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test_carteAToutFaire_PR
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Actionneur.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:
- 4:3edcf7dab711
- 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 "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 | 3:43843ab8af47 | 15 | |
| matthieuvignon | 2:9d280856a536 | 16 | |
| matthieuvignon | 3:43843ab8af47 | 17 | AX12 *Ax12_HautBrasModuleAvant, *Ax12_DevantPinceDroite, *Ax12_DevantPinceGauche, *Ax12_MilieuBrasModuleAvant, *BrasModuleAx12, *TabBrasModule; |
| matthieuvignon | 3:43843ab8af47 | 18 | AX12 *Ax12_MilieuBrasPompe, *Ax12_HautBrasPompe, *Ax12_BasBrasPompe, *BrasPompeAx12, *TabBrasPompe; |
| matthieuvignon | 3:43843ab8af47 | 19 | AX12 *Ax12_HautBrasAspirateur, *Ax12_BasBrasAspirateur, *BrasAspirateurAx12, *TabBrasAspirateur, *Ax12_FunnyAction; |
| matthieuvignon | 2:9d280856a536 | 20 | |
| matthieuvignon | 2:9d280856a536 | 21 | |
| matthieuvignon | 2:9d280856a536 | 22 | /* ANGLE */ |
| matthieuvignon | 2:9d280856a536 | 23 | |
| matthieuvignon | 2:9d280856a536 | 24 | /* 10° = 0x21, 0x00 | 110°= 0x6E, 0x01 | 210°= 0xBC, 0x02 |
| matthieuvignon | 2:9d280856a536 | 25 | 20° = 0x42, 0x00 | 120°= 0x90, 0x01 | 220°= 0xDD, 0x02 |
| matthieuvignon | 2:9d280856a536 | 26 | 30° = 0x64, 0x00 | 130°= 0xB1, 0x01 |
| matthieuvignon | 2:9d280856a536 | 27 | 40° = 0x85, 0x00 | 140°= 0xD2, 0x01 |
| matthieuvignon | 2:9d280856a536 | 28 | 50° = 0xA6, 0x00 | 150°= 0xF4, 0x01 |
| matthieuvignon | 2:9d280856a536 | 29 | 60° = 0xC8, 0x00 | 160°= 0x15, 0x02 |
| matthieuvignon | 2:9d280856a536 | 30 | 70° = 0xE9, 0x00 | 170°= 0x36, 0x02 |
| matthieuvignon | 2:9d280856a536 | 31 | 80° = 0x0A, 0x01 | 180°= 0x58, 0x02 |
| matthieuvignon | 2:9d280856a536 | 32 | 90° = 0x2C, 0x01 | 190°= 0x79, 0x02 |
| matthieuvignon | 2:9d280856a536 | 33 | 100°= 0x4D, 0x01 | 200°= 0x9A, 0x02 */ |
| matthieuvignon | 2:9d280856a536 | 34 | |
| matthieuvignon | 2:9d280856a536 | 35 | /* NUMERO AX12 */ |
| matthieuvignon | 2:9d280856a536 | 36 | |
| matthieuvignon | 2:9d280856a536 | 37 | /* 0 = 0x00 | 9 = 0x09 | 18 = 0x12 |
| matthieuvignon | 2:9d280856a536 | 38 | 1 = 0x01 | 10 = 0x0A |
| matthieuvignon | 2:9d280856a536 | 39 | 2 = 0x02 | 11 = 0x0B |
| matthieuvignon | 2:9d280856a536 | 40 | 3 = 0x03 | 12 = 0x0C |
| matthieuvignon | 2:9d280856a536 | 41 | 4 = 0x04 | 13 = 0x0D |
| matthieuvignon | 2:9d280856a536 | 42 | 5 = 0x05 | 14 = 0x0E |
| matthieuvignon | 2:9d280856a536 | 43 | 6 = 0x06 | 15 = 0x0F |
| matthieuvignon | 2:9d280856a536 | 44 | 7 = 0x07 | 16 = 0x10 |
| matthieuvignon | 2:9d280856a536 | 45 | 8 = 0x08 | 17 = 0x11 */ |
| matthieuvignon | 2:9d280856a536 | 46 | |
| matthieuvignon | 2:9d280856a536 | 47 | |
| matthieuvignon | 2:9d280856a536 | 48 | |
| matthieuvignon | 2:9d280856a536 | 49 | /* MAIN */ |
| matthieuvignon | 2:9d280856a536 | 50 | |
| matthieuvignon | 2:9d280856a536 | 51 | void initialisation_AX12(void) |
| matthieuvignon | 2:9d280856a536 | 52 | { |
| matthieuvignon | 2:9d280856a536 | 53 | short vitesse=700; |
| matthieuvignon | 2:9d280856a536 | 54 | |
| matthieuvignon | 3:43843ab8af47 | 55 | |
| matthieuvignon | 3:43843ab8af47 | 56 | Ax12_HautBrasPompe = new AX12(p9, p10, 3, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 57 | Ax12_MilieuBrasPompe = new AX12(p9, p10, 2, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 58 | Ax12_BasBrasPompe = new AX12(p9, p10, 1, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 59 | |
| matthieuvignon | 3:43843ab8af47 | 60 | Ax12_HautBrasModuleAvant = new AX12(p13, p14, 4, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 61 | Ax12_MilieuBrasModuleAvant = new AX12(p13, p14, 5, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 62 | Ax12_DevantPinceGauche = new AX12(p13, p14, 6, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 63 | Ax12_DevantPinceDroite = new AX12(p13, p14, 7, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 64 | |
| matthieuvignon | 3:43843ab8af47 | 65 | Ax12_HautBrasAspirateur = new AX12(p28, p27, 9, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 66 | Ax12_BasBrasAspirateur = new AX12(p28, p27, 10, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 67 | Ax12_FunnyAction = new AX12(p28, p27, 15, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 68 | |
| matthieuvignon | 3:43843ab8af47 | 69 | //AX12_Bras = new AX12(p9, p10, 1, 1000000); |
| matthieuvignon | 2:9d280856a536 | 70 | |
| matthieuvignon | 2:9d280856a536 | 71 | BrasPompeAx12 = new AX12(p9,p10,0xFE,1000000); |
| matthieuvignon | 3:43843ab8af47 | 72 | BrasModuleAx12 = new AX12(p13, p14, 0xFE, 1000000); |
| matthieuvignon | 3:43843ab8af47 | 73 | BrasAspirateurAx12 = new AX12(p28, p27,0xFE,1000000); |
| matthieuvignon | 2:9d280856a536 | 74 | |
| matthieuvignon | 3:43843ab8af47 | 75 | Ax12_HautBrasPompe->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 76 | Ax12_MilieuBrasPompe->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 77 | Ax12_BasBrasPompe->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 78 | Ax12_HautBrasModuleAvant->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 79 | Ax12_MilieuBrasModuleAvant->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 80 | Ax12_DevantPinceGauche->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 81 | Ax12_DevantPinceDroite->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 82 | Ax12_HautBrasAspirateur->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 83 | Ax12_BasBrasAspirateur->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 84 | Ax12_FunnyAction->Set_Goal_speed(vitesse); |
| matthieuvignon | 3:43843ab8af47 | 85 | |
| matthieuvignon | 3:43843ab8af47 | 86 | Ax12_HautBrasPompe->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 87 | Ax12_MilieuBrasPompe->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 88 | Ax12_BasBrasPompe->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 89 | Ax12_HautBrasModuleAvant->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 90 | Ax12_MilieuBrasModuleAvant->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 91 | Ax12_DevantPinceGauche->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 92 | Ax12_DevantPinceDroite->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 93 | Ax12_HautBrasAspirateur->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 94 | Ax12_BasBrasAspirateur->Set_Mode(0); |
| matthieuvignon | 3:43843ab8af47 | 95 | Ax12_FunnyAction->Set_Mode(0); |
| matthieuvignon | 2:9d280856a536 | 96 | } |
| matthieuvignon | 2:9d280856a536 | 97 | |
| matthieuvignon | 2:9d280856a536 | 98 | void GetPositionAx12(void) { |
| matthieuvignon | 3:43843ab8af47 | 99 | |
| matthieuvignon | 3:43843ab8af47 | 100 | pc.printf("\n\r * Get Position * \n\r"); |
| matthieuvignon | 2:9d280856a536 | 101 | |
| matthieuvignon | 3:43843ab8af47 | 102 | pc.printf("\n\r BRAS AVANT \n\r"); |
| matthieuvignon | 3:43843ab8af47 | 103 | pc.printf("Haut Av: %lf \n\r ", Ax12_HautBrasModuleAvant->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 104 | pc.printf("Milieu Av: %lf \n\r ", Ax12_MilieuBrasModuleAvant->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 105 | pc.printf("Gauche Av: %lf \n\r ", Ax12_DevantPinceGauche->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 106 | pc.printf("Droite Av: %lf \n\r ", Ax12_DevantPinceDroite->Get_Position() ); |
| matthieuvignon | 2:9d280856a536 | 107 | |
| matthieuvignon | 3:43843ab8af47 | 108 | pc.printf("\n\r BRAS ASPIRATEUR \n\r"); |
| matthieuvignon | 3:43843ab8af47 | 109 | pc.printf("Haut Asp : %lf \n\r ", Ax12_HautBrasAspirateur->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 110 | pc.printf("Bas Asp : %lf \n\r ", Ax12_BasBrasAspirateur->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 111 | pc.printf("Funny Action : %lf \n\r ", Ax12_FunnyAction->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 112 | |
| matthieuvignon | 3:43843ab8af47 | 113 | pc.printf("\n\r BRAS POMPE \n\r"); |
| matthieuvignon | 3:43843ab8af47 | 114 | pc.printf("Haut Pompe : %lf \n\r ", Ax12_HautBrasPompe->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 115 | pc.printf("Milieu Pompe : %lf \n\r ", Ax12_MilieuBrasPompe->Get_Position() ); |
| matthieuvignon | 3:43843ab8af47 | 116 | pc.printf("Bas Pompe : %lf \n\r ", Ax12_BasBrasPompe->Get_Position() ); |
| matthieuvignon | 2:9d280856a536 | 117 | |
| matthieuvignon | 2:9d280856a536 | 118 | } |
| matthieuvignon | 2:9d280856a536 | 119 | |
| matthieuvignon | 2:9d280856a536 | 120 | |
| matthieuvignon | 2:9d280856a536 | 121 | /****************************************************************************************/ |
| matthieuvignon | 2:9d280856a536 | 122 | /* FUNCTION NAME: Automate_ax12 */ |
| matthieuvignon | 2:9d280856a536 | 123 | /* DESCRIPTION : Fonction qui gère les différentes actions des AX12 */ |
| matthieuvignon | 2:9d280856a536 | 124 | /****************************************************************************************/ |
| matthieuvignon | 3:43843ab8af47 | 125 | void AX12_automate(unsigned char etat_ax12){ |
| matthieuvignon | 2:9d280856a536 | 126 | |
| matthieuvignon | 2:9d280856a536 | 127 | unsigned short speed; |
| matthieuvignon | 2:9d280856a536 | 128 | |
| matthieuvignon | 3:43843ab8af47 | 129 | unsigned int GoalPos1, GoalPos2, GoalPos3, GoalPos4, GoalPos5, GoalPos6, GoalPos7, GoalPos9, GoalPos10, GoalPos15; |
| matthieuvignon | 3:43843ab8af47 | 130 | |
| matthieuvignon | 3:43843ab8af47 | 131 | |
| matthieuvignon | 3:43843ab8af47 | 132 | |
| matthieuvignon | 3:43843ab8af47 | 133 | switch(etat_ax12){ |
| matthieuvignon | 3:43843ab8af47 | 134 | |
| matthieuvignon | 3:43843ab8af47 | 135 | case AX12_GET_POSITION: |
| matthieuvignon | 3:43843ab8af47 | 136 | GetPositionAx12(); |
| matthieuvignon | 3:43843ab8af47 | 137 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 138 | break; |
| matthieuvignon | 3:43843ab8af47 | 139 | |
| matthieuvignon | 3:43843ab8af47 | 140 | case AX12_POS_INIT_POMPE_JAUNE_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 141 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 142 | |
| matthieuvignon | 3:43843ab8af47 | 143 | GoalPos3=1443; |
| matthieuvignon | 3:43843ab8af47 | 144 | GoalPos2=625; |
| matthieuvignon | 3:43843ab8af47 | 145 | GoalPos1=1500; |
| matthieuvignon | 3:43843ab8af47 | 146 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 147 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 148 | break; |
| matthieuvignon | 2:9d280856a536 | 149 | |
| matthieuvignon | 3:43843ab8af47 | 150 | case AX12_VIDER_FUSEE_POMPE_JAUNE_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 151 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 152 | |
| matthieuvignon | 3:43843ab8af47 | 153 | GoalPos3=1440; |
| matthieuvignon | 3:43843ab8af47 | 154 | GoalPos2=603; |
| matthieuvignon | 3:43843ab8af47 | 155 | GoalPos1=2400; |
| matthieuvignon | 3:43843ab8af47 | 156 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 157 | GoalPos3=1795; //1180 |
| matthieuvignon | 3:43843ab8af47 | 158 | GoalPos2=340; //2000 |
| matthieuvignon | 3:43843ab8af47 | 159 | GoalPos1=2393; //2400 |
| matthieuvignon | 3:43843ab8af47 | 160 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 161 | GoalPos3=2147; //640 |
| matthieuvignon | 3:43843ab8af47 | 162 | GoalPos2=229; //2840 |
| matthieuvignon | 3:43843ab8af47 | 163 | GoalPos1=2400; //2720 |
| matthieuvignon | 3:43843ab8af47 | 164 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 165 | GoalPos3=2346; |
| matthieuvignon | 3:43843ab8af47 | 166 | GoalPos2=205; |
| matthieuvignon | 3:43843ab8af47 | 167 | GoalPos1=2123; |
| matthieuvignon | 3:43843ab8af47 | 168 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 169 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 170 | break; |
| matthieuvignon | 3:43843ab8af47 | 171 | |
| matthieuvignon | 3:43843ab8af47 | 172 | case AX12_POSE_MODULE_POMPE_JAUNE_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 173 | speed=300; |
| matthieuvignon | 3:43843ab8af47 | 174 | |
| matthieuvignon | 3:43843ab8af47 | 175 | GoalPos3=2613; |
| matthieuvignon | 3:43843ab8af47 | 176 | GoalPos2=610; |
| matthieuvignon | 3:43843ab8af47 | 177 | GoalPos1=1352; |
| matthieuvignon | 3:43843ab8af47 | 178 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 179 | |
| matthieuvignon | 3:43843ab8af47 | 180 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 181 | |
| matthieuvignon | 3:43843ab8af47 | 182 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 183 | break; |
| matthieuvignon | 3:43843ab8af47 | 184 | |
| matthieuvignon | 2:9d280856a536 | 185 | |
| matthieuvignon | 3:43843ab8af47 | 186 | case AX12_POSE_MODULE_POMPE_BLEU_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 187 | speed=300; |
| matthieuvignon | 3:43843ab8af47 | 188 | |
| matthieuvignon | 3:43843ab8af47 | 189 | GoalPos3=2613; |
| matthieuvignon | 3:43843ab8af47 | 190 | GoalPos2=610; |
| matthieuvignon | 3:43843ab8af47 | 191 | GoalPos1=1352; |
| matthieuvignon | 3:43843ab8af47 | 192 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 193 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 194 | GoalPos3=2610; |
| matthieuvignon | 3:43843ab8af47 | 195 | GoalPos2=850; |
| matthieuvignon | 3:43843ab8af47 | 196 | GoalPos1=2999; |
| matthieuvignon | 3:43843ab8af47 | 197 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 198 | |
| matthieuvignon | 3:43843ab8af47 | 199 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 200 | |
| matthieuvignon | 3:43843ab8af47 | 201 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 202 | break; |
| matthieuvignon | 3:43843ab8af47 | 203 | |
| matthieuvignon | 3:43843ab8af47 | 204 | case AX12_REMISE_PLACE_BRAS_POMPE_AVANT: |
| matthieuvignon | 3:43843ab8af47 | 205 | |
| matthieuvignon | 3:43843ab8af47 | 206 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 207 | |
| matthieuvignon | 3:43843ab8af47 | 208 | GoalPos3=2200; |
| matthieuvignon | 3:43843ab8af47 | 209 | GoalPos2=214; |
| matthieuvignon | 3:43843ab8af47 | 210 | GoalPos1=2038; |
| matthieuvignon | 3:43843ab8af47 | 211 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 212 | GoalPos3=1730; |
| matthieuvignon | 3:43843ab8af47 | 213 | GoalPos2=355; |
| matthieuvignon | 3:43843ab8af47 | 214 | GoalPos1=2197; |
| matthieuvignon | 3:43843ab8af47 | 215 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 216 | GoalPos3=1487; |
| matthieuvignon | 3:43843ab8af47 | 217 | GoalPos2=500; |
| matthieuvignon | 3:43843ab8af47 | 218 | GoalPos1=2197; |
| matthieuvignon | 3:43843ab8af47 | 219 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 220 | GoalPos3=1440; |
| matthieuvignon | 3:43843ab8af47 | 221 | GoalPos2=639; |
| matthieuvignon | 3:43843ab8af47 | 222 | GoalPos1=2400; |
| matthieuvignon | 3:43843ab8af47 | 223 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 224 | |
| matthieuvignon | 3:43843ab8af47 | 225 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 226 | break; |
| matthieuvignon | 3:43843ab8af47 | 227 | |
| matthieuvignon | 3:43843ab8af47 | 228 | |
| matthieuvignon | 3:43843ab8af47 | 229 | case AX12_POS_INIT_POMPE_JAUNE_ARRIERE: |
| matthieuvignon | 3:43843ab8af47 | 230 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 231 | |
| matthieuvignon | 3:43843ab8af47 | 232 | GoalPos3=1615; |
| matthieuvignon | 3:43843ab8af47 | 233 | GoalPos2=2349; |
| matthieuvignon | 3:43843ab8af47 | 234 | GoalPos1=1500; |
| matthieuvignon | 3:43843ab8af47 | 235 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 236 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 237 | break; |
| matthieuvignon | 2:9d280856a536 | 238 | |
| matthieuvignon | 3:43843ab8af47 | 239 | |
| matthieuvignon | 2:9d280856a536 | 240 | |
| matthieuvignon | 3:43843ab8af47 | 241 | case AX12_VIDER_FUSEE_POMPE_JAUNE_ARRIERE: |
| matthieuvignon | 3:43843ab8af47 | 242 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 243 | |
| matthieuvignon | 3:43843ab8af47 | 244 | GoalPos3=1650; |
| matthieuvignon | 3:43843ab8af47 | 245 | GoalPos2=2380; |
| matthieuvignon | 3:43843ab8af47 | 246 | GoalPos1=1500; |
| matthieuvignon | 3:43843ab8af47 | 247 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 248 | GoalPos3=1545; |
| matthieuvignon | 3:43843ab8af47 | 249 | GoalPos2=2480; |
| matthieuvignon | 3:43843ab8af47 | 250 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 251 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 252 | GoalPos3=1146; //1595 |
| matthieuvignon | 3:43843ab8af47 | 253 | GoalPos2=2698; //2349 |
| matthieuvignon | 3:43843ab8af47 | 254 | GoalPos1=581; //2400 |
| matthieuvignon | 3:43843ab8af47 | 255 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 256 | GoalPos3=724; //953 |
| matthieuvignon | 3:43843ab8af47 | 257 | GoalPos2=2783; //2806 |
| matthieuvignon | 3:43843ab8af47 | 258 | GoalPos1=757; //2551 |
| matthieuvignon | 3:43843ab8af47 | 259 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 260 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 261 | break; |
| matthieuvignon | 3:43843ab8af47 | 262 | |
| matthieuvignon | 3:43843ab8af47 | 263 | case AX12_POSE_MODULE_POMPE_JAUNE_ARRIERE: |
| matthieuvignon | 3:43843ab8af47 | 264 | speed=750; |
| matthieuvignon | 3:43843ab8af47 | 265 | |
| matthieuvignon | 3:43843ab8af47 | 266 | GoalPos3=401; |
| matthieuvignon | 3:43843ab8af47 | 267 | GoalPos2=2340; |
| matthieuvignon | 3:43843ab8af47 | 268 | GoalPos1=1094; |
| matthieuvignon | 3:43843ab8af47 | 269 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 270 | GoalPos3=401; |
| matthieuvignon | 3:43843ab8af47 | 271 | GoalPos2=2800; |
| matthieuvignon | 3:43843ab8af47 | 272 | GoalPos1=80; |
| matthieuvignon | 3:43843ab8af47 | 273 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 274 | |
| matthieuvignon | 3:43843ab8af47 | 275 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 276 | |
| matthieuvignon | 3:43843ab8af47 | 277 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 278 | break; |
| matthieuvignon | 3:43843ab8af47 | 279 | |
| matthieuvignon | 2:9d280856a536 | 280 | |
| matthieuvignon | 3:43843ab8af47 | 281 | case AX12_POSE_MODULE_POMPE_BLEU_ARRIERE: |
| matthieuvignon | 3:43843ab8af47 | 282 | speed=750; |
| matthieuvignon | 2:9d280856a536 | 283 | |
| matthieuvignon | 3:43843ab8af47 | 284 | GoalPos3=384; |
| matthieuvignon | 3:43843ab8af47 | 285 | GoalPos2=2774; |
| matthieuvignon | 3:43843ab8af47 | 286 | GoalPos1=1094; |
| matthieuvignon | 3:43843ab8af47 | 287 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 288 | GoalPos3=330; |
| matthieuvignon | 3:43843ab8af47 | 289 | GoalPos2=2506; |
| matthieuvignon | 3:43843ab8af47 | 290 | GoalPos1=1587; |
| matthieuvignon | 3:43843ab8af47 | 291 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 292 | |
| matthieuvignon | 3:43843ab8af47 | 293 | Pompe.write(0); |
| matthieuvignon | 3:43843ab8af47 | 294 | |
| matthieuvignon | 3:43843ab8af47 | 295 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 296 | break; |
| matthieuvignon | 3:43843ab8af47 | 297 | |
| matthieuvignon | 3:43843ab8af47 | 298 | case AX12_REMISE_PLACE_BRAS_POMPE_ARRIERE: |
| matthieuvignon | 3:43843ab8af47 | 299 | |
| matthieuvignon | 3:43843ab8af47 | 300 | speed=750; |
| matthieuvignon | 2:9d280856a536 | 301 | |
| matthieuvignon | 3:43843ab8af47 | 302 | GoalPos3=450; //449 |
| matthieuvignon | 3:43843ab8af47 | 303 | GoalPos2=2800; //2833 |
| matthieuvignon | 3:43843ab8af47 | 304 | GoalPos1=1500; //2762 |
| matthieuvignon | 3:43843ab8af47 | 305 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 306 | GoalPos3=765; |
| matthieuvignon | 3:43843ab8af47 | 307 | GoalPos2=2796; |
| matthieuvignon | 3:43843ab8af47 | 308 | GoalPos1=880; |
| matthieuvignon | 3:43843ab8af47 | 309 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 310 | GoalPos3=1200; |
| matthieuvignon | 3:43843ab8af47 | 311 | GoalPos2=2750; |
| matthieuvignon | 3:43843ab8af47 | 312 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 313 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 314 | GoalPos3=1557; |
| matthieuvignon | 3:43843ab8af47 | 315 | GoalPos2=2500; |
| matthieuvignon | 3:43843ab8af47 | 316 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 317 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 318 | |
| matthieuvignon | 3:43843ab8af47 | 319 | GoalPos3=1650; |
| matthieuvignon | 3:43843ab8af47 | 320 | GoalPos2=2380; |
| matthieuvignon | 3:43843ab8af47 | 321 | GoalPos1=600; |
| matthieuvignon | 3:43843ab8af47 | 322 | mvtBrasAvantPompe(1, speed, GoalPos1, 2, speed, GoalPos2, 3, speed, GoalPos3); |
| matthieuvignon | 3:43843ab8af47 | 323 | |
| matthieuvignon | 3:43843ab8af47 | 324 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 325 | break; |
| matthieuvignon | 3:43843ab8af47 | 326 | |
| matthieuvignon | 2:9d280856a536 | 327 | |
| matthieuvignon | 3:43843ab8af47 | 328 | case AX12_INITIALISATION : |
| matthieuvignon | 3:43843ab8af47 | 329 | speed = 750; |
| matthieuvignon | 3:43843ab8af47 | 330 | |
| matthieuvignon | 3:43843ab8af47 | 331 | GoalPos4=2200; |
| matthieuvignon | 3:43843ab8af47 | 332 | GoalPos5=1522; |
| matthieuvignon | 3:43843ab8af47 | 333 | GoalPos6=2528; |
| matthieuvignon | 3:43843ab8af47 | 334 | GoalPos7=513; |
| matthieuvignon | 3:43843ab8af47 | 335 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 336 | GoalPos4=2379; |
| matthieuvignon | 3:43843ab8af47 | 337 | GoalPos5=1522; |
| matthieuvignon | 3:43843ab8af47 | 338 | GoalPos6=2528; |
| matthieuvignon | 3:43843ab8af47 | 339 | GoalPos7=513; |
| matthieuvignon | 3:43843ab8af47 | 340 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 341 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 342 | break; |
| matthieuvignon | 3:43843ab8af47 | 343 | |
| matthieuvignon | 3:43843ab8af47 | 344 | case AX12_PREPARATION_PRISE : |
| matthieuvignon | 3:43843ab8af47 | 345 | speed = 750; |
| matthieuvignon | 3:43843ab8af47 | 346 | |
| matthieuvignon | 3:43843ab8af47 | 347 | GoalPos4=970; |
| matthieuvignon | 3:43843ab8af47 | 348 | GoalPos5=2060; |
| matthieuvignon | 3:43843ab8af47 | 349 | GoalPos6=1891; |
| matthieuvignon | 3:43843ab8af47 | 350 | GoalPos7=1150; |
| matthieuvignon | 3:43843ab8af47 | 351 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 352 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 353 | break; |
| matthieuvignon | 3:43843ab8af47 | 354 | |
| matthieuvignon | 3:43843ab8af47 | 355 | case AX12_STOCKAGE_HAUT : |
| matthieuvignon | 3:43843ab8af47 | 356 | GoalPos4=970; |
| matthieuvignon | 3:43843ab8af47 | 357 | GoalPos5=2060; |
| matthieuvignon | 3:43843ab8af47 | 358 | GoalPos6=2520; |
| matthieuvignon | 3:43843ab8af47 | 359 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 360 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 361 | GoalPos4=1587; |
| matthieuvignon | 3:43843ab8af47 | 362 | GoalPos5=2032; |
| matthieuvignon | 3:43843ab8af47 | 363 | GoalPos6=2520; |
| matthieuvignon | 3:43843ab8af47 | 364 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 365 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 366 | GoalPos4=2003; |
| matthieuvignon | 3:43843ab8af47 | 367 | GoalPos5=1810; |
| matthieuvignon | 3:43843ab8af47 | 368 | GoalPos6=2520; |
| matthieuvignon | 3:43843ab8af47 | 369 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 370 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 371 | GoalPos4=2041; |
| matthieuvignon | 3:43843ab8af47 | 372 | GoalPos5=2018; |
| matthieuvignon | 3:43843ab8af47 | 373 | GoalPos6=2300; |
| matthieuvignon | 3:43843ab8af47 | 374 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 375 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 376 | GoalPos4=2041; |
| matthieuvignon | 3:43843ab8af47 | 377 | GoalPos5=2018; |
| matthieuvignon | 3:43843ab8af47 | 378 | GoalPos6=2200; |
| matthieuvignon | 3:43843ab8af47 | 379 | GoalPos7=750; |
| matthieuvignon | 3:43843ab8af47 | 380 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 2:9d280856a536 | 381 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 382 | break; |
| matthieuvignon | 3:43843ab8af47 | 383 | |
| matthieuvignon | 3:43843ab8af47 | 384 | case AX12_STOCKAGE_BAS : |
| matthieuvignon | 3:43843ab8af47 | 385 | GoalPos4=970; |
| matthieuvignon | 3:43843ab8af47 | 386 | GoalPos5=2060; |
| matthieuvignon | 3:43843ab8af47 | 387 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 388 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 389 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 390 | GoalPos4=1587; |
| matthieuvignon | 3:43843ab8af47 | 391 | GoalPos5=2032; |
| matthieuvignon | 3:43843ab8af47 | 392 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 393 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 394 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 395 | |
| matthieuvignon | 3:43843ab8af47 | 396 | GoalPos4=1510; |
| matthieuvignon | 3:43843ab8af47 | 397 | GoalPos5=1126; |
| matthieuvignon | 3:43843ab8af47 | 398 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 399 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 400 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 401 | GoalPos4=1580; |
| matthieuvignon | 3:43843ab8af47 | 402 | GoalPos5=660; |
| matthieuvignon | 3:43843ab8af47 | 403 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 404 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 405 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 406 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 407 | break; |
| matthieuvignon | 3:43843ab8af47 | 408 | |
| matthieuvignon | 3:43843ab8af47 | 409 | case AX12_DEPOSER : |
| matthieuvignon | 3:43843ab8af47 | 410 | GoalPos4=1580; |
| matthieuvignon | 3:43843ab8af47 | 411 | GoalPos5=660; |
| matthieuvignon | 3:43843ab8af47 | 412 | GoalPos6=2200; |
| matthieuvignon | 3:43843ab8af47 | 413 | GoalPos7=800; |
| matthieuvignon | 3:43843ab8af47 | 414 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 415 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 416 | break; |
| matthieuvignon | 3:43843ab8af47 | 417 | |
| matthieuvignon | 3:43843ab8af47 | 418 | case AX12_PREPARATION_DEPOT_HAUT : |
| matthieuvignon | 3:43843ab8af47 | 419 | GoalPos4=1970; |
| matthieuvignon | 3:43843ab8af47 | 420 | GoalPos5=2140; |
| matthieuvignon | 3:43843ab8af47 | 421 | GoalPos6=2000; |
| matthieuvignon | 3:43843ab8af47 | 422 | GoalPos7=850; |
| matthieuvignon | 3:43843ab8af47 | 423 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 424 | GoalPos4=1994; |
| matthieuvignon | 3:43843ab8af47 | 425 | GoalPos5=2110; |
| matthieuvignon | 3:43843ab8af47 | 426 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 427 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 428 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 429 | GoalPos4=1977; |
| matthieuvignon | 3:43843ab8af47 | 430 | GoalPos5=1713; |
| matthieuvignon | 3:43843ab8af47 | 431 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 432 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 433 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 434 | |
| matthieuvignon | 3:43843ab8af47 | 435 | GoalPos4=1580; |
| matthieuvignon | 3:43843ab8af47 | 436 | GoalPos5=660; |
| matthieuvignon | 3:43843ab8af47 | 437 | GoalPos6=2460; |
| matthieuvignon | 3:43843ab8af47 | 438 | GoalPos7=550; |
| matthieuvignon | 3:43843ab8af47 | 439 | mvtBrasAvantModule(4, speed, GoalPos4, 5, speed, GoalPos5, 6, speed, GoalPos6, 7, speed, GoalPos7); |
| matthieuvignon | 3:43843ab8af47 | 440 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 441 | |
| matthieuvignon | 3:43843ab8af47 | 442 | break; |
| matthieuvignon | 3:43843ab8af47 | 443 | |
| matthieuvignon | 3:43843ab8af47 | 444 | case AX12_POUSSER_MODULE : |
| matthieuvignon | 3:43843ab8af47 | 445 | GoalPos4=1880; |
| matthieuvignon | 3:43843ab8af47 | 446 | GoalPos5=440; |
| 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 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 451 | break; |
| matthieuvignon | 3:43843ab8af47 | 452 | |
| matthieuvignon | 3:43843ab8af47 | 453 | case AX12_DESCENDRE_ASPIRATEUR : |
| matthieuvignon | 3:43843ab8af47 | 454 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 455 | GoalPos9=1700; |
| matthieuvignon | 3:43843ab8af47 | 456 | GoalPos10=2200; |
| matthieuvignon | 3:43843ab8af47 | 457 | GoalPos15=2400; |
| matthieuvignon | 3:43843ab8af47 | 458 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 3:43843ab8af47 | 459 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 460 | break; |
| matthieuvignon | 3:43843ab8af47 | 461 | |
| matthieuvignon | 3:43843ab8af47 | 462 | case AX12_MONTER_ASPIRATEUR : |
| matthieuvignon | 3:43843ab8af47 | 463 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 464 | GoalPos9=540; |
| matthieuvignon | 3:43843ab8af47 | 465 | GoalPos10=2370; |
| matthieuvignon | 3:43843ab8af47 | 466 | GoalPos15=2400; |
| matthieuvignon | 3:43843ab8af47 | 467 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 3:43843ab8af47 | 468 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 469 | break; |
| matthieuvignon | 3:43843ab8af47 | 470 | |
| matthieuvignon | 3:43843ab8af47 | 471 | case AX12_FUNNY_ACTION: |
| matthieuvignon | 3:43843ab8af47 | 472 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 473 | GoalPos9=540; |
| matthieuvignon | 3:43843ab8af47 | 474 | GoalPos10=2370; |
| matthieuvignon | 3:43843ab8af47 | 475 | GoalPos15=1250; |
| matthieuvignon | 3:43843ab8af47 | 476 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 3:43843ab8af47 | 477 | wait(10*TIME); |
| matthieuvignon | 3:43843ab8af47 | 478 | speed = 1023; |
| matthieuvignon | 3:43843ab8af47 | 479 | GoalPos9=540; |
| matthieuvignon | 3:43843ab8af47 | 480 | GoalPos10=2370; |
| matthieuvignon | 3:43843ab8af47 | 481 | GoalPos15=2400; |
| matthieuvignon | 3:43843ab8af47 | 482 | mvtBrasAspirateur(9, speed, GoalPos9, 10, speed, GoalPos10, 15, speed, GoalPos15); |
| matthieuvignon | 3:43843ab8af47 | 483 | Fin_action(); |
| matthieuvignon | 3:43843ab8af47 | 484 | break; |
| matthieuvignon | 3:43843ab8af47 | 485 | |
| matthieuvignon | 3:43843ab8af47 | 486 | case AX12_DEFAUT : |
| matthieuvignon | 3:43843ab8af47 | 487 | |
| matthieuvignon | 3:43843ab8af47 | 488 | break; |
| matthieuvignon | 3:43843ab8af47 | 489 | } |
| matthieuvignon | 2:9d280856a536 | 490 | |
| matthieuvignon | 2:9d280856a536 | 491 | } |
| matthieuvignon | 2:9d280856a536 | 492 | |
| matthieuvignon | 2:9d280856a536 | 493 | |
| matthieuvignon | 3:43843ab8af47 | 494 | unsigned char mvtBrasAvantPompe(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
| matthieuvignon | 2:9d280856a536 | 495 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
| matthieuvignon | 2:9d280856a536 | 496 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3) |
| matthieuvignon | 2:9d280856a536 | 497 | { |
| matthieuvignon | 2:9d280856a536 | 498 | char TabPompeBras[15]; |
| matthieuvignon | 2:9d280856a536 | 499 | unsigned short GPosition1_1, GPosition2_1, GPosition3_1; |
| matthieuvignon | 2:9d280856a536 | 500 | |
| matthieuvignon | 2:9d280856a536 | 501 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
| matthieuvignon | 2:9d280856a536 | 502 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
| matthieuvignon | 2:9d280856a536 | 503 | GPosition3_1=((unsigned long)GPosition3*341/1000); |
| matthieuvignon | 2:9d280856a536 | 504 | |
| matthieuvignon | 2:9d280856a536 | 505 | TabPompeBras[0] = ID1; |
| matthieuvignon | 2:9d280856a536 | 506 | TabPompeBras[1] = GPosition1_1; |
| matthieuvignon | 2:9d280856a536 | 507 | TabPompeBras[2] = GPosition1_1>>8; |
| matthieuvignon | 2:9d280856a536 | 508 | TabPompeBras[3] = GSpeed1; |
| matthieuvignon | 2:9d280856a536 | 509 | TabPompeBras[4] = GSpeed1>>8; /// (haut, milieu, bas) |
| matthieuvignon | 2:9d280856a536 | 510 | |
| matthieuvignon | 2:9d280856a536 | 511 | TabPompeBras[5] = ID2; |
| matthieuvignon | 2:9d280856a536 | 512 | TabPompeBras[6] = GPosition2_1; |
| matthieuvignon | 2:9d280856a536 | 513 | TabPompeBras[7] = GPosition2_1>>8; |
| matthieuvignon | 2:9d280856a536 | 514 | TabPompeBras[8] = GSpeed2; |
| matthieuvignon | 2:9d280856a536 | 515 | TabPompeBras[9] = GSpeed2>>8; |
| matthieuvignon | 2:9d280856a536 | 516 | |
| matthieuvignon | 2:9d280856a536 | 517 | TabPompeBras[10] = ID3; |
| matthieuvignon | 2:9d280856a536 | 518 | TabPompeBras[11] = GPosition3_1; |
| matthieuvignon | 2:9d280856a536 | 519 | TabPompeBras[12] = GPosition3_1>>8; |
| matthieuvignon | 2:9d280856a536 | 520 | TabPompeBras[13] = GSpeed3; |
| matthieuvignon | 2:9d280856a536 | 521 | TabPompeBras[14] = GSpeed3>>8 ; |
| matthieuvignon | 2:9d280856a536 | 522 | |
| matthieuvignon | 2:9d280856a536 | 523 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 2:9d280856a536 | 524 | wait(TIME); |
| matthieuvignon | 2:9d280856a536 | 525 | |
| matthieuvignon | 2:9d280856a536 | 526 | |
| matthieuvignon | 3:43843ab8af47 | 527 | while (((unsigned short)(Ax12_HautBrasPompe->Get_Position()*10)>GPosition3*105/100) || ((unsigned short)(Ax12_HautBrasPompe->Get_Position()*10)<GPosition3*95/100)) { |
| matthieuvignon | 3:43843ab8af47 | 528 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 3:43843ab8af47 | 529 | wait(TIME*5); |
| matthieuvignon | 3:43843ab8af47 | 530 | } |
| matthieuvignon | 3:43843ab8af47 | 531 | |
| matthieuvignon | 3:43843ab8af47 | 532 | while (((unsigned short)(Ax12_MilieuBrasPompe->Get_Position()*10)>GPosition2*105/100) || ((unsigned short)(Ax12_MilieuBrasPompe->Get_Position()*10)<GPosition2*95/100)) { |
| matthieuvignon | 3:43843ab8af47 | 533 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 3:43843ab8af47 | 534 | wait(TIME*5); |
| matthieuvignon | 3:43843ab8af47 | 535 | } |
| matthieuvignon | 3:43843ab8af47 | 536 | |
| matthieuvignon | 3:43843ab8af47 | 537 | |
| matthieuvignon | 3:43843ab8af47 | 538 | while (((unsigned short)(Ax12_BasBrasPompe->Get_Position()*10)>GPosition1*105/100) || ((unsigned short)(Ax12_BasBrasPompe->Get_Position()*10)<GPosition1*95/100)) { |
| matthieuvignon | 3:43843ab8af47 | 539 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 3:43843ab8af47 | 540 | wait(TIME*5); |
| matthieuvignon | 3:43843ab8af47 | 541 | } |
| matthieuvignon | 3:43843ab8af47 | 542 | |
| matthieuvignon | 3:43843ab8af47 | 543 | |
| matthieuvignon | 3:43843ab8af47 | 544 | |
| matthieuvignon | 3:43843ab8af47 | 545 | } |
| matthieuvignon | 3:43843ab8af47 | 546 | |
| matthieuvignon | 3:43843ab8af47 | 547 | unsigned char mvtBrasAvantModule(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
| matthieuvignon | 3:43843ab8af47 | 548 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
| matthieuvignon | 3:43843ab8af47 | 549 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3, |
| matthieuvignon | 3:43843ab8af47 | 550 | unsigned char ID4, unsigned short GSpeed4, unsigned short GPosition4) |
| matthieuvignon | 3:43843ab8af47 | 551 | { |
| matthieuvignon | 3:43843ab8af47 | 552 | |
| matthieuvignon | 3:43843ab8af47 | 553 | char TabBrasAvant[20]; |
| matthieuvignon | 3:43843ab8af47 | 554 | unsigned short GPosition1_1, GPosition2_1, GPosition3_1, GPosition4_1; |
| matthieuvignon | 3:43843ab8af47 | 555 | |
| matthieuvignon | 3:43843ab8af47 | 556 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 557 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 558 | GPosition3_1=((unsigned long)GPosition3*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 559 | GPosition4_1=((unsigned long)GPosition4*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 560 | |
| matthieuvignon | 3:43843ab8af47 | 561 | TabBrasAvant[0] = ID1; |
| matthieuvignon | 3:43843ab8af47 | 562 | TabBrasAvant[1] = GPosition1_1; |
| matthieuvignon | 3:43843ab8af47 | 563 | TabBrasAvant[2] = GPosition1_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 564 | TabBrasAvant[3] = GSpeed1; |
| matthieuvignon | 3:43843ab8af47 | 565 | TabBrasAvant[4] = GSpeed1>>8; /// (haut, milieu, bas) |
| matthieuvignon | 3:43843ab8af47 | 566 | |
| matthieuvignon | 3:43843ab8af47 | 567 | TabBrasAvant[5] = ID2; |
| matthieuvignon | 3:43843ab8af47 | 568 | TabBrasAvant[6] = GPosition2_1; |
| matthieuvignon | 3:43843ab8af47 | 569 | TabBrasAvant[7] = GPosition2_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 570 | TabBrasAvant[8] = GSpeed2; |
| matthieuvignon | 3:43843ab8af47 | 571 | TabBrasAvant[9] = GSpeed2>>8; |
| matthieuvignon | 3:43843ab8af47 | 572 | |
| matthieuvignon | 3:43843ab8af47 | 573 | TabBrasAvant[10] = ID3; |
| matthieuvignon | 3:43843ab8af47 | 574 | TabBrasAvant[11] = GPosition3_1; |
| matthieuvignon | 3:43843ab8af47 | 575 | TabBrasAvant[12] = GPosition3_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 576 | TabBrasAvant[13] = GSpeed3; |
| matthieuvignon | 3:43843ab8af47 | 577 | TabBrasAvant[14] = GSpeed3>>8 ; |
| matthieuvignon | 3:43843ab8af47 | 578 | |
| matthieuvignon | 3:43843ab8af47 | 579 | TabBrasAvant[15] = ID4; |
| matthieuvignon | 3:43843ab8af47 | 580 | TabBrasAvant[16] = GPosition4_1; |
| matthieuvignon | 3:43843ab8af47 | 581 | TabBrasAvant[17] = GPosition4_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 582 | TabBrasAvant[18] = GSpeed4; |
| matthieuvignon | 3:43843ab8af47 | 583 | TabBrasAvant[19] = GSpeed4>>8 ; |
| matthieuvignon | 3:43843ab8af47 | 584 | |
| matthieuvignon | 3:43843ab8af47 | 585 | BrasModuleAx12->multiple_goal_and_speed(4,TabBrasAvant) ; |
| matthieuvignon | 3:43843ab8af47 | 586 | wait(TIME); |
| matthieuvignon | 3:43843ab8af47 | 587 | |
| matthieuvignon | 3:43843ab8af47 | 588 | /* |
| matthieuvignon | 2:9d280856a536 | 589 | while (((unsigned short)(HautBrasPompe->Get_Position()*10)>GPosition3*105/100) || ((unsigned short)(HautBrasPompe->Get_Position()*10)<GPosition3*95/100)) { |
| matthieuvignon | 2:9d280856a536 | 590 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 2:9d280856a536 | 591 | wait(TIME*5); |
| matthieuvignon | 2:9d280856a536 | 592 | } |
| matthieuvignon | 2:9d280856a536 | 593 | |
| matthieuvignon | 2:9d280856a536 | 594 | while (((unsigned short)(MilieuBrasPompe->Get_Position()*10)>GPosition2*105/100) || ((unsigned short)(MilieuBrasPompe->Get_Position()*10)<GPosition2*95/100)) { |
| matthieuvignon | 2:9d280856a536 | 595 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 2:9d280856a536 | 596 | wait(TIME*5); |
| matthieuvignon | 2:9d280856a536 | 597 | } |
| matthieuvignon | 2:9d280856a536 | 598 | |
| matthieuvignon | 2:9d280856a536 | 599 | |
| matthieuvignon | 2:9d280856a536 | 600 | while (((unsigned short)(BasBrasPompe->Get_Position()*10)>GPosition1*105/100) || ((unsigned short)(BasBrasPompe->Get_Position()*10)<GPosition1*95/100)) { |
| matthieuvignon | 2:9d280856a536 | 601 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 2:9d280856a536 | 602 | wait(TIME*5); |
| matthieuvignon | 2:9d280856a536 | 603 | } |
| matthieuvignon | 3:43843ab8af47 | 604 | */ |
| matthieuvignon | 2:9d280856a536 | 605 | |
| matthieuvignon | 2:9d280856a536 | 606 | |
| matthieuvignon | 2:9d280856a536 | 607 | } |
| matthieuvignon | 2:9d280856a536 | 608 | |
| matthieuvignon | 3:43843ab8af47 | 609 | unsigned char mvtBrasAspirateur(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1, |
| matthieuvignon | 3:43843ab8af47 | 610 | unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2, |
| matthieuvignon | 3:43843ab8af47 | 611 | unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3) |
| matthieuvignon | 3:43843ab8af47 | 612 | { |
| matthieuvignon | 3:43843ab8af47 | 613 | char TabAspirateurBras[15]; |
| matthieuvignon | 3:43843ab8af47 | 614 | unsigned short GPosition1_1, GPosition2_1, GPosition3_1; |
| matthieuvignon | 3:43843ab8af47 | 615 | |
| matthieuvignon | 3:43843ab8af47 | 616 | GPosition1_1=((unsigned long)GPosition1*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 617 | GPosition2_1=((unsigned long)GPosition2*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 618 | GPosition3_1=((unsigned long)GPosition3*341/1000); |
| matthieuvignon | 3:43843ab8af47 | 619 | |
| matthieuvignon | 3:43843ab8af47 | 620 | TabAspirateurBras[0] = ID1; |
| matthieuvignon | 3:43843ab8af47 | 621 | TabAspirateurBras[1] = GPosition1_1; |
| matthieuvignon | 3:43843ab8af47 | 622 | TabAspirateurBras[2] = GPosition1_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 623 | TabAspirateurBras[3] = GSpeed1; |
| matthieuvignon | 3:43843ab8af47 | 624 | TabAspirateurBras[4] = GSpeed1>>8; |
| matthieuvignon | 3:43843ab8af47 | 625 | |
| matthieuvignon | 3:43843ab8af47 | 626 | TabAspirateurBras[5] = ID2; |
| matthieuvignon | 3:43843ab8af47 | 627 | TabAspirateurBras[6] = GPosition2_1; |
| matthieuvignon | 3:43843ab8af47 | 628 | TabAspirateurBras[7] = GPosition2_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 629 | TabAspirateurBras[8] = GSpeed2; |
| matthieuvignon | 3:43843ab8af47 | 630 | TabAspirateurBras[9] = GSpeed2>>8; |
| matthieuvignon | 3:43843ab8af47 | 631 | |
| matthieuvignon | 3:43843ab8af47 | 632 | TabAspirateurBras[10] = ID3; |
| matthieuvignon | 3:43843ab8af47 | 633 | TabAspirateurBras[11] = GPosition3_1; |
| matthieuvignon | 3:43843ab8af47 | 634 | TabAspirateurBras[12] = GPosition3_1>>8; |
| matthieuvignon | 3:43843ab8af47 | 635 | TabAspirateurBras[13] = GSpeed3; |
| matthieuvignon | 3:43843ab8af47 | 636 | TabAspirateurBras[14] = GSpeed3>>8 ; |
| matthieuvignon | 3:43843ab8af47 | 637 | |
| matthieuvignon | 3:43843ab8af47 | 638 | BrasAspirateurAx12->multiple_goal_and_speed(3,TabAspirateurBras) ; |
| matthieuvignon | 3:43843ab8af47 | 639 | wait(TIME); |
| matthieuvignon | 3:43843ab8af47 | 640 | |
| matthieuvignon | 3:43843ab8af47 | 641 | /* |
| matthieuvignon | 3:43843ab8af47 | 642 | while (((unsigned short)(HautBrasPompe->Get_Position()*10)>GPosition3*105/100) || ((unsigned short)(HautBrasPompe->Get_Position()*10)<GPosition3*95/100)) { |
| matthieuvignon | 3:43843ab8af47 | 643 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 3:43843ab8af47 | 644 | wait(TIME*5); |
| matthieuvignon | 2:9d280856a536 | 645 | } |
| matthieuvignon | 2:9d280856a536 | 646 | |
| matthieuvignon | 3:43843ab8af47 | 647 | while (((unsigned short)(MilieuBrasPompe->Get_Position()*10)>GPosition2*105/100) || ((unsigned short)(MilieuBrasPompe->Get_Position()*10)<GPosition2*95/100)) { |
| matthieuvignon | 3:43843ab8af47 | 648 | BrasPompeAx12->multiple_goal_and_speed(3,TabPompeBras) ; |
| matthieuvignon | 3:43843ab8af47 | 649 | wait(TIME*5); |
| matthieuvignon | 3:43843ab8af47 | 650 | }*/ |
| matthieuvignon | 2:9d280856a536 | 651 | |
| matthieuvignon | 3:43843ab8af47 | 652 | |
| matthieuvignon | 2:9d280856a536 | 653 | |
| matthieuvignon | 2:9d280856a536 | 654 | } |
| matthieuvignon | 2:9d280856a536 | 655 | |
| matthieuvignon | 2:9d280856a536 | 656 | |
| matthieuvignon | 2:9d280856a536 | 657 | /****************************************************************************************/ |
| matthieuvignon | 2:9d280856a536 | 658 | /* FUNCTION NAME: Fin_action */ |
| matthieuvignon | 2:9d280856a536 | 659 | /* DESCRIPTION : Fonction qui confirme la fin de mouvement des AX12 */ |
| matthieuvignon | 2:9d280856a536 | 660 | /****************************************************************************************/ |
| matthieuvignon | 2:9d280856a536 | 661 | void Fin_action(void){ |
| matthieuvignon | 2:9d280856a536 | 662 | CANMessage msgTx=CANMessage(); |
| matthieuvignon | 2:9d280856a536 | 663 | msgTx.format=CANStandard; |
| matthieuvignon | 2:9d280856a536 | 664 | msgTx.type=CANData; |
| matthieuvignon | 2:9d280856a536 | 665 | |
| matthieuvignon | 2:9d280856a536 | 666 | msgTx.id = SERVO_AX12_END; |
| matthieuvignon | 2:9d280856a536 | 667 | msgTx.len = 1; |
| matthieuvignon | 2:9d280856a536 | 668 | msgTx.data[0] = AX12_PREPARATION_PRISE; |
| matthieuvignon | 2:9d280856a536 | 669 | can.write(msgTx); |
| matthieuvignon | 2:9d280856a536 | 670 | } |
| matthieuvignon | 2:9d280856a536 | 671 | |
| matthieuvignon | 2:9d280856a536 | 672 | |
| matthieuvignon | 2:9d280856a536 | 673 | |
| matthieuvignon | 2:9d280856a536 | 674 |