<GPosition3*90/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 593 | Ax12_HautBrasPompe->Set_Secure_Goal(GPosition3/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 594 | wait(TIME); |
| matthieuvignon | 3:43843ab8af47 | 595 | } |
| matthieuvignon | 3:43843ab8af47 | 596 | |
| matthieuvignon | 5:7e1c328c5d50 | 597 | |
| matthieuvignon | 5:7e1c328c5d50 | 598 | //timeout.reset(); |
| matthieuvignon | 5:7e1c328c5d50 | 599 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_MilieuBrasPompe->Get_Position()*10)>GPosition2*110/100) |
| matthieuvignon | 5:7e1c328c5d50 | 600 | || ((unsigned short)(Ax12_MilieuBrasPompe->Get_Position()*10)<GPosition2*90/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 601 | Ax12_MilieuBrasPompe->Set_Secure_Goal(GPosition2/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 602 | wait(TIME); |
| matthieuvignon | 3:43843ab8af47 | 603 | } |
| matthieuvignon | 5:7e1c328c5d50 | 604 | |
| matthieuvignon | 5:7e1c328c5d50 | 605 | //timeout.reset(); |
| matthieuvignon | 5:7e1c328c5d50 | 606 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_BasBrasPompe->Get_Position()*10)>GPosition1*110/100) |
| matthieuvignon | 5:7e1c328c5d50 | 607 | || ((unsigned short)(Ax12_BasBrasPompe->Get_Position()*10)<GPosition1*90/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 608 | Ax12_BasBrasPompe->Set_Secure_Goal(GPosition1/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 609 | wait(TIME); |
| matthieuvignon | 3:43843ab8af47 | 610 | } |
| matthieuvignon | 5:7e1c328c5d50 | 611 | timeout.reset(); |
| matthieuvignon | 3:43843ab8af47 | 612 | |
| matthieuvignon | 3:43843ab8af47 | 613 | |
| matthieuvignon | 3:43843ab8af47 | 614 | |
| matthieuvignon | 3:43843ab8af47 | 615 | } |
| matthieuvignon | 3:43843ab8af47 | 616 | |
| matthieuvignon | 5:7e1c328c5d50 | 617 | |
| matthieuvignon | 5:7e1c328c5d50 | 618 | |
| matthieuvignon | 3:43843ab8af47 | 619 | unsigned char mvtBrasAvantModule(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
| matthieuvignon | 3:43843ab8af47 | 620 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
| matthieuvignon | 3:43843ab8af47 | 621 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3, |
| matthieuvignon | 3:43843ab8af47 | 622 | unsigned char ID4, unsigned short GSpeed4, unsigned short GPosition4) |
| matthieuvignon | 3:43843ab8af47 | 623 | { |
| matthieuvignon | 3:43843ab8af47 | 624 | |
| matthieuvignon | 3:43843ab8af47 | 625 | char TabBrasAvant[20]; |
| matthieuvignon | 3:43843ab8af47 | 626 | unsigned short GPosition1_1, GPosition2_1, GPosition3_1, GPosition4_1; |
| matthieuvignon | 5:7e1c328c5d50 | 627 | Timer timeout; |
| matthieuvignon | 3:43843ab8af47 | 628 | |
| matthieuvignon | 3:43843ab8af47 | 629 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 630 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 631 | GPosition3_1=((unsigned long)GPosition3*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 632 | GPosition4_1=((unsigned long)GPosition4*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 633 | |
| matthieuvignon | 3:43843ab8af47 | 634 | TabBrasAvant[0] = ID1; |
| matthieuvignon | 3:43843ab8af47 | 635 | TabBrasAvant[1] = GPosition1_1; |
| matthieuvignon | 3:43843ab8af47 | 636 | TabBrasAvant[2] = GPosition1_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 637 | TabBrasAvant[3] = GSpeed1; |
| matthieuvignon | 3:43843ab8af47 | 638 | TabBrasAvant[4] = GSpeed1>>8; /// (haut, milieu, bas) |
| matthieuvignon | 3:43843ab8af47 | 639 | |
| matthieuvignon | 3:43843ab8af47 | 640 | TabBrasAvant[5] = ID2; |
| matthieuvignon | 3:43843ab8af47 | 641 | TabBrasAvant[6] = GPosition2_1; |
| matthieuvignon | 3:43843ab8af47 | 642 | TabBrasAvant[7] = GPosition2_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 643 | TabBrasAvant[8] = GSpeed2; |
| matthieuvignon | 3:43843ab8af47 | 644 | TabBrasAvant[9] = GSpeed2>>8; |
| matthieuvignon | 3:43843ab8af47 | 645 | |
| matthieuvignon | 3:43843ab8af47 | 646 | TabBrasAvant[10] = ID3; |
| matthieuvignon | 3:43843ab8af47 | 647 | TabBrasAvant[11] = GPosition3_1; |
| matthieuvignon | 3:43843ab8af47 | 648 | TabBrasAvant[12] = GPosition3_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 649 | TabBrasAvant[13] = GSpeed3; |
| matthieuvignon | 3:43843ab8af47 | 650 | TabBrasAvant[14] = GSpeed3>>8 ; |
| matthieuvignon | 3:43843ab8af47 | 651 | |
| matthieuvignon | 3:43843ab8af47 | 652 | TabBrasAvant[15] = ID4; |
| matthieuvignon | 3:43843ab8af47 | 653 | TabBrasAvant[16] = GPosition4_1; |
| matthieuvignon | 3:43843ab8af47 | 654 | TabBrasAvant[17] = GPosition4_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 655 | TabBrasAvant[18] = GSpeed4; |
| matthieuvignon | 3:43843ab8af47 | 656 | TabBrasAvant[19] = GSpeed4>>8 ; |
| matthieuvignon | 3:43843ab8af47 | 657 | |
| matthieuvignon | 3:43843ab8af47 | 658 | BrasModuleAx12->multiple_goal_and_speed(4,TabBrasAvant) ; |
| matthieuvignon | 3:43843ab8af47 | 659 | wait(TIME); |
| matthieuvignon | 5:7e1c328c5d50 | 660 | |
| matthieuvignon | 3:43843ab8af47 | 661 | |
| matthieuvignon | 5:7e1c328c5d50 | 662 | timeout.start(); |
| matthieuvignon | 5:7e1c328c5d50 | 663 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_HautBrasModuleAvant->Get_Position()*10)>GPosition1*105/100) |
| matthieuvignon | 5:7e1c328c5d50 | 664 | || ((unsigned short)(Ax12_HautBrasModuleAvant->Get_Position()*10)<GPosition1*95/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 665 | Ax12_HautBrasModuleAvant->Set_Secure_Goal(GPosition1/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 666 | wait(TIME); |
| matthieuvignon | 2:9d280856a536 | 667 | } |
| matthieuvignon | 5:7e1c328c5d50 | 668 | timeout.reset(); |
| matthieuvignon | 2:9d280856a536 | 669 | |
| matthieuvignon | 5:7e1c328c5d50 | 670 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_MilieuBrasModuleAvant->Get_Position()*10)>GPosition2*105/100) |
| matthieuvignon | 5:7e1c328c5d50 | 671 | || ((unsigned short)(Ax12_MilieuBrasModuleAvant->Get_Position()*10)<GPosition2*95/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 672 | Ax12_MilieuBrasModuleAvant->Set_Secure_Goal(GPosition2/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 673 | wait(TIME); |
| matthieuvignon | 2:9d280856a536 | 674 | } |
| matthieuvignon | 5:7e1c328c5d50 | 675 | timeout.reset(); |
| matthieuvignon | 2:9d280856a536 | 676 | |
| matthieuvignon | 5:7e1c328c5d50 | 677 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_DevantPinceGauche->Get_Position()*10)>GPosition3*105/100) |
| matthieuvignon | 5:7e1c328c5d50 | 678 | || ((unsigned short)(Ax12_DevantPinceGauche->Get_Position()*10)<GPosition3*95/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 679 | Ax12_DevantPinceGauche->Set_Secure_Goal(GPosition3/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 680 | wait(TIME); |
| matthieuvignon | 2:9d280856a536 | 681 | } |
| matthieuvignon | 5:7e1c328c5d50 | 682 | timeout.reset(); |
| matthieuvignon | 5:7e1c328c5d50 | 683 | |
| matthieuvignon | 5:7e1c328c5d50 | 684 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_DevantPinceDroite->Get_Position()*10)>GPosition4*105/100) |
| matthieuvignon | 5:7e1c328c5d50 | 685 | || ((unsigned short)(Ax12_DevantPinceDroite->Get_Position()*10)<GPosition4*95/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 686 | Ax12_DevantPinceDroite->Set_Secure_Goal(GPosition4/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 687 | wait(TIME); |
| matthieuvignon | 5:7e1c328c5d50 | 688 | } |
| matthieuvignon | 2:9d280856a536 | 689 | |
| matthieuvignon | 2:9d280856a536 | 690 | |
| matthieuvignon | 2:9d280856a536 | 691 | } |
| matthieuvignon | 2:9d280856a536 | 692 | |
| matthieuvignon | 3:43843ab8af47 | 693 | unsigned char mvtBrasAspirateur(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
| matthieuvignon | 3:43843ab8af47 | 694 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
| matthieuvignon | 3:43843ab8af47 | 695 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3) |
| matthieuvignon | 3:43843ab8af47 | 696 | { |
| matthieuvignon | 3:43843ab8af47 | 697 | char TabAspirateurBras[15]; |
| matthieuvignon | 3:43843ab8af47 | 698 | unsigned short GPosition1_1, GPosition2_1, GPosition3_1; |
| matthieuvignon | 5:7e1c328c5d50 | 699 | Timer timeout; |
| matthieuvignon | 5:7e1c328c5d50 | 700 | |
| matthieuvignon | 3:43843ab8af47 | 701 | |
| matthieuvignon | 3:43843ab8af47 | 702 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 703 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 704 | GPosition3_1=((unsigned long)GPosition3*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 705 | |
| matthieuvignon | 3:43843ab8af47 | 706 | TabAspirateurBras[0] = ID1; |
| matthieuvignon | 3:43843ab8af47 | 707 | TabAspirateurBras[1] = GPosition1_1; |
| matthieuvignon | 3:43843ab8af47 | 708 | TabAspirateurBras[2] = GPosition1_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 709 | TabAspirateurBras[3] = GSpeed1; |
| matthieuvignon | 3:43843ab8af47 | 710 | TabAspirateurBras[4] = GSpeed1>>8; |
| matthieuvignon | 3:43843ab8af47 | 711 | |
| matthieuvignon | 3:43843ab8af47 | 712 | TabAspirateurBras[5] = ID2; |
| matthieuvignon | 3:43843ab8af47 | 713 | TabAspirateurBras[6] = GPosition2_1; |
| matthieuvignon | 3:43843ab8af47 | 714 | TabAspirateurBras[7] = GPosition2_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 715 | TabAspirateurBras[8] = GSpeed2; |
| matthieuvignon | 3:43843ab8af47 | 716 | TabAspirateurBras[9] = GSpeed2>>8; |
| matthieuvignon | 3:43843ab8af47 | 717 | |
| matthieuvignon | 3:43843ab8af47 | 718 | TabAspirateurBras[10] = ID3; |
| matthieuvignon | 3:43843ab8af47 | 719 | TabAspirateurBras[11] = GPosition3_1; |
| matthieuvignon | 3:43843ab8af47 | 720 | TabAspirateurBras[12] = GPosition3_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 721 | TabAspirateurBras[13] = GSpeed3; |
| matthieuvignon | 3:43843ab8af47 | 722 | TabAspirateurBras[14] = GSpeed3>>8 ; |
| matthieuvignon | 3:43843ab8af47 | 723 | |
| matthieuvignon | 3:43843ab8af47 | 724 | BrasAspirateurAx12->multiple_goal_and_speed(3,TabAspirateurBras) ; |
| matthieuvignon | 3:43843ab8af47 | 725 | wait(TIME); |
| matthieuvignon | 3:43843ab8af47 | 726 | |
| matthieuvignon | 5:7e1c328c5d50 | 727 | timeout.start(); |
| matthieuvignon | 5:7e1c328c5d50 | 728 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_HautBrasAspirateur->Get_Position()*10)>GPosition1*105/100) |
| matthieuvignon | 5:7e1c328c5d50 | 729 | || ((unsigned short)(Ax12_HautBrasAspirateur->Get_Position()*10)<GPosition1*95/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 730 | Ax12_HautBrasAspirateur->Set_Secure_Goal(GPosition1/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 731 | wait(TIME); |
| matthieuvignon | 2:9d280856a536 | 732 | } |
| matthieuvignon | 5:7e1c328c5d50 | 733 | timeout.reset(); |
| matthieuvignon | 5:7e1c328c5d50 | 734 | |
| matthieuvignon | 5:7e1c328c5d50 | 735 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_BasBrasAspirateur->Get_Position()*10)>GPosition2*105/100) |
| matthieuvignon | 5:7e1c328c5d50 | 736 | || ((unsigned short)(Ax12_BasBrasAspirateur->Get_Position()*10)<GPosition2*95/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 737 | Ax12_BasBrasAspirateur->Set_Secure_Goal(GPosition2/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 738 | wait(TIME); |
| matthieuvignon | 5:7e1c328c5d50 | 739 | } |
| matthieuvignon | 5:7e1c328c5d50 | 740 | timeout.reset(); |
| matthieuvignon | 2:9d280856a536 | 741 | |
| matthieuvignon | 5:7e1c328c5d50 | 742 | while ((timeout.read_ms()<MULT_TIMEOUT) || (((unsigned short)(Ax12_FunnyAction->Get_Position()*10)>GPosition3*105/100) |
| matthieuvignon | 5:7e1c328c5d50 | 743 | || ((unsigned short)(Ax12_FunnyAction->Get_Position()*10)<GPosition3*95/100))) { |
| matthieuvignon | 5:7e1c328c5d50 | 744 | Ax12_FunnyAction->Set_Secure_Goal(GPosition3/10) ; |
| matthieuvignon | 5:7e1c328c5d50 | 745 | wait(TIME); |
| matthieuvignon | 5:7e1c328c5d50 | 746 | } |
| matthieuvignon | 2:9d280856a536 | 747 | |
| matthieuvignon | 2:9d280856a536 | 748 | } |
| matthieuvignon | 2:9d280856a536 | 749 | |
| matthieuvignon | 2:9d280856a536 | 750 | |
| matthieuvignon | 2:9d280856a536 | 751 | /****************************************************************************************/ |
| matthieuvignon | 2:9d280856a536 | 752 | /* FUNCTION NAME: Fin_action */ |
| matthieuvignon | 2:9d280856a536 | 753 | /* DESCRIPTION : Fonction qui confirme la fin de mouvement des AX12 */ |
| matthieuvignon | 2:9d280856a536 | 754 | /****************************************************************************************/ |
| matthieuvignon | 2:9d280856a536 | 755 | void Fin_action(void){ |
| matthieuvignon | 2:9d280856a536 | 756 | CANMessage msgTx=CANMessage(); |
| matthieuvignon | 2:9d280856a536 | 757 | msgTx.format=CANStandard; |
| matthieuvignon | 2:9d280856a536 | 758 | msgTx.type=CANData; |
| matthieuvignon | 2:9d280856a536 | 759 | |
| matthieuvignon | 2:9d280856a536 | 760 | msgTx.id = SERVO_AX12_END; |
| matthieuvignon | 2:9d280856a536 | 761 | msgTx.len = 1; |
| matthieuvignon | 5:7e1c328c5d50 | 762 | msgTx.data[0] = 0x96; |
| matthieuvignon | 2:9d280856a536 | 763 | can.write(msgTx); |
| matthieuvignon | 2:9d280856a536 | 764 | } |
| matthieuvignon | 2:9d280856a536 | 765 | |
| matthieuvignon | 2:9d280856a536 | 766 | |
| matthieuvignon | 2:9d280856a536 | 767 | |
| matthieuvignon | 2:9d280856a536 | 768 |