test des capteurs/actionneurs petit robot
Fork of mbed_tes_cpt by
main.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 "all_includes.h" |
matthieuvignon | 2:9d280856a536 | 2 | |
matthieuvignon | 2:9d280856a536 | 3 | Timer t; |
matthieuvignon | 5:7e1c328c5d50 | 4 | Timer TimeJack; |
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 | 5:7e1c328c5d50 | 21 | |
matthieuvignon | 3:43843ab8af47 | 22 | #endif |
matthieuvignon | 3:43843ab8af47 | 23 | |
matthieuvignon | 3:43843ab8af47 | 24 | #ifdef ARRIERE |
matthieuvignon | 3:43843ab8af47 | 25 | PwmOut Pompe(p21); |
matthieuvignon | 3:43843ab8af47 | 26 | PwmOut MotLanceur(p22); |
matthieuvignon | 5:7e1c328c5d50 | 27 | InterruptIn jack(p23); |
matthieuvignon | 5:7e1c328c5d50 | 28 | //DigitalIn Jack(p25); |
matthieuvignon | 3:43843ab8af47 | 29 | #endif |
matthieuvignon | 2:9d280856a536 | 30 | |
ClementBreteau | 0:7737d7573e3b | 31 | |
matthieuvignon | 2:9d280856a536 | 32 | |
matthieuvignon | 2:9d280856a536 | 33 | AnalogIn telemetre(p15); |
matthieuvignon | 2:9d280856a536 | 34 | |
matthieuvignon | 5:7e1c328c5d50 | 35 | |
matthieuvignon | 2:9d280856a536 | 36 | |
matthieuvignon | 2:9d280856a536 | 37 | |
matthieuvignon | 2:9d280856a536 | 38 | DigitalOut led(LED1); |
matthieuvignon | 2:9d280856a536 | 39 | DigitalOut led2(LED2); |
matthieuvignon | 2:9d280856a536 | 40 | |
matthieuvignon | 5:7e1c328c5d50 | 41 | unsigned char EtatPompe=0, EtatLanceur=0, EtatAx12=0, ChoixBras=0, ActionAx12=0, EtatTurbine=0, EtatElectroVanne=0, EtatFunnyAction=0, EtatGameEnd=0, EnvoieJack=0; |
matthieuvignon | 5:7e1c328c5d50 | 42 | unsigned char action_a_effectuer=0, ActionPompe=0, EtatCarteAvant=0, EtatCarteArriere=0; |
matthieuvignon | 2:9d280856a536 | 43 | |
ClementBreteau | 0:7737d7573e3b | 44 | |
ClementBreteau | 0:7737d7573e3b | 45 | /* |
ClementBreteau | 0:7737d7573e3b | 46 | DigitalIn IO1(p23); |
ClementBreteau | 0:7737d7573e3b | 47 | DigitalIn IO2(p24); |
ClementBreteau | 0:7737d7573e3b | 48 | DigitalIn IO3(p25); |
ClementBreteau | 0:7737d7573e3b | 49 | DigitalIn IO4(p26); |
ClementBreteau | 0:7737d7573e3b | 50 | |
ClementBreteau | 0:7737d7573e3b | 51 | AnalogIn A_in1(p15); |
ClementBreteau | 0:7737d7573e3b | 52 | AnalogIn A_in2(p16); |
ClementBreteau | 0:7737d7573e3b | 53 | AnalogIn A_in3(p17); |
ClementBreteau | 0:7737d7573e3b | 54 | AnalogIn A_in4(p18); |
ClementBreteau | 0:7737d7573e3b | 55 | AnalogIn A_in5(p19); |
ClementBreteau | 0:7737d7573e3b | 56 | AnalogIn A_in6(p20); |
ClementBreteau | 0:7737d7573e3b | 57 | |
ClementBreteau | 0:7737d7573e3b | 58 | PwmOut IRL_1(p21); |
ClementBreteau | 0:7737d7573e3b | 59 | PwmOut IRL_2(p22); |
ClementBreteau | 0:7737d7573e3b | 60 | */ |
ClementBreteau | 0:7737d7573e3b | 61 | |
matthieuvignon | 5:7e1c328c5d50 | 62 | /****************************************************************************************/ |
matthieuvignon | 5:7e1c328c5d50 | 63 | /* FUNCTION NAME: jack_ISR */ |
matthieuvignon | 5:7e1c328c5d50 | 64 | /* DESCRIPTION : Interruption en changement d'état sur le Jack */ |
matthieuvignon | 5:7e1c328c5d50 | 65 | /****************************************************************************************/ |
matthieuvignon | 5:7e1c328c5d50 | 66 | #ifdef ARRIERE |
matthieuvignon | 5:7e1c328c5d50 | 67 | void jack_ISR (void) |
matthieuvignon | 5:7e1c328c5d50 | 68 | { |
matthieuvignon | 5:7e1c328c5d50 | 69 | led2=1; |
matthieuvignon | 5:7e1c328c5d50 | 70 | SendRawId(GLOBAL_JACK); |
matthieuvignon | 5:7e1c328c5d50 | 71 | EnvoieJack = 1; |
matthieuvignon | 5:7e1c328c5d50 | 72 | TimeJack.start(); |
matthieuvignon | 5:7e1c328c5d50 | 73 | } |
matthieuvignon | 5:7e1c328c5d50 | 74 | #endif |
ClementBreteau | 1:f3f702086a30 | 75 | |
ClementBreteau | 0:7737d7573e3b | 76 | |
matthieuvignon | 2:9d280856a536 | 77 | |
matthieuvignon | 2:9d280856a536 | 78 | int main() { |
matthieuvignon | 2:9d280856a536 | 79 | |
matthieuvignon | 2:9d280856a536 | 80 | can.frequency(1000000); // fréquence de travail 1Mbit/s |
matthieuvignon | 2:9d280856a536 | 81 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
matthieuvignon | 3:43843ab8af47 | 82 | |
matthieuvignon | 2:9d280856a536 | 83 | // message CAN autorise a declencher l'interruption |
matthieuvignon | 2:9d280856a536 | 84 | |
matthieuvignon | 3:43843ab8af47 | 85 | CAN2_wrFilter(POMPE); |
matthieuvignon | 3:43843ab8af47 | 86 | |
matthieuvignon | 2:9d280856a536 | 87 | CAN2_wrFilter(LANCEUR); |
matthieuvignon | 2:9d280856a536 | 88 | CAN2_wrFilter(TURBINE); |
matthieuvignon | 3:43843ab8af47 | 89 | CAN2_wrFilter(ELECTROVANNE); |
matthieuvignon | 2:9d280856a536 | 90 | CAN2_wrFilter(0x123); |
matthieuvignon | 5:7e1c328c5d50 | 91 | |
matthieuvignon | 5:7e1c328c5d50 | 92 | CAN2_wrFilter(CHECK_CARTE_AVANT); |
matthieuvignon | 5:7e1c328c5d50 | 93 | CAN2_wrFilter(CHECK_CARTE_ARRIERE); |
matthieuvignon | 5:7e1c328c5d50 | 94 | CAN2_wrFilter(ACKNOWLEDGE_GLOBAL_JACK); |
matthieuvignon | 2:9d280856a536 | 95 | |
matthieuvignon | 2:9d280856a536 | 96 | CAN2_wrFilter(SERVO_AX12_ACTION); |
matthieuvignon | 2:9d280856a536 | 97 | CAN2_wrFilter(SERVO_AX12_ACK); |
matthieuvignon | 2:9d280856a536 | 98 | CAN2_wrFilter(SERVO_AX12_END); |
matthieuvignon | 2:9d280856a536 | 99 | CAN2_wrFilter(CHECK_AX12); |
matthieuvignon | 5:7e1c328c5d50 | 100 | CAN2_wrFilter(GLOBAL_FUNNY_ACTION); |
matthieuvignon | 5:7e1c328c5d50 | 101 | CAN2_wrFilter(GLOBAL_GAME_END); |
matthieuvignon | 2:9d280856a536 | 102 | |
matthieuvignon | 5:7e1c328c5d50 | 103 | |
matthieuvignon | 5:7e1c328c5d50 | 104 | |
matthieuvignon | 2:9d280856a536 | 105 | |
matthieuvignon | 3:43843ab8af47 | 106 | #ifdef AVANT |
matthieuvignon | 5:7e1c328c5d50 | 107 | Pompe.period(0.00005); |
matthieuvignon | 5:7e1c328c5d50 | 108 | ElectroVanne.period(0.00005); |
matthieuvignon | 5:7e1c328c5d50 | 109 | turbine.period(0.00005); |
matthieuvignon | 3:43843ab8af47 | 110 | #endif |
matthieuvignon | 3:43843ab8af47 | 111 | |
matthieuvignon | 3:43843ab8af47 | 112 | |
matthieuvignon | 3:43843ab8af47 | 113 | #ifdef ARRIERE |
matthieuvignon | 5:7e1c328c5d50 | 114 | Pompe.period(0.00005); |
matthieuvignon | 5:7e1c328c5d50 | 115 | MotLanceur.period(0.00005); |
matthieuvignon | 3:43843ab8af47 | 116 | #endif |
matthieuvignon | 5:7e1c328c5d50 | 117 | |
matthieuvignon | 3:43843ab8af47 | 118 | |
matthieuvignon | 5:7e1c328c5d50 | 119 | |
matthieuvignon | 2:9d280856a536 | 120 | |
matthieuvignon | 2:9d280856a536 | 121 | |
matthieuvignon | 2:9d280856a536 | 122 | while(1) { |
matthieuvignon | 2:9d280856a536 | 123 | led = !led; |
matthieuvignon | 2:9d280856a536 | 124 | canProcessRx();//Traitement des trames CAN en attente |
matthieuvignon | 2:9d280856a536 | 125 | |
matthieuvignon | 5:7e1c328c5d50 | 126 | if (EtatGameEnd==1) { |
matthieuvignon | 5:7e1c328c5d50 | 127 | #ifdef AVANT |
matthieuvignon | 5:7e1c328c5d50 | 128 | Pompe.write(0); |
matthieuvignon | 5:7e1c328c5d50 | 129 | ElectroVanne.write(0); |
matthieuvignon | 5:7e1c328c5d50 | 130 | gerer_turbine(0); |
matthieuvignon | 5:7e1c328c5d50 | 131 | #endif |
matthieuvignon | 5:7e1c328c5d50 | 132 | |
matthieuvignon | 5:7e1c328c5d50 | 133 | #ifdef ARRIERE |
matthieuvignon | 5:7e1c328c5d50 | 134 | Pompe.write(0); |
matthieuvignon | 5:7e1c328c5d50 | 135 | MotLanceur.write(0); |
matthieuvignon | 5:7e1c328c5d50 | 136 | #endif |
matthieuvignon | 5:7e1c328c5d50 | 137 | |
matthieuvignon | 5:7e1c328c5d50 | 138 | } |
matthieuvignon | 5:7e1c328c5d50 | 139 | |
matthieuvignon | 5:7e1c328c5d50 | 140 | if ((EnvoieJack==1) && (TimeJack.read_ms()>100)){ |
matthieuvignon | 5:7e1c328c5d50 | 141 | SendRawId(GLOBAL_JACK); |
matthieuvignon | 5:7e1c328c5d50 | 142 | TimeJack.reset(); |
matthieuvignon | 5:7e1c328c5d50 | 143 | } |
matthieuvignon | 5:7e1c328c5d50 | 144 | |
matthieuvignon | 5:7e1c328c5d50 | 145 | |
matthieuvignon | 5:7e1c328c5d50 | 146 | |
matthieuvignon | 5:7e1c328c5d50 | 147 | |
matthieuvignon | 2:9d280856a536 | 148 | |
matthieuvignon | 2:9d280856a536 | 149 | if (action_a_effectuer==1) { |
matthieuvignon | 2:9d280856a536 | 150 | action_a_effectuer=0; |
matthieuvignon | 2:9d280856a536 | 151 | |
matthieuvignon | 3:43843ab8af47 | 152 | if (Cote==CARTE) { |
matthieuvignon | 5:7e1c328c5d50 | 153 | #ifdef AVANT |
matthieuvignon | 5:7e1c328c5d50 | 154 | if (EtatCarteAvant==1) { |
matthieuvignon | 5:7e1c328c5d50 | 155 | EtatCarteAvant=0; |
matthieuvignon | 5:7e1c328c5d50 | 156 | initialisation_AX12(); |
matthieuvignon | 5:7e1c328c5d50 | 157 | |
matthieuvignon | 5:7e1c328c5d50 | 158 | AX12_automate(1); |
matthieuvignon | 5:7e1c328c5d50 | 159 | AX12_automate(16); |
matthieuvignon | 5:7e1c328c5d50 | 160 | AX12_automate(21); |
matthieuvignon | 5:7e1c328c5d50 | 161 | } |
matthieuvignon | 5:7e1c328c5d50 | 162 | #endif |
matthieuvignon | 5:7e1c328c5d50 | 163 | |
matthieuvignon | 5:7e1c328c5d50 | 164 | #ifdef ARRIERE |
matthieuvignon | 5:7e1c328c5d50 | 165 | if (EtatCarteArriere==1) { |
matthieuvignon | 5:7e1c328c5d50 | 166 | EtatCarteArriere=0; |
matthieuvignon | 5:7e1c328c5d50 | 167 | |
matthieuvignon | 5:7e1c328c5d50 | 168 | initialisation_AX12(); |
matthieuvignon | 5:7e1c328c5d50 | 169 | AX12_automate(1); |
matthieuvignon | 5:7e1c328c5d50 | 170 | AX12_automate(36); |
matthieuvignon | 5:7e1c328c5d50 | 171 | AX12_automate(41); |
matthieuvignon | 5:7e1c328c5d50 | 172 | jack.mode(PullDown); // désactivation de la résistance interne du jack |
matthieuvignon | 5:7e1c328c5d50 | 173 | jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack |
matthieuvignon | 5:7e1c328c5d50 | 174 | } |
matthieuvignon | 5:7e1c328c5d50 | 175 | #endif |
matthieuvignon | 5:7e1c328c5d50 | 176 | |
matthieuvignon | 5:7e1c328c5d50 | 177 | if (EtatFunnyAction==1){ |
matthieuvignon | 5:7e1c328c5d50 | 178 | AX12_automate(22); //Funny Action |
matthieuvignon | 5:7e1c328c5d50 | 179 | } |
matthieuvignon | 5:7e1c328c5d50 | 180 | |
matthieuvignon | 5:7e1c328c5d50 | 181 | |
matthieuvignon | 3:43843ab8af47 | 182 | if (ActionAx12==1){ |
matthieuvignon | 3:43843ab8af47 | 183 | AX12_automate(EtatAx12); |
matthieuvignon | 3:43843ab8af47 | 184 | ActionAx12=0; |
matthieuvignon | 3:43843ab8af47 | 185 | } |
matthieuvignon | 3:43843ab8af47 | 186 | |
matthieuvignon | 3:43843ab8af47 | 187 | if ((EtatPompe==1)&&(ActionPompe==1)) |
matthieuvignon | 3:43843ab8af47 | 188 | ActionPompe=0, Pompe.write(1); |
matthieuvignon | 3:43843ab8af47 | 189 | else if ((EtatPompe==0)&&(ActionPompe==1)) |
matthieuvignon | 3:43843ab8af47 | 190 | Pompe.write(0), ActionPompe=0; |
matthieuvignon | 3:43843ab8af47 | 191 | |
matthieuvignon | 3:43843ab8af47 | 192 | #ifdef AVANT |
matthieuvignon | 3:43843ab8af47 | 193 | if (EtatTurbine==1) |
matthieuvignon | 5:7e1c328c5d50 | 194 | turbine.write(1); |
matthieuvignon | 3:43843ab8af47 | 195 | else if (EtatTurbine==0) |
matthieuvignon | 5:7e1c328c5d50 | 196 | turbine.write(0); |
matthieuvignon | 3:43843ab8af47 | 197 | |
matthieuvignon | 3:43843ab8af47 | 198 | if (EtatElectroVanne==1) |
matthieuvignon | 3:43843ab8af47 | 199 | ElectroVanne.write(1); |
matthieuvignon | 3:43843ab8af47 | 200 | else if (EtatElectroVanne==0) |
matthieuvignon | 3:43843ab8af47 | 201 | ElectroVanne.write(0); |
matthieuvignon | 3:43843ab8af47 | 202 | #endif |
matthieuvignon | 3:43843ab8af47 | 203 | |
matthieuvignon | 3:43843ab8af47 | 204 | #ifdef ARRIERE |
matthieuvignon | 5:7e1c328c5d50 | 205 | if (EtatLanceur==1) { |
matthieuvignon | 3:43843ab8af47 | 206 | MotLanceur.write(1); |
matthieuvignon | 5:7e1c328c5d50 | 207 | wait(0.2); |
matthieuvignon | 5:7e1c328c5d50 | 208 | |
matthieuvignon | 5:7e1c328c5d50 | 209 | unsigned char i; |
matthieuvignon | 5:7e1c328c5d50 | 210 | for(unsigned char j=1;j<10;j++) { |
matthieuvignon | 5:7e1c328c5d50 | 211 | for(i=10;i>5;i--) { |
matthieuvignon | 5:7e1c328c5d50 | 212 | float value=(float)i/10.; |
matthieuvignon | 5:7e1c328c5d50 | 213 | MotLanceur.write(value); |
matthieuvignon | 5:7e1c328c5d50 | 214 | wait(0.2); |
matthieuvignon | 5:7e1c328c5d50 | 215 | } |
matthieuvignon | 5:7e1c328c5d50 | 216 | } |
matthieuvignon | 5:7e1c328c5d50 | 217 | MotLanceur.write(0); |
matthieuvignon | 5:7e1c328c5d50 | 218 | |
matthieuvignon | 5:7e1c328c5d50 | 219 | /* MotLanceur.write(1); |
matthieuvignon | 5:7e1c328c5d50 | 220 | wait(0.2); |
matthieuvignon | 5:7e1c328c5d50 | 221 | MotLanceur.write(0.27); |
matthieuvignon | 5:7e1c328c5d50 | 222 | wait(0.1); |
matthieuvignon | 5:7e1c328c5d50 | 223 | MotLanceur.write(1); |
matthieuvignon | 5:7e1c328c5d50 | 224 | wait(0.1); |
matthieuvignon | 5:7e1c328c5d50 | 225 | MotLanceur.write(0.27); |
matthieuvignon | 5:7e1c328c5d50 | 226 | wait(0.1); |
matthieuvignon | 5:7e1c328c5d50 | 227 | MotLanceur.write(1); |
matthieuvignon | 5:7e1c328c5d50 | 228 | wait(0.1); |
matthieuvignon | 5:7e1c328c5d50 | 229 | MotLanceur.write(0.27); |
matthieuvignon | 5:7e1c328c5d50 | 230 | wait(0.1); |
matthieuvignon | 5:7e1c328c5d50 | 231 | MotLanceur.write(1); |
matthieuvignon | 5:7e1c328c5d50 | 232 | wait(0.1); |
matthieuvignon | 5:7e1c328c5d50 | 233 | MotLanceur.write(0.27); |
matthieuvignon | 5:7e1c328c5d50 | 234 | wait(3); |
matthieuvignon | 5:7e1c328c5d50 | 235 | MotLanceur.write(0);*/ |
matthieuvignon | 5:7e1c328c5d50 | 236 | } |
matthieuvignon | 3:43843ab8af47 | 237 | else if (EtatLanceur==0) |
matthieuvignon | 3:43843ab8af47 | 238 | MotLanceur.write(0); |
matthieuvignon | 3:43843ab8af47 | 239 | #endif |
matthieuvignon | 3:43843ab8af47 | 240 | |
matthieuvignon | 2:9d280856a536 | 241 | } |
matthieuvignon | 3:43843ab8af47 | 242 | } |
ClementBreteau | 0:7737d7573e3b | 243 | } |
ClementBreteau | 0:7737d7573e3b | 244 | } |
ClementBreteau | 0:7737d7573e3b | 245 | |
matthieuvignon | 5:7e1c328c5d50 | 246 | |
matthieuvignon | 5:7e1c328c5d50 | 247 | |
matthieuvignon | 5:7e1c328c5d50 | 248 | |
matthieuvignon | 5:7e1c328c5d50 | 249 | |
matthieuvignon | 5:7e1c328c5d50 | 250 |