Leopold Clement / Mbed 2 deprecated PSL-VicTeam

faut que Val répare le truc

Dependencies:   mbed AX12

main.cpp@14:b5e4219b01d9, 2020-06-08 (annotated)

Committer:
leocle
Date:
Mon Jun 08 13:36:34 2020 +0000
Revision:
14:b5e4219b01d9
Parent:
12:7d61181d7ac7
Child:
15:ccfe333bcf76
adrr hexadecimal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
leocle 0:8762773cddf9 1 /* #include <mbed_events.h> */
leocle 0:8762773cddf9 2 #include "mbed.h"
leocle 14:b5e4219b01d9 3
leocle 12:7d61181d7ac7 4 #define adrr_queue 3
leocle 12:7d61181d7ac7 5 #define adrr_gauche 4
leocle 12:7d61181d7ac7 6 #define adrr_droite 2
leocle 0:8762773cddf9 7
leocle 14:b5e4219b01d9 8 #define hex_queue 0x03
leocle 14:b5e4219b01d9 9 #define hex_gauche 0x04
leocle 14:b5e4219b01d9 10 #define hex_droite 0x02
leocle 14:b5e4219b01d9 11
leocle 14:b5e4219b01d9 12
leocle 0:8762773cddf9 13 DigitalOut alivenessLED(LED1);
leocle 0:8762773cddf9 14 DigitalOut testLed(LED2);
leocle 0:8762773cddf9 15
jlesoudeer 8:922178e5d286 16 /*Serial coach(D1, D0);*/
jlesoudeer 8:922178e5d286 17 Serial coach(USBTX, USBRX);
leocle 6:b32a24905cd6 18 Serial myserial_ax12(PC_4,PC_5,115200); // Modifier le baud rate en fonction de votre utilisation des moteurs
leocle 0:8762773cddf9 19
leocle 0:8762773cddf9 20 const float rapport_vitesse = 0.019383809*0.026315;
leocle 0:8762773cddf9 21 const float root3 = 1.7321;
leocle 6:b32a24905cd6 22 /*a=moteur de queue
leocle 5:86f9ec683ad5 23 AX12 myax12a (PC_4, PC_5, 2,115200);
leocle 6:b32a24905cd6 24 b : moteur de gauche
leocle 5:86f9ec683ad5 25 AX12 myax12b (PC_4, PC_5, 1,115200);
leocle 6:b32a24905cd6 26 c : moteur de droite
leocle 6:b32a24905cd6 27 AX12 myax12c (PC_4, PC_5, 3,115200);*/
leocle 0:8762773cddf9 28
leocle 0:8762773cddf9 29 int i = 0;
leocle 0:8762773cddf9 30 char last_read;
leocle 1:c5e9c436f8d0 31 int indice_a_modifie = 1;
leocle 2:223d6363315b 32 char message_0[50] = {};
leocle 2:223d6363315b 33 char message_1[50] = {};
leocle 1:c5e9c436f8d0 34 char message_vide = '0';
leocle 0:8762773cddf9 35 float front, lat, rot, T_front, T_lat = 0;
leocle 2:223d6363315b 36 int flag_msg = 0;
leocle 2:223d6363315b 37 int flag_a_traite = 0;
leocle 1:c5e9c436f8d0 38
leocle 6:b32a24905cd6 39
leocle 6:b32a24905cd6 40 DigitalOut my_led1(LED1);
leocle 6:b32a24905cd6 41 DigitalOut my_led2(LED2);
leocle 6:b32a24905cd6 42 DigitalOut my_led3(LED3);
leocle 6:b32a24905cd6 43 DigitalIn bp(USER_BUTTON);
leocle 6:b32a24905cd6 44
leocle 6:b32a24905cd6 45 void SetCRSpeed(int ID, float speed);
leocle 6:b32a24905cd6 46 void SetMode(int ID, int mode);
leocle 6:b32a24905cd6 47 void SetCWLimit (int ID, int degrees);
leocle 6:b32a24905cd6 48 void SetCCWLimit (int ID, int degrees);
leocle 6:b32a24905cd6 49 void Write(int ID, int start, int bytes, char* data);
leocle 6:b32a24905cd6 50
leocle 6:b32a24905cd6 51 char tata[10] = {};
leocle 6:b32a24905cd6 52 uint16_t position_1;
leocle 6:b32a24905cd6 53 uint16_t position_2;
leocle 6:b32a24905cd6 54 uint16_t position_3;
leocle 6:b32a24905cd6 55 int num_moteur = 1;
leocle 6:b32a24905cd6 56 int vitesse;
leocle 6:b32a24905cd6 57 char sens;
leocle 6:b32a24905cd6 58 int temps_ms = 0;
leocle 6:b32a24905cd6 59 //pour connaitre le nombre de tours
leocle 6:b32a24905cd6 60 int tour_1 = 0;
leocle 6:b32a24905cd6 61 int tour_2 = 0;
leocle 6:b32a24905cd6 62 int tour_3 = 0;
leocle 6:b32a24905cd6 63
leocle 6:b32a24905cd6 64 Ticker ticker_1ms;
leocle 6:b32a24905cd6 65
leocle 6:b32a24905cd6 66 uint16_t position_1_old;
leocle 6:b32a24905cd6 67 uint16_t position_2_old;
leocle 6:b32a24905cd6 68 uint16_t position_3_old;
leocle 6:b32a24905cd6 69 int16_t delta_position_1;
leocle 6:b32a24905cd6 70 int16_t delta_position_2;
leocle 6:b32a24905cd6 71 int16_t delta_position_3;
leocle 6:b32a24905cd6 72
leocle 6:b32a24905cd6 73 //Définition des trames de requête
leocle 14:b5e4219b01d9 74 char trame_demande_pos_1[8]= {0xFF,0xFF,hex_queue,0x4,0x2,0x24,2,0xD2};
leocle 14:b5e4219b01d9 75 char trame_demande_pos_2[8]= {0xFF,0xFF,hex_gauche,0x4,0x2,0x24,2,0xD1};
leocle 14:b5e4219b01d9 76 char trame_demande_pos_3[8]= {0xFF,0xFF,hex_droite,0x4,0x2,0x24,2,0xD0};
leocle 6:b32a24905cd6 77
leocle 6:b32a24905cd6 78
leocle 6:b32a24905cd6 79 //Fonction d'interruption sur réception de caractère sur liaison série
leocle 6:b32a24905cd6 80 void Rx_Irq_fonction(void)
leocle 6:b32a24905cd6 81 {
leocle 6:b32a24905cd6 82 uint16_t position_lu = 0;
leocle 6:b32a24905cd6 83 my_led1 = !my_led1;
leocle 6:b32a24905cd6 84
leocle 6:b32a24905cd6 85 static int i_rx=0;
leocle 6:b32a24905cd6 86 tata[i_rx]=myserial_ax12.getc();
leocle 6:b32a24905cd6 87
leocle 6:b32a24905cd6 88 if (tata[0]!=0xFF) // On vérifie que le premier et le deuxième octet sont biens 0xFF
leocle 6:b32a24905cd6 89 i_rx=0;
leocle 6:b32a24905cd6 90 else i_rx++;
leocle 6:b32a24905cd6 91 if((i_rx==2)&&(tata[1] != 0xFF)) i_rx=0;
leocle 6:b32a24905cd6 92
leocle 6:b32a24905cd6 93 //Une fois qu'on sait que la trame est "juste" on récupère le reste
leocle 6:b32a24905cd6 94 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x01) && i_rx==7) {
leocle 6:b32a24905cd6 95 my_led3 = !my_led3;
leocle 6:b32a24905cd6 96 i_rx=0;
leocle 6:b32a24905cd6 97
leocle 6:b32a24905cd6 98 if(tata[4] == 0) { //si erreur est nulle
leocle 6:b32a24905cd6 99 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
leocle 6:b32a24905cd6 100 position_lu = tata[5]+((uint16_t)tata[6]<<8);
leocle 6:b32a24905cd6 101 if((0<= position_lu)&&(position_lu<=4095)) {
leocle 6:b32a24905cd6 102 position_1 = position_lu;
leocle 6:b32a24905cd6 103 }
leocle 6:b32a24905cd6 104 }
leocle 6:b32a24905cd6 105 for(int i=0; i<10; i++) {
leocle 6:b32a24905cd6 106 tata[i]=0;
leocle 6:b32a24905cd6 107 }
leocle 6:b32a24905cd6 108 }
leocle 6:b32a24905cd6 109
leocle 6:b32a24905cd6 110 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x02) && i_rx==7) {
leocle 6:b32a24905cd6 111 my_led3 = !my_led3;
leocle 6:b32a24905cd6 112 i_rx=0;
leocle 6:b32a24905cd6 113
leocle 6:b32a24905cd6 114 if(tata[4]==00) { //si erreur nulle
leocle 6:b32a24905cd6 115 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
leocle 6:b32a24905cd6 116 position_lu = tata[5]+((uint16_t)tata[6]<<8);
leocle 6:b32a24905cd6 117 if((0<= position_lu)&&(position_lu<=4095)) {
leocle 6:b32a24905cd6 118 position_2 = position_lu;
leocle 6:b32a24905cd6 119 }
leocle 6:b32a24905cd6 120
leocle 6:b32a24905cd6 121 }
leocle 6:b32a24905cd6 122 for(int i=0; i<10; i++) {
leocle 6:b32a24905cd6 123 tata[i]=0;
leocle 6:b32a24905cd6 124 }
leocle 6:b32a24905cd6 125 }
leocle 6:b32a24905cd6 126
leocle 6:b32a24905cd6 127 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x03) && i_rx==7) {
leocle 6:b32a24905cd6 128 my_led3 = !my_led3;
leocle 6:b32a24905cd6 129 i_rx=0;
leocle 6:b32a24905cd6 130
leocle 6:b32a24905cd6 131 if(tata[4]==00) { //si erreur nulle
leocle 6:b32a24905cd6 132 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
leocle 6:b32a24905cd6 133 position_lu = tata[5]+((uint16_t)tata[6]<<8);
leocle 6:b32a24905cd6 134 if((0<= position_lu)&&(position_lu<=4095)) {
leocle 6:b32a24905cd6 135 position_3 = position_lu;
leocle 6:b32a24905cd6 136 }
leocle 6:b32a24905cd6 137
leocle 6:b32a24905cd6 138 }
leocle 6:b32a24905cd6 139 for(int i=0; i<10; i++) {
leocle 6:b32a24905cd6 140 tata[i]=0;
leocle 6:b32a24905cd6 141 }
leocle 6:b32a24905cd6 142 }
leocle 6:b32a24905cd6 143
leocle 6:b32a24905cd6 144 if (i_rx>9) {
leocle 6:b32a24905cd6 145 for(int i=0; i<10; i++)
leocle 6:b32a24905cd6 146 tata[i]=0;
leocle 6:b32a24905cd6 147 i_rx=0;
leocle 6:b32a24905cd6 148 }
leocle 6:b32a24905cd6 149 }
leocle 6:b32a24905cd6 150
leocle 6:b32a24905cd6 151 void fonction_1ms(void)
leocle 6:b32a24905cd6 152 {
leocle 6:b32a24905cd6 153 temps_ms++;
leocle 6:b32a24905cd6 154 }
leocle 6:b32a24905cd6 155
leocle 6:b32a24905cd6 156
leocle 6:b32a24905cd6 157
leocle 1:c5e9c436f8d0 158 void asser(float Vx, float Vy, float gammaz)
leocle 1:c5e9c436f8d0 159 {
leocle 0:8762773cddf9 160 float wa = rapport_vitesse*(Vx + 100 * gammaz);
leocle 0:8762773cddf9 161 float wb = rapport_vitesse*( -0.5 * Vx - (root3 / 2) * Vy + 100 * gammaz);
leocle 0:8762773cddf9 162 float wc = rapport_vitesse*( -0.5 * Vx + (root3 / 2) * Vy + 100 * gammaz);
leocle 12:7d61181d7ac7 163 /*moteur a */
leocle 12:7d61181d7ac7 164 SetCRSpeed(adrr_queue, wa);
leocle 12:7d61181d7ac7 165 /*moteur b */
leocle 12:7d61181d7ac7 166 SetCRSpeed(adrr_gauche, wb);
leocle 12:7d61181d7ac7 167 /* moteur c */
leocle 12:7d61181d7ac7 168 SetCRSpeed(adrr_droite, wc);
leocle 1:c5e9c436f8d0 169 }
leocle 0:8762773cddf9 170
leocle 1:c5e9c436f8d0 171 void send_stat()
leocle 1:c5e9c436f8d0 172 {
leocle 1:c5e9c436f8d0 173 coach.printf("S%f,%f,%f,%f,%f \n", front, lat, rot, T_front, T_lat );
leocle 1:c5e9c436f8d0 174 }
leocle 0:8762773cddf9 175
leocle 6:b32a24905cd6 176 void send_roues()
leocle 6:b32a24905cd6 177 {
leocle 6:b32a24905cd6 178 coach.printf("\n\r %5d ; %5d ; %5d ; %5d ; %5d ; %5d", position_1, delta_position_1, position_2, delta_position_2, position_3, delta_position_3);
leocle 6:b32a24905cd6 179 }
leocle 6:b32a24905cd6 180
leocle 2:223d6363315b 181 void mise_a_zero_msg_0()
leocle 1:c5e9c436f8d0 182 {
leocle 1:c5e9c436f8d0 183 for(i=0; i<50; i++) { //On réinitialise la chaîne de caractères
leocle 2:223d6363315b 184 message_0[i] = message_vide;
leocle 1:c5e9c436f8d0 185 }
leocle 2:223d6363315b 186 }
leocle 2:223d6363315b 187
leocle 2:223d6363315b 188
leocle 2:223d6363315b 189 void mise_a_zero_msg_1()
leocle 2:223d6363315b 190 {
leocle 2:223d6363315b 191 for(i=0; i<50; i++) { //On réinitialise la chaîne de caractères
leocle 2:223d6363315b 192 message_1[i] = message_vide;
leocle 2:223d6363315b 193 }
leocle 1:c5e9c436f8d0 194 }
leocle 1:c5e9c436f8d0 195
leocle 2:223d6363315b 196 void callback_serial()
leocle 1:c5e9c436f8d0 197 {
leocle 2:223d6363315b 198 last_read = coach.getc();
leocle 2:223d6363315b 199 if (last_read == 'S') {
leocle 2:223d6363315b 200 send_stat();
leocle 6:b32a24905cd6 201 } else if (last_read == 'R') {
leocle 6:b32a24905cd6 202 send_roues();
leocle 2:223d6363315b 203 } else if (last_read == ';') {
leocle 3:c2c22b4f984b 204 coach.puts("EOL\n");
leocle 3:c2c22b4f984b 205 /*coach.puts(message_0);
leocle 3:c2c22b4f984b 206 coach.puts(message_1); */
leocle 2:223d6363315b 207 if (flag_msg == 0) {
leocle 2:223d6363315b 208 message_0[indice_a_modifie] = last_read;
leocle 2:223d6363315b 209 mise_a_zero_msg_1();
leocle 2:223d6363315b 210 flag_msg = 1;
leocle 2:223d6363315b 211 } else {
leocle 2:223d6363315b 212 message_1[indice_a_modifie] = last_read;
leocle 2:223d6363315b 213 mise_a_zero_msg_0();
leocle 2:223d6363315b 214 flag_msg = 0;
leocle 2:223d6363315b 215 }
leocle 2:223d6363315b 216 flag_a_traite = 1;
leocle 2:223d6363315b 217 indice_a_modifie = 0;
leocle 2:223d6363315b 218 } else {
leocle 2:223d6363315b 219 if (flag_msg == 0) {
leocle 2:223d6363315b 220 message_0[indice_a_modifie] = last_read;
leocle 2:223d6363315b 221 } else {
leocle 2:223d6363315b 222 message_1[indice_a_modifie] = last_read;
leocle 2:223d6363315b 223 }
leocle 2:223d6363315b 224 indice_a_modifie++;
leocle 2:223d6363315b 225 }
leocle 2:223d6363315b 226 }
leocle 1:c5e9c436f8d0 227
leocle 2:223d6363315b 228 void reception_com()
leocle 2:223d6363315b 229 {
leocle 2:223d6363315b 230 if (flag_a_traite == 1) {
leocle 3:c2c22b4f984b 231 coach.puts("traitement\n");
leocle 2:223d6363315b 232 if (flag_msg == 0) {
leocle 2:223d6363315b 233 sscanf(message_1,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
leocle 2:223d6363315b 234 } else {
leocle 2:223d6363315b 235 sscanf(message_0,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
leocle 1:c5e9c436f8d0 236 }
leocle 2:223d6363315b 237 flag_a_traite = 0;
leocle 1:c5e9c436f8d0 238 }
leocle 1:c5e9c436f8d0 239 }
leocle 0:8762773cddf9 240
leocle 2:223d6363315b 241
leocle 1:c5e9c436f8d0 242 int main()
leocle 1:c5e9c436f8d0 243 {
leocle 11:75b6dde00307 244
jlesoudeer 8:922178e5d286 245 coach.baud(115200);
leocle 10:1675ab60cf43 246 coach.puts("slt\n\r");
leocle 7:49ef78d60837 247 coach.attach(&callback_serial, Serial::RxIrq);
leocle 7:49ef78d60837 248
leocle 6:b32a24905cd6 249 //myax12.SetMode(1); //passage en Continuous rotation
leocle 6:b32a24905cd6 250
leocle 6:b32a24905cd6 251 //char trame_cmd_speed_1[9]={0xFF,0xFF,0x01,0x5,0x3,0x20,0x10,0x0,0xC6};
leocle 6:b32a24905cd6 252 //char trame_cmd_speed_2[9]={0xFF,0xFF,0x02,0x5,0x3,0x20,0x10,0x0,0xC5};
leocle 6:b32a24905cd6 253 //char trame_cmd_speed_3[9]={0xFF,0xFF,0x03,0x5,0x3,0x20,0x10,0x0,0xC4};
leocle 6:b32a24905cd6 254
leocle 6:b32a24905cd6 255 //pour regarder les 3 moteurs les uns à la suite des autres
jlesoudeer 8:922178e5d286 256
leocle 6:b32a24905cd6 257 int etat=1;
leocle 6:b32a24905cd6 258 int fm_etat=1;
leocle 6:b32a24905cd6 259
leocle 12:7d61181d7ac7 260 SetMode(adrr_queue , 1);
leocle 6:b32a24905cd6 261 wait(0.1);
leocle 12:7d61181d7ac7 262 SetMode(adrr_droite, 1);
leocle 6:b32a24905cd6 263 wait(0.1);
leocle 12:7d61181d7ac7 264 SetMode(adrr_gauche, 1);
leocle 6:b32a24905cd6 265
leocle 6:b32a24905cd6 266 /* SetCRSpeed(1,0.05);
leocle 6:b32a24905cd6 267 wait(0.1);
leocle 6:b32a24905cd6 268 SetCRSpeed(2,0.05);
leocle 6:b32a24905cd6 269 wait(0.1);
leocle 6:b32a24905cd6 270 SetCRSpeed(3,0.05); */
leocle 6:b32a24905cd6 271
leocle 6:b32a24905cd6 272 char a;
leocle 6:b32a24905cd6 273
leocle 6:b32a24905cd6 274 //On passe le mode retour en 1 : retour seulement sur demande de lecture
leocle 6:b32a24905cd6 275 a=1;
leocle 12:7d61181d7ac7 276 Write(adrr_queue,16,1,&a);
leocle 12:7d61181d7ac7 277 Write(adrr_droite,16,1,&a);
leocle 12:7d61181d7ac7 278 Write(adrr_gauche,16,1,&a);
leocle 6:b32a24905cd6 279
leocle 6:b32a24905cd6 280
leocle 6:b32a24905cd6 281 //On passe le délai de retour à 250µs. C'est bien de le diminuer ensuite.
leocle 6:b32a24905cd6 282 a=250;
leocle 12:7d61181d7ac7 283 Write(adrr_queue,5,1,&a);
leocle 12:7d61181d7ac7 284 Write(adrr_droite,5,1,&a);
leocle 12:7d61181d7ac7 285 Write(adrr_gauche,5,1,&a);
leocle 6:b32a24905cd6 286
leocle 6:b32a24905cd6 287 /* On coupe de le couple du moteur pour pouvoir le faire tourner à la main
leocle 6:b32a24905cd6 288 a=0;
leocle 6:b32a24905cd6 289 Write(2,24,1,&a);
leocle 6:b32a24905cd6 290 Write(1,24,1,&a);
leocle 6:b32a24905cd6 291 Write(3,24,1,&a); */
leocle 6:b32a24905cd6 292
leocle 6:b32a24905cd6 293 myserial_ax12.attach(&Rx_Irq_fonction, Serial::RxIrq);
leocle 6:b32a24905cd6 294 ticker_1ms.attach(&fonction_1ms,0.001);
leocle 6:b32a24905cd6 295 etat=2;
leocle 6:b32a24905cd6 296
jlesoudeer 8:922178e5d286 297 coach.printf("fin_initialisation");
jlesoudeer 8:922178e5d286 298 position_1 = 0;
jlesoudeer 8:922178e5d286 299 position_2 = 0;
jlesoudeer 8:922178e5d286 300 position_3 = 0;
jlesoudeer 8:922178e5d286 301 position_1_old = 0;
jlesoudeer 8:922178e5d286 302 position_2_old = 0;
jlesoudeer 8:922178e5d286 303 position_3_old = 0;
jlesoudeer 8:922178e5d286 304 delta_position_1 = 0;
jlesoudeer 8:922178e5d286 305 delta_position_2 = 0;
jlesoudeer 8:922178e5d286 306 delta_position_3 = 0;
leocle 1:c5e9c436f8d0 307 while (true) {
leocle 6:b32a24905cd6 308 //on regarde la position des moteurs
leocle 6:b32a24905cd6 309 switch(etat) {
leocle 6:b32a24905cd6 310 case 2 :
leocle 6:b32a24905cd6 311 if(fm_etat) {
leocle 6:b32a24905cd6 312 position_1_old = position_1;
leocle 6:b32a24905cd6 313 for(int i=0; i<=7; i++) {
leocle 6:b32a24905cd6 314 //On envoi la trame que l'on souhaite
leocle 6:b32a24905cd6 315
leocle 6:b32a24905cd6 316 myserial_ax12.putc(trame_demande_pos_1[i]);
leocle 6:b32a24905cd6 317 //hypothese marche avant et il ne fait pas plus d'un tour entre deux mesures
leocle 6:b32a24905cd6 318 }
leocle 6:b32a24905cd6 319 fm_etat=0;
leocle 6:b32a24905cd6 320 }
leocle 6:b32a24905cd6 321
leocle 6:b32a24905cd6 322 if(temps_ms>=3) {
leocle 6:b32a24905cd6 323 etat=3;
leocle 6:b32a24905cd6 324 fm_etat=1;
leocle 6:b32a24905cd6 325 }
leocle 6:b32a24905cd6 326 break;
leocle 6:b32a24905cd6 327
leocle 6:b32a24905cd6 328 case 3 :
leocle 6:b32a24905cd6 329
leocle 6:b32a24905cd6 330 if(fm_etat) {
leocle 6:b32a24905cd6 331 delta_position_1 = (int16_t)position_1 - (int16_t)position_1_old;
leocle 6:b32a24905cd6 332 if(delta_position_1 > 2048) {
leocle 6:b32a24905cd6 333 delta_position_1 = delta_position_1 - 4096;
leocle 6:b32a24905cd6 334 }
leocle 6:b32a24905cd6 335
leocle 6:b32a24905cd6 336 if(delta_position_1 < -2048) {
leocle 6:b32a24905cd6 337 delta_position_1 = delta_position_1 + 4096;
leocle 6:b32a24905cd6 338 }
leocle 6:b32a24905cd6 339 position_2_old = position_2;
leocle 6:b32a24905cd6 340 for(int i=0; i<=7; i++) {
leocle 6:b32a24905cd6 341 //On envoi la trame que l'on souhaite
leocle 6:b32a24905cd6 342 myserial_ax12.putc(trame_demande_pos_2[i]);
leocle 6:b32a24905cd6 343 //hypothese marche avant et il ne fait pas plus d'un tour entre deux mesures
leocle 6:b32a24905cd6 344
leocle 6:b32a24905cd6 345 }
leocle 6:b32a24905cd6 346 fm_etat=0;
leocle 6:b32a24905cd6 347 }
leocle 6:b32a24905cd6 348
leocle 6:b32a24905cd6 349 if(temps_ms>=6) {
leocle 6:b32a24905cd6 350 etat=4;
leocle 6:b32a24905cd6 351 fm_etat=1;
leocle 6:b32a24905cd6 352 }
leocle 6:b32a24905cd6 353 break;
leocle 6:b32a24905cd6 354
leocle 6:b32a24905cd6 355 case 4 :
leocle 6:b32a24905cd6 356 if(fm_etat) {
leocle 6:b32a24905cd6 357 delta_position_2 = (int16_t)position_2 - (int16_t)position_2_old;
leocle 6:b32a24905cd6 358 if(delta_position_2 > 2048) {
leocle 6:b32a24905cd6 359 delta_position_2 = delta_position_2 - 4096;
leocle 6:b32a24905cd6 360 }
leocle 6:b32a24905cd6 361
leocle 6:b32a24905cd6 362 if(delta_position_2 < -2048) {
leocle 6:b32a24905cd6 363 delta_position_2 = delta_position_2 + 4096;
leocle 6:b32a24905cd6 364 }
leocle 6:b32a24905cd6 365 position_3_old = position_3;
leocle 6:b32a24905cd6 366 for(int i=0; i<=7; i++) {
leocle 6:b32a24905cd6 367 //On envoi la trame que l'on souhaite
leocle 6:b32a24905cd6 368 myserial_ax12.putc(trame_demande_pos_3[i]);
leocle 6:b32a24905cd6 369
leocle 6:b32a24905cd6 370 }
leocle 6:b32a24905cd6 371 fm_etat=0;
leocle 6:b32a24905cd6 372 }
leocle 6:b32a24905cd6 373
leocle 6:b32a24905cd6 374 if(temps_ms>=9) {
leocle 6:b32a24905cd6 375 etat=5;
leocle 6:b32a24905cd6 376 fm_etat=1;
leocle 6:b32a24905cd6 377 }
leocle 6:b32a24905cd6 378 break;
leocle 6:b32a24905cd6 379
leocle 6:b32a24905cd6 380 case 5 :
jlesoudeer 8:922178e5d286 381 if(fm_etat == 1) {
jlesoudeer 8:922178e5d286 382 delta_position_3 = (int16_t)position_3 - (int16_t)position_3_old;
jlesoudeer 8:922178e5d286 383 if(delta_position_3 > 2048) {
jlesoudeer 8:922178e5d286 384 delta_position_3 = delta_position_3 - 4096;
jlesoudeer 8:922178e5d286 385 }
leocle 6:b32a24905cd6 386
jlesoudeer 8:922178e5d286 387 if(delta_position_3 < -2048) {
jlesoudeer 8:922178e5d286 388 delta_position_3 = delta_position_3 + 4096;
jlesoudeer 8:922178e5d286 389 }
jlesoudeer 8:922178e5d286 390 send_roues();
leocle 6:b32a24905cd6 391 }
leocle 6:b32a24905cd6 392
jlesoudeer 8:922178e5d286 393 fm_etat =0;
jlesoudeer 8:922178e5d286 394
jlesoudeer 8:922178e5d286 395 if (flag_a_traite == 1) {
jlesoudeer 8:922178e5d286 396 etat = 6;
jlesoudeer 8:922178e5d286 397 temps_ms = 0;
jlesoudeer 8:922178e5d286 398 fm_etat =1;
leocle 6:b32a24905cd6 399 }
jlesoudeer 8:922178e5d286 400 break;
jlesoudeer 8:922178e5d286 401
jlesoudeer 8:922178e5d286 402 case 6 :
jlesoudeer 8:922178e5d286 403 if(fm_etat ==1){
jlesoudeer 8:922178e5d286 404 coach.puts("traitement\n");
jlesoudeer 8:922178e5d286 405 if (flag_msg == 0) {
jlesoudeer 8:922178e5d286 406 sscanf(message_1,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
jlesoudeer 8:922178e5d286 407 } else {
jlesoudeer 8:922178e5d286 408 sscanf(message_0,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
jlesoudeer 8:922178e5d286 409 }
jlesoudeer 8:922178e5d286 410 flag_a_traite = 0;
leocle 6:b32a24905cd6 411 temps_ms = 0;
jlesoudeer 8:922178e5d286 412 asser(front, lat, rot);
jlesoudeer 8:922178e5d286 413 fm_etat = 0;
jlesoudeer 8:922178e5d286 414 }
jlesoudeer 8:922178e5d286 415 if(temps_ms>= 5) {
jlesoudeer 8:922178e5d286 416
jlesoudeer 8:922178e5d286 417 etat = 2;
jlesoudeer 8:922178e5d286 418 fm_etat =1;
jlesoudeer 8:922178e5d286 419 temps_ms = 0;
jlesoudeer 8:922178e5d286 420 }
leocle 6:b32a24905cd6 421 break;
leocle 6:b32a24905cd6 422 }
leocle 1:c5e9c436f8d0 423 }
leocle 0:8762773cddf9 424
leocle 2:223d6363315b 425 }
leocle 6:b32a24905cd6 426
leocle 6:b32a24905cd6 427 void SetCRSpeed(int ID, float speed)
leocle 6:b32a24905cd6 428 {
leocle 6:b32a24905cd6 429
leocle 6:b32a24905cd6 430 // bit 10 = direction, 0 = CCW, 1=CW
leocle 6:b32a24905cd6 431 // bits 9-0 = Speed
leocle 6:b32a24905cd6 432 char data[2];
leocle 6:b32a24905cd6 433
leocle 6:b32a24905cd6 434 int goal = (0x3ff * abs(speed));
leocle 6:b32a24905cd6 435
leocle 6:b32a24905cd6 436 // Set direction CW if we have a negative speed
leocle 6:b32a24905cd6 437 if (speed < 0) {
leocle 6:b32a24905cd6 438 goal |= (0x1 << 10);
leocle 6:b32a24905cd6 439 }
leocle 6:b32a24905cd6 440
leocle 6:b32a24905cd6 441 data[0] = goal & 0xff; // bottom 8 bits
leocle 6:b32a24905cd6 442 data[1] = goal >> 8; // top 8 bits
leocle 6:b32a24905cd6 443
leocle 6:b32a24905cd6 444 // write the packet, return the error code
leocle 6:b32a24905cd6 445 Write(ID, 0x20, 2, data);
leocle 6:b32a24905cd6 446 }
leocle 6:b32a24905cd6 447
leocle 6:b32a24905cd6 448 void SetMode(int ID, int mode)
leocle 6:b32a24905cd6 449 {
leocle 6:b32a24905cd6 450
leocle 6:b32a24905cd6 451 if (mode == 1) { // set CR
leocle 6:b32a24905cd6 452 SetCWLimit(ID,0);
leocle 6:b32a24905cd6 453 SetCCWLimit(ID,0);
leocle 6:b32a24905cd6 454 SetCRSpeed(ID,0.0);
leocle 6:b32a24905cd6 455 } else {
leocle 6:b32a24905cd6 456 SetCWLimit(ID,0);
leocle 6:b32a24905cd6 457 SetCCWLimit(ID,360);
leocle 6:b32a24905cd6 458 SetCRSpeed(ID,0.0);
leocle 6:b32a24905cd6 459 }
leocle 6:b32a24905cd6 460 }
leocle 6:b32a24905cd6 461
leocle 6:b32a24905cd6 462 void SetCWLimit (int ID, int degrees)
leocle 6:b32a24905cd6 463 {
leocle 6:b32a24905cd6 464
leocle 6:b32a24905cd6 465 char data[2];
leocle 6:b32a24905cd6 466 short limit = (4095 * degrees) / 360;
leocle 6:b32a24905cd6 467
leocle 6:b32a24905cd6 468 data[0] = limit & 0xff; // bottom 8 bits
leocle 6:b32a24905cd6 469 data[1] = limit >> 8; // top 8 bits
leocle 6:b32a24905cd6 470
leocle 6:b32a24905cd6 471 Write(ID, 0x06, 2, data);
leocle 6:b32a24905cd6 472 }
leocle 6:b32a24905cd6 473
leocle 6:b32a24905cd6 474 void SetCCWLimit (int ID, int degrees)
leocle 6:b32a24905cd6 475 {
leocle 6:b32a24905cd6 476
leocle 6:b32a24905cd6 477 char data[2];
leocle 6:b32a24905cd6 478 short limit = (4095 * degrees) / 360;
leocle 6:b32a24905cd6 479
leocle 6:b32a24905cd6 480 data[0] = limit & 0xff; // bottom 8 bits
leocle 6:b32a24905cd6 481 data[1] = limit >> 8; // top 8 bits
leocle 6:b32a24905cd6 482
leocle 6:b32a24905cd6 483 Write(ID, 0x08, 2, data);
leocle 6:b32a24905cd6 484 }
leocle 6:b32a24905cd6 485
leocle 6:b32a24905cd6 486 void Write(int ID, int start, int bytes, char* data)
leocle 6:b32a24905cd6 487 {
leocle 6:b32a24905cd6 488 char TxBuf[16];
leocle 6:b32a24905cd6 489 char sum = 0;
leocle 6:b32a24905cd6 490
leocle 6:b32a24905cd6 491 TxBuf[0] = 0xff;
leocle 6:b32a24905cd6 492 TxBuf[1] = 0xff;
leocle 6:b32a24905cd6 493
leocle 6:b32a24905cd6 494 // ID
leocle 6:b32a24905cd6 495 TxBuf[2] = ID;
leocle 6:b32a24905cd6 496 sum += TxBuf[2];
leocle 6:b32a24905cd6 497
leocle 6:b32a24905cd6 498
leocle 6:b32a24905cd6 499 // packet Length
leocle 6:b32a24905cd6 500 TxBuf[3] = 3+bytes;
leocle 6:b32a24905cd6 501 sum += TxBuf[3];
leocle 6:b32a24905cd6 502
leocle 6:b32a24905cd6 503 // Instruction
leocle 6:b32a24905cd6 504 TxBuf[4]=0x03;
leocle 6:b32a24905cd6 505 sum += TxBuf[4];
leocle 6:b32a24905cd6 506
leocle 6:b32a24905cd6 507 // Start Address
leocle 6:b32a24905cd6 508 TxBuf[5] = start;
leocle 6:b32a24905cd6 509 sum += TxBuf[5];
leocle 6:b32a24905cd6 510
leocle 6:b32a24905cd6 511 // data
leocle 6:b32a24905cd6 512 for (char i=0; i<bytes ; i++) {
leocle 6:b32a24905cd6 513 TxBuf[6+i] = data[i];
leocle 6:b32a24905cd6 514 sum += TxBuf[6+i];
leocle 6:b32a24905cd6 515
leocle 6:b32a24905cd6 516 }
leocle 6:b32a24905cd6 517
leocle 6:b32a24905cd6 518 // checksum
leocle 6:b32a24905cd6 519 TxBuf[6+bytes] = 0xFF - sum;
leocle 6:b32a24905cd6 520
leocle 6:b32a24905cd6 521 // Transmit the packet in one burst with no pausing
leocle 6:b32a24905cd6 522 for (int i = 0; i < (7 + bytes) ; i++) {
leocle 6:b32a24905cd6 523 myserial_ax12.putc(TxBuf[i]);
leocle 6:b32a24905cd6 524 }
leocle 6:b32a24905cd6 525
leocle 6:b32a24905cd6 526 wait(0.00002);
leocle 6:b32a24905cd6 527
leocle 6:b32a24905cd6 528 }