Leopold Clement / Mbed 2 deprecated PSL-VicTeam

faut que Val répare le truc

Dependencies:   mbed AX12

main.cpp@15:ccfe333bcf76, 2020-06-08 (annotated)

Committer:
leocle
Date:
Mon Jun 08 13:38:53 2020 +0000
Revision:
15:ccfe333bcf76
Parent:
14:b5e4219b01d9
Parent:
13:dfbfefe2f0a8
Child:
16:1bbf7e4249d7
merge

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 15:ccfe333bcf76 3 <<<<<<< working copy
leocle 14:b5e4219b01d9 4
leocle 12:7d61181d7ac7 5 #define adrr_queue 3
leocle 12:7d61181d7ac7 6 #define adrr_gauche 4
leocle 12:7d61181d7ac7 7 #define adrr_droite 2
leocle 15:ccfe333bcf76 8 =======
jlesoudeer 13:dfbfefe2f0a8 9 #define adrr_queue 2
jlesoudeer 13:dfbfefe2f0a8 10 #define adrr_gauche 1
jlesoudeer 13:dfbfefe2f0a8 11 #define adrr_droite 3
leocle 15:ccfe333bcf76 12 >>>>>>> merge rev
leocle 0:8762773cddf9 13
leocle 14:b5e4219b01d9 14 #define hex_queue 0x03
leocle 14:b5e4219b01d9 15 #define hex_gauche 0x04
leocle 14:b5e4219b01d9 16 #define hex_droite 0x02
leocle 14:b5e4219b01d9 17
leocle 0:8762773cddf9 18
leocle 0:8762773cddf9 19 DigitalOut alivenessLED(LED1);
leocle 0:8762773cddf9 20 DigitalOut testLed(LED2);
leocle 0:8762773cddf9 21
jlesoudeer 13:dfbfefe2f0a8 22 Serial coach(D1, D0);
jlesoudeer 13:dfbfefe2f0a8 23 /*Serial coach(USBTX, USBRX);*/
leocle 6:b32a24905cd6 24 Serial myserial_ax12(PC_4,PC_5,115200); // Modifier le baud rate en fonction de votre utilisation des moteurs
leocle 0:8762773cddf9 25
leocle 0:8762773cddf9 26 const float rapport_vitesse = 0.019383809*0.026315;
leocle 0:8762773cddf9 27 const float root3 = 1.7321;
leocle 6:b32a24905cd6 28 /*a=moteur de queue
leocle 5:86f9ec683ad5 29 AX12 myax12a (PC_4, PC_5, 2,115200);
leocle 6:b32a24905cd6 30 b : moteur de gauche
leocle 5:86f9ec683ad5 31 AX12 myax12b (PC_4, PC_5, 1,115200);
leocle 6:b32a24905cd6 32 c : moteur de droite
leocle 6:b32a24905cd6 33 AX12 myax12c (PC_4, PC_5, 3,115200);*/
leocle 0:8762773cddf9 34
leocle 0:8762773cddf9 35 int i = 0;
leocle 0:8762773cddf9 36 char last_read;
leocle 1:c5e9c436f8d0 37 int indice_a_modifie = 1;
leocle 2:223d6363315b 38 char message_0[50] = {};
leocle 2:223d6363315b 39 char message_1[50] = {};
leocle 1:c5e9c436f8d0 40 char message_vide = '0';
leocle 0:8762773cddf9 41 float front, lat, rot, T_front, T_lat = 0;
leocle 2:223d6363315b 42 int flag_msg = 0;
leocle 2:223d6363315b 43 int flag_a_traite = 0;
leocle 1:c5e9c436f8d0 44
leocle 6:b32a24905cd6 45
leocle 6:b32a24905cd6 46 DigitalOut my_led1(LED1);
leocle 6:b32a24905cd6 47 DigitalOut my_led2(LED2);
leocle 6:b32a24905cd6 48 DigitalOut my_led3(LED3);
leocle 6:b32a24905cd6 49 DigitalIn bp(USER_BUTTON);
leocle 6:b32a24905cd6 50
leocle 6:b32a24905cd6 51 void SetCRSpeed(int ID, float speed);
leocle 6:b32a24905cd6 52 void SetMode(int ID, int mode);
leocle 6:b32a24905cd6 53 void SetCWLimit (int ID, int degrees);
leocle 6:b32a24905cd6 54 void SetCCWLimit (int ID, int degrees);
leocle 6:b32a24905cd6 55 void Write(int ID, int start, int bytes, char* data);
leocle 6:b32a24905cd6 56
leocle 6:b32a24905cd6 57 char tata[10] = {};
leocle 6:b32a24905cd6 58 uint16_t position_1;
leocle 6:b32a24905cd6 59 uint16_t position_2;
leocle 6:b32a24905cd6 60 uint16_t position_3;
leocle 6:b32a24905cd6 61 int num_moteur = 1;
leocle 6:b32a24905cd6 62 int vitesse;
leocle 6:b32a24905cd6 63 char sens;
leocle 6:b32a24905cd6 64 int temps_ms = 0;
leocle 6:b32a24905cd6 65 //pour connaitre le nombre de tours
leocle 6:b32a24905cd6 66 int tour_1 = 0;
leocle 6:b32a24905cd6 67 int tour_2 = 0;
leocle 6:b32a24905cd6 68 int tour_3 = 0;
leocle 6:b32a24905cd6 69
leocle 6:b32a24905cd6 70 Ticker ticker_1ms;
leocle 6:b32a24905cd6 71
leocle 6:b32a24905cd6 72 uint16_t position_1_old;
leocle 6:b32a24905cd6 73 uint16_t position_2_old;
leocle 6:b32a24905cd6 74 uint16_t position_3_old;
leocle 6:b32a24905cd6 75 int16_t delta_position_1;
leocle 6:b32a24905cd6 76 int16_t delta_position_2;
leocle 6:b32a24905cd6 77 int16_t delta_position_3;
leocle 6:b32a24905cd6 78
leocle 6:b32a24905cd6 79 //Définition des trames de requête
leocle 14:b5e4219b01d9 80 char trame_demande_pos_1[8]= {0xFF,0xFF,hex_queue,0x4,0x2,0x24,2,0xD2};
leocle 14:b5e4219b01d9 81 char trame_demande_pos_2[8]= {0xFF,0xFF,hex_gauche,0x4,0x2,0x24,2,0xD1};
leocle 14:b5e4219b01d9 82 char trame_demande_pos_3[8]= {0xFF,0xFF,hex_droite,0x4,0x2,0x24,2,0xD0};
leocle 6:b32a24905cd6 83
leocle 6:b32a24905cd6 84
leocle 6:b32a24905cd6 85 //Fonction d'interruption sur réception de caractère sur liaison série
leocle 6:b32a24905cd6 86 void Rx_Irq_fonction(void)
leocle 6:b32a24905cd6 87 {
leocle 6:b32a24905cd6 88 uint16_t position_lu = 0;
leocle 6:b32a24905cd6 89 my_led1 = !my_led1;
leocle 6:b32a24905cd6 90
leocle 6:b32a24905cd6 91 static int i_rx=0;
leocle 6:b32a24905cd6 92 tata[i_rx]=myserial_ax12.getc();
leocle 6:b32a24905cd6 93
leocle 6:b32a24905cd6 94 if (tata[0]!=0xFF) // On vérifie que le premier et le deuxième octet sont biens 0xFF
leocle 6:b32a24905cd6 95 i_rx=0;
leocle 6:b32a24905cd6 96 else i_rx++;
leocle 6:b32a24905cd6 97 if((i_rx==2)&&(tata[1] != 0xFF)) i_rx=0;
leocle 6:b32a24905cd6 98
leocle 6:b32a24905cd6 99 //Une fois qu'on sait que la trame est "juste" on récupère le reste
leocle 6:b32a24905cd6 100 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x01) && i_rx==7) {
leocle 6:b32a24905cd6 101 my_led3 = !my_led3;
leocle 6:b32a24905cd6 102 i_rx=0;
leocle 6:b32a24905cd6 103
leocle 6:b32a24905cd6 104 if(tata[4] == 0) { //si erreur est nulle
leocle 6:b32a24905cd6 105 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
leocle 6:b32a24905cd6 106 position_lu = tata[5]+((uint16_t)tata[6]<<8);
leocle 6:b32a24905cd6 107 if((0<= position_lu)&&(position_lu<=4095)) {
leocle 6:b32a24905cd6 108 position_1 = position_lu;
leocle 6:b32a24905cd6 109 }
leocle 6:b32a24905cd6 110 }
leocle 6:b32a24905cd6 111 for(int i=0; i<10; i++) {
leocle 6:b32a24905cd6 112 tata[i]=0;
leocle 6:b32a24905cd6 113 }
leocle 6:b32a24905cd6 114 }
leocle 6:b32a24905cd6 115
leocle 6:b32a24905cd6 116 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x02) && i_rx==7) {
leocle 6:b32a24905cd6 117 my_led3 = !my_led3;
leocle 6:b32a24905cd6 118 i_rx=0;
leocle 6:b32a24905cd6 119
leocle 6:b32a24905cd6 120 if(tata[4]==00) { //si erreur nulle
leocle 6:b32a24905cd6 121 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
leocle 6:b32a24905cd6 122 position_lu = tata[5]+((uint16_t)tata[6]<<8);
leocle 6:b32a24905cd6 123 if((0<= position_lu)&&(position_lu<=4095)) {
leocle 6:b32a24905cd6 124 position_2 = position_lu;
leocle 6:b32a24905cd6 125 }
leocle 6:b32a24905cd6 126
leocle 6:b32a24905cd6 127 }
leocle 6:b32a24905cd6 128 for(int i=0; i<10; i++) {
leocle 6:b32a24905cd6 129 tata[i]=0;
leocle 6:b32a24905cd6 130 }
leocle 6:b32a24905cd6 131 }
leocle 6:b32a24905cd6 132
leocle 6:b32a24905cd6 133 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x03) && i_rx==7) {
leocle 6:b32a24905cd6 134 my_led3 = !my_led3;
leocle 6:b32a24905cd6 135 i_rx=0;
leocle 6:b32a24905cd6 136
leocle 6:b32a24905cd6 137 if(tata[4]==00) { //si erreur nulle
leocle 6:b32a24905cd6 138 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
leocle 6:b32a24905cd6 139 position_lu = tata[5]+((uint16_t)tata[6]<<8);
leocle 6:b32a24905cd6 140 if((0<= position_lu)&&(position_lu<=4095)) {
leocle 6:b32a24905cd6 141 position_3 = position_lu;
leocle 6:b32a24905cd6 142 }
leocle 6:b32a24905cd6 143
leocle 6:b32a24905cd6 144 }
leocle 6:b32a24905cd6 145 for(int i=0; i<10; i++) {
leocle 6:b32a24905cd6 146 tata[i]=0;
leocle 6:b32a24905cd6 147 }
leocle 6:b32a24905cd6 148 }
leocle 6:b32a24905cd6 149
leocle 6:b32a24905cd6 150 if (i_rx>9) {
leocle 6:b32a24905cd6 151 for(int i=0; i<10; i++)
leocle 6:b32a24905cd6 152 tata[i]=0;
leocle 6:b32a24905cd6 153 i_rx=0;
leocle 6:b32a24905cd6 154 }
leocle 6:b32a24905cd6 155 }
leocle 6:b32a24905cd6 156
leocle 6:b32a24905cd6 157 void fonction_1ms(void)
leocle 6:b32a24905cd6 158 {
leocle 6:b32a24905cd6 159 temps_ms++;
leocle 6:b32a24905cd6 160 }
leocle 6:b32a24905cd6 161
leocle 6:b32a24905cd6 162
leocle 6:b32a24905cd6 163
leocle 1:c5e9c436f8d0 164 void asser(float Vx, float Vy, float gammaz)
leocle 1:c5e9c436f8d0 165 {
leocle 0:8762773cddf9 166 float wa = rapport_vitesse*(Vx + 100 * gammaz);
leocle 0:8762773cddf9 167 float wb = rapport_vitesse*( -0.5 * Vx - (root3 / 2) * Vy + 100 * gammaz);
leocle 0:8762773cddf9 168 float wc = rapport_vitesse*( -0.5 * Vx + (root3 / 2) * Vy + 100 * gammaz);
leocle 12:7d61181d7ac7 169 /*moteur a */
leocle 12:7d61181d7ac7 170 SetCRSpeed(adrr_queue, wa);
leocle 12:7d61181d7ac7 171 /*moteur b */
leocle 12:7d61181d7ac7 172 SetCRSpeed(adrr_gauche, wb);
leocle 12:7d61181d7ac7 173 /* moteur c */
leocle 12:7d61181d7ac7 174 SetCRSpeed(adrr_droite, wc);
leocle 1:c5e9c436f8d0 175 }
leocle 0:8762773cddf9 176
leocle 1:c5e9c436f8d0 177 void send_stat()
leocle 1:c5e9c436f8d0 178 {
leocle 1:c5e9c436f8d0 179 coach.printf("S%f,%f,%f,%f,%f \n", front, lat, rot, T_front, T_lat );
leocle 1:c5e9c436f8d0 180 }
leocle 0:8762773cddf9 181
leocle 6:b32a24905cd6 182 void send_roues()
leocle 6:b32a24905cd6 183 {
leocle 6:b32a24905cd6 184 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 185 }
leocle 6:b32a24905cd6 186
leocle 2:223d6363315b 187 void mise_a_zero_msg_0()
leocle 1:c5e9c436f8d0 188 {
leocle 1:c5e9c436f8d0 189 for(i=0; i<50; i++) { //On réinitialise la chaîne de caractères
leocle 2:223d6363315b 190 message_0[i] = message_vide;
leocle 1:c5e9c436f8d0 191 }
leocle 2:223d6363315b 192 }
leocle 2:223d6363315b 193
leocle 2:223d6363315b 194
leocle 2:223d6363315b 195 void mise_a_zero_msg_1()
leocle 2:223d6363315b 196 {
leocle 2:223d6363315b 197 for(i=0; i<50; i++) { //On réinitialise la chaîne de caractères
leocle 2:223d6363315b 198 message_1[i] = message_vide;
leocle 2:223d6363315b 199 }
leocle 1:c5e9c436f8d0 200 }
leocle 1:c5e9c436f8d0 201
leocle 2:223d6363315b 202 void callback_serial()
leocle 1:c5e9c436f8d0 203 {
leocle 2:223d6363315b 204 last_read = coach.getc();
leocle 2:223d6363315b 205 if (last_read == 'S') {
leocle 2:223d6363315b 206 send_stat();
leocle 6:b32a24905cd6 207 } else if (last_read == 'R') {
leocle 6:b32a24905cd6 208 send_roues();
leocle 2:223d6363315b 209 } else if (last_read == ';') {
leocle 3:c2c22b4f984b 210 coach.puts("EOL\n");
leocle 3:c2c22b4f984b 211 /*coach.puts(message_0);
leocle 3:c2c22b4f984b 212 coach.puts(message_1); */
leocle 2:223d6363315b 213 if (flag_msg == 0) {
leocle 2:223d6363315b 214 message_0[indice_a_modifie] = last_read;
leocle 2:223d6363315b 215 mise_a_zero_msg_1();
leocle 2:223d6363315b 216 flag_msg = 1;
leocle 2:223d6363315b 217 } else {
leocle 2:223d6363315b 218 message_1[indice_a_modifie] = last_read;
leocle 2:223d6363315b 219 mise_a_zero_msg_0();
leocle 2:223d6363315b 220 flag_msg = 0;
leocle 2:223d6363315b 221 }
leocle 2:223d6363315b 222 flag_a_traite = 1;
leocle 2:223d6363315b 223 indice_a_modifie = 0;
leocle 2:223d6363315b 224 } else {
leocle 2:223d6363315b 225 if (flag_msg == 0) {
leocle 2:223d6363315b 226 message_0[indice_a_modifie] = last_read;
leocle 2:223d6363315b 227 } else {
leocle 2:223d6363315b 228 message_1[indice_a_modifie] = last_read;
leocle 2:223d6363315b 229 }
leocle 2:223d6363315b 230 indice_a_modifie++;
leocle 2:223d6363315b 231 }
leocle 2:223d6363315b 232 }
leocle 1:c5e9c436f8d0 233
leocle 2:223d6363315b 234 void reception_com()
leocle 2:223d6363315b 235 {
leocle 2:223d6363315b 236 if (flag_a_traite == 1) {
leocle 3:c2c22b4f984b 237 coach.puts("traitement\n");
leocle 2:223d6363315b 238 if (flag_msg == 0) {
leocle 2:223d6363315b 239 sscanf(message_1,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
leocle 2:223d6363315b 240 } else {
leocle 2:223d6363315b 241 sscanf(message_0,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
leocle 1:c5e9c436f8d0 242 }
leocle 2:223d6363315b 243 flag_a_traite = 0;
leocle 1:c5e9c436f8d0 244 }
leocle 1:c5e9c436f8d0 245 }
leocle 0:8762773cddf9 246
leocle 2:223d6363315b 247
leocle 1:c5e9c436f8d0 248 int main()
leocle 1:c5e9c436f8d0 249 {
leocle 11:75b6dde00307 250
jlesoudeer 8:922178e5d286 251 coach.baud(115200);
leocle 10:1675ab60cf43 252 coach.puts("slt\n\r");
leocle 7:49ef78d60837 253 coach.attach(&callback_serial, Serial::RxIrq);
leocle 7:49ef78d60837 254
leocle 6:b32a24905cd6 255 //myax12.SetMode(1); //passage en Continuous rotation
leocle 6:b32a24905cd6 256
leocle 6:b32a24905cd6 257 //char trame_cmd_speed_1[9]={0xFF,0xFF,0x01,0x5,0x3,0x20,0x10,0x0,0xC6};
leocle 6:b32a24905cd6 258 //char trame_cmd_speed_2[9]={0xFF,0xFF,0x02,0x5,0x3,0x20,0x10,0x0,0xC5};
leocle 6:b32a24905cd6 259 //char trame_cmd_speed_3[9]={0xFF,0xFF,0x03,0x5,0x3,0x20,0x10,0x0,0xC4};
leocle 6:b32a24905cd6 260
leocle 6:b32a24905cd6 261 //pour regarder les 3 moteurs les uns à la suite des autres
jlesoudeer 8:922178e5d286 262
leocle 6:b32a24905cd6 263 int etat=1;
leocle 6:b32a24905cd6 264 int fm_etat=1;
leocle 6:b32a24905cd6 265
leocle 12:7d61181d7ac7 266 SetMode(adrr_queue , 1);
leocle 6:b32a24905cd6 267 wait(0.1);
leocle 12:7d61181d7ac7 268 SetMode(adrr_droite, 1);
leocle 6:b32a24905cd6 269 wait(0.1);
leocle 12:7d61181d7ac7 270 SetMode(adrr_gauche, 1);
leocle 6:b32a24905cd6 271
leocle 6:b32a24905cd6 272 /* SetCRSpeed(1,0.05);
leocle 6:b32a24905cd6 273 wait(0.1);
leocle 6:b32a24905cd6 274 SetCRSpeed(2,0.05);
leocle 6:b32a24905cd6 275 wait(0.1);
leocle 6:b32a24905cd6 276 SetCRSpeed(3,0.05); */
leocle 6:b32a24905cd6 277
leocle 6:b32a24905cd6 278 char a;
leocle 6:b32a24905cd6 279
leocle 6:b32a24905cd6 280 //On passe le mode retour en 1 : retour seulement sur demande de lecture
leocle 6:b32a24905cd6 281 a=1;
leocle 12:7d61181d7ac7 282 Write(adrr_queue,16,1,&a);
leocle 12:7d61181d7ac7 283 Write(adrr_droite,16,1,&a);
leocle 12:7d61181d7ac7 284 Write(adrr_gauche,16,1,&a);
leocle 6:b32a24905cd6 285
leocle 6:b32a24905cd6 286
leocle 6:b32a24905cd6 287 //On passe le délai de retour à 250µs. C'est bien de le diminuer ensuite.
leocle 6:b32a24905cd6 288 a=250;
leocle 12:7d61181d7ac7 289 Write(adrr_queue,5,1,&a);
leocle 12:7d61181d7ac7 290 Write(adrr_droite,5,1,&a);
leocle 12:7d61181d7ac7 291 Write(adrr_gauche,5,1,&a);
leocle 6:b32a24905cd6 292
leocle 6:b32a24905cd6 293 /* On coupe de le couple du moteur pour pouvoir le faire tourner à la main
leocle 6:b32a24905cd6 294 a=0;
leocle 6:b32a24905cd6 295 Write(2,24,1,&a);
leocle 6:b32a24905cd6 296 Write(1,24,1,&a);
leocle 6:b32a24905cd6 297 Write(3,24,1,&a); */
leocle 6:b32a24905cd6 298
leocle 6:b32a24905cd6 299 myserial_ax12.attach(&Rx_Irq_fonction, Serial::RxIrq);
leocle 6:b32a24905cd6 300 ticker_1ms.attach(&fonction_1ms,0.001);
leocle 6:b32a24905cd6 301 etat=2;
leocle 6:b32a24905cd6 302
jlesoudeer 8:922178e5d286 303 coach.printf("fin_initialisation");
jlesoudeer 8:922178e5d286 304 position_1 = 0;
jlesoudeer 8:922178e5d286 305 position_2 = 0;
jlesoudeer 8:922178e5d286 306 position_3 = 0;
jlesoudeer 8:922178e5d286 307 position_1_old = 0;
jlesoudeer 8:922178e5d286 308 position_2_old = 0;
jlesoudeer 8:922178e5d286 309 position_3_old = 0;
jlesoudeer 8:922178e5d286 310 delta_position_1 = 0;
jlesoudeer 8:922178e5d286 311 delta_position_2 = 0;
jlesoudeer 8:922178e5d286 312 delta_position_3 = 0;
leocle 1:c5e9c436f8d0 313 while (true) {
leocle 6:b32a24905cd6 314 //on regarde la position des moteurs
leocle 6:b32a24905cd6 315 switch(etat) {
leocle 6:b32a24905cd6 316 case 2 :
leocle 6:b32a24905cd6 317 if(fm_etat) {
leocle 6:b32a24905cd6 318 position_1_old = position_1;
leocle 6:b32a24905cd6 319 for(int i=0; i<=7; i++) {
leocle 6:b32a24905cd6 320 //On envoi la trame que l'on souhaite
leocle 6:b32a24905cd6 321
leocle 6:b32a24905cd6 322 myserial_ax12.putc(trame_demande_pos_1[i]);
leocle 6:b32a24905cd6 323 //hypothese marche avant et il ne fait pas plus d'un tour entre deux mesures
leocle 6:b32a24905cd6 324 }
leocle 6:b32a24905cd6 325 fm_etat=0;
leocle 6:b32a24905cd6 326 }
leocle 6:b32a24905cd6 327
leocle 6:b32a24905cd6 328 if(temps_ms>=3) {
leocle 6:b32a24905cd6 329 etat=3;
leocle 6:b32a24905cd6 330 fm_etat=1;
leocle 6:b32a24905cd6 331 }
leocle 6:b32a24905cd6 332 break;
leocle 6:b32a24905cd6 333
leocle 6:b32a24905cd6 334 case 3 :
leocle 6:b32a24905cd6 335
leocle 6:b32a24905cd6 336 if(fm_etat) {
leocle 6:b32a24905cd6 337 delta_position_1 = (int16_t)position_1 - (int16_t)position_1_old;
leocle 6:b32a24905cd6 338 if(delta_position_1 > 2048) {
leocle 6:b32a24905cd6 339 delta_position_1 = delta_position_1 - 4096;
leocle 6:b32a24905cd6 340 }
leocle 6:b32a24905cd6 341
leocle 6:b32a24905cd6 342 if(delta_position_1 < -2048) {
leocle 6:b32a24905cd6 343 delta_position_1 = delta_position_1 + 4096;
leocle 6:b32a24905cd6 344 }
leocle 6:b32a24905cd6 345 position_2_old = position_2;
leocle 6:b32a24905cd6 346 for(int i=0; i<=7; i++) {
leocle 6:b32a24905cd6 347 //On envoi la trame que l'on souhaite
leocle 6:b32a24905cd6 348 myserial_ax12.putc(trame_demande_pos_2[i]);
leocle 6:b32a24905cd6 349 //hypothese marche avant et il ne fait pas plus d'un tour entre deux mesures
leocle 6:b32a24905cd6 350
leocle 6:b32a24905cd6 351 }
leocle 6:b32a24905cd6 352 fm_etat=0;
leocle 6:b32a24905cd6 353 }
leocle 6:b32a24905cd6 354
leocle 6:b32a24905cd6 355 if(temps_ms>=6) {
leocle 6:b32a24905cd6 356 etat=4;
leocle 6:b32a24905cd6 357 fm_etat=1;
leocle 6:b32a24905cd6 358 }
leocle 6:b32a24905cd6 359 break;
leocle 6:b32a24905cd6 360
leocle 6:b32a24905cd6 361 case 4 :
leocle 6:b32a24905cd6 362 if(fm_etat) {
leocle 6:b32a24905cd6 363 delta_position_2 = (int16_t)position_2 - (int16_t)position_2_old;
leocle 6:b32a24905cd6 364 if(delta_position_2 > 2048) {
leocle 6:b32a24905cd6 365 delta_position_2 = delta_position_2 - 4096;
leocle 6:b32a24905cd6 366 }
leocle 6:b32a24905cd6 367
leocle 6:b32a24905cd6 368 if(delta_position_2 < -2048) {
leocle 6:b32a24905cd6 369 delta_position_2 = delta_position_2 + 4096;
leocle 6:b32a24905cd6 370 }
leocle 6:b32a24905cd6 371 position_3_old = position_3;
leocle 6:b32a24905cd6 372 for(int i=0; i<=7; i++) {
leocle 6:b32a24905cd6 373 //On envoi la trame que l'on souhaite
leocle 6:b32a24905cd6 374 myserial_ax12.putc(trame_demande_pos_3[i]);
leocle 6:b32a24905cd6 375
leocle 6:b32a24905cd6 376 }
leocle 6:b32a24905cd6 377 fm_etat=0;
leocle 6:b32a24905cd6 378 }
leocle 6:b32a24905cd6 379
leocle 6:b32a24905cd6 380 if(temps_ms>=9) {
leocle 6:b32a24905cd6 381 etat=5;
leocle 6:b32a24905cd6 382 fm_etat=1;
leocle 6:b32a24905cd6 383 }
leocle 6:b32a24905cd6 384 break;
leocle 6:b32a24905cd6 385
leocle 6:b32a24905cd6 386 case 5 :
jlesoudeer 8:922178e5d286 387 if(fm_etat == 1) {
jlesoudeer 8:922178e5d286 388 delta_position_3 = (int16_t)position_3 - (int16_t)position_3_old;
jlesoudeer 8:922178e5d286 389 if(delta_position_3 > 2048) {
jlesoudeer 8:922178e5d286 390 delta_position_3 = delta_position_3 - 4096;
jlesoudeer 8:922178e5d286 391 }
leocle 6:b32a24905cd6 392
jlesoudeer 8:922178e5d286 393 if(delta_position_3 < -2048) {
jlesoudeer 8:922178e5d286 394 delta_position_3 = delta_position_3 + 4096;
jlesoudeer 8:922178e5d286 395 }
jlesoudeer 8:922178e5d286 396 send_roues();
leocle 6:b32a24905cd6 397 }
leocle 6:b32a24905cd6 398
jlesoudeer 8:922178e5d286 399 fm_etat =0;
jlesoudeer 8:922178e5d286 400
jlesoudeer 8:922178e5d286 401 if (flag_a_traite == 1) {
jlesoudeer 8:922178e5d286 402 etat = 6;
jlesoudeer 8:922178e5d286 403 temps_ms = 0;
jlesoudeer 8:922178e5d286 404 fm_etat =1;
leocle 6:b32a24905cd6 405 }
jlesoudeer 8:922178e5d286 406 break;
jlesoudeer 8:922178e5d286 407
jlesoudeer 8:922178e5d286 408 case 6 :
jlesoudeer 8:922178e5d286 409 if(fm_etat ==1){
jlesoudeer 8:922178e5d286 410 coach.puts("traitement\n");
jlesoudeer 8:922178e5d286 411 if (flag_msg == 0) {
jlesoudeer 8:922178e5d286 412 sscanf(message_1,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
jlesoudeer 8:922178e5d286 413 } else {
jlesoudeer 8:922178e5d286 414 sscanf(message_0,"%f,%f,%f,%f,%f", &front, &lat, &rot, &T_front, &T_lat );
jlesoudeer 8:922178e5d286 415 }
jlesoudeer 8:922178e5d286 416 flag_a_traite = 0;
leocle 6:b32a24905cd6 417 temps_ms = 0;
jlesoudeer 8:922178e5d286 418 asser(front, lat, rot);
jlesoudeer 8:922178e5d286 419 fm_etat = 0;
jlesoudeer 8:922178e5d286 420 }
jlesoudeer 8:922178e5d286 421 if(temps_ms>= 5) {
jlesoudeer 8:922178e5d286 422
jlesoudeer 8:922178e5d286 423 etat = 2;
jlesoudeer 8:922178e5d286 424 fm_etat =1;
jlesoudeer 8:922178e5d286 425 temps_ms = 0;
jlesoudeer 8:922178e5d286 426 }
leocle 6:b32a24905cd6 427 break;
leocle 6:b32a24905cd6 428 }
leocle 1:c5e9c436f8d0 429 }
leocle 0:8762773cddf9 430
leocle 2:223d6363315b 431 }
leocle 6:b32a24905cd6 432
leocle 6:b32a24905cd6 433 void SetCRSpeed(int ID, float speed)
leocle 6:b32a24905cd6 434 {
leocle 6:b32a24905cd6 435
leocle 6:b32a24905cd6 436 // bit 10 = direction, 0 = CCW, 1=CW
leocle 6:b32a24905cd6 437 // bits 9-0 = Speed
leocle 6:b32a24905cd6 438 char data[2];
leocle 6:b32a24905cd6 439
leocle 6:b32a24905cd6 440 int goal = (0x3ff * abs(speed));
leocle 6:b32a24905cd6 441
leocle 6:b32a24905cd6 442 // Set direction CW if we have a negative speed
leocle 6:b32a24905cd6 443 if (speed < 0) {
leocle 6:b32a24905cd6 444 goal |= (0x1 << 10);
leocle 6:b32a24905cd6 445 }
leocle 6:b32a24905cd6 446
leocle 6:b32a24905cd6 447 data[0] = goal & 0xff; // bottom 8 bits
leocle 6:b32a24905cd6 448 data[1] = goal >> 8; // top 8 bits
leocle 6:b32a24905cd6 449
leocle 6:b32a24905cd6 450 // write the packet, return the error code
leocle 6:b32a24905cd6 451 Write(ID, 0x20, 2, data);
leocle 6:b32a24905cd6 452 }
leocle 6:b32a24905cd6 453
leocle 6:b32a24905cd6 454 void SetMode(int ID, int mode)
leocle 6:b32a24905cd6 455 {
leocle 6:b32a24905cd6 456
leocle 6:b32a24905cd6 457 if (mode == 1) { // set CR
leocle 6:b32a24905cd6 458 SetCWLimit(ID,0);
leocle 6:b32a24905cd6 459 SetCCWLimit(ID,0);
leocle 6:b32a24905cd6 460 SetCRSpeed(ID,0.0);
leocle 6:b32a24905cd6 461 } else {
leocle 6:b32a24905cd6 462 SetCWLimit(ID,0);
leocle 6:b32a24905cd6 463 SetCCWLimit(ID,360);
leocle 6:b32a24905cd6 464 SetCRSpeed(ID,0.0);
leocle 6:b32a24905cd6 465 }
leocle 6:b32a24905cd6 466 }
leocle 6:b32a24905cd6 467
leocle 6:b32a24905cd6 468 void SetCWLimit (int ID, int degrees)
leocle 6:b32a24905cd6 469 {
leocle 6:b32a24905cd6 470
leocle 6:b32a24905cd6 471 char data[2];
leocle 6:b32a24905cd6 472 short limit = (4095 * degrees) / 360;
leocle 6:b32a24905cd6 473
leocle 6:b32a24905cd6 474 data[0] = limit & 0xff; // bottom 8 bits
leocle 6:b32a24905cd6 475 data[1] = limit >> 8; // top 8 bits
leocle 6:b32a24905cd6 476
leocle 6:b32a24905cd6 477 Write(ID, 0x06, 2, data);
leocle 6:b32a24905cd6 478 }
leocle 6:b32a24905cd6 479
leocle 6:b32a24905cd6 480 void SetCCWLimit (int ID, int degrees)
leocle 6:b32a24905cd6 481 {
leocle 6:b32a24905cd6 482
leocle 6:b32a24905cd6 483 char data[2];
leocle 6:b32a24905cd6 484 short limit = (4095 * degrees) / 360;
leocle 6:b32a24905cd6 485
leocle 6:b32a24905cd6 486 data[0] = limit & 0xff; // bottom 8 bits
leocle 6:b32a24905cd6 487 data[1] = limit >> 8; // top 8 bits
leocle 6:b32a24905cd6 488
leocle 6:b32a24905cd6 489 Write(ID, 0x08, 2, data);
leocle 6:b32a24905cd6 490 }
leocle 6:b32a24905cd6 491
leocle 6:b32a24905cd6 492 void Write(int ID, int start, int bytes, char* data)
leocle 6:b32a24905cd6 493 {
leocle 6:b32a24905cd6 494 char TxBuf[16];
leocle 6:b32a24905cd6 495 char sum = 0;
leocle 6:b32a24905cd6 496
leocle 6:b32a24905cd6 497 TxBuf[0] = 0xff;
leocle 6:b32a24905cd6 498 TxBuf[1] = 0xff;
leocle 6:b32a24905cd6 499
leocle 6:b32a24905cd6 500 // ID
leocle 6:b32a24905cd6 501 TxBuf[2] = ID;
leocle 6:b32a24905cd6 502 sum += TxBuf[2];
leocle 6:b32a24905cd6 503
leocle 6:b32a24905cd6 504
leocle 6:b32a24905cd6 505 // packet Length
leocle 6:b32a24905cd6 506 TxBuf[3] = 3+bytes;
leocle 6:b32a24905cd6 507 sum += TxBuf[3];
leocle 6:b32a24905cd6 508
leocle 6:b32a24905cd6 509 // Instruction
leocle 6:b32a24905cd6 510 TxBuf[4]=0x03;
leocle 6:b32a24905cd6 511 sum += TxBuf[4];
leocle 6:b32a24905cd6 512
leocle 6:b32a24905cd6 513 // Start Address
leocle 6:b32a24905cd6 514 TxBuf[5] = start;
leocle 6:b32a24905cd6 515 sum += TxBuf[5];
leocle 6:b32a24905cd6 516
leocle 6:b32a24905cd6 517 // data
leocle 6:b32a24905cd6 518 for (char i=0; i<bytes ; i++) {
leocle 6:b32a24905cd6 519 TxBuf[6+i] = data[i];
leocle 6:b32a24905cd6 520 sum += TxBuf[6+i];
leocle 6:b32a24905cd6 521
leocle 6:b32a24905cd6 522 }
leocle 6:b32a24905cd6 523
leocle 6:b32a24905cd6 524 // checksum
leocle 6:b32a24905cd6 525 TxBuf[6+bytes] = 0xFF - sum;
leocle 6:b32a24905cd6 526
leocle 6:b32a24905cd6 527 // Transmit the packet in one burst with no pausing
leocle 6:b32a24905cd6 528 for (int i = 0; i < (7 + bytes) ; i++) {
leocle 6:b32a24905cd6 529 myserial_ax12.putc(TxBuf[i]);
leocle 6:b32a24905cd6 530 }
leocle 6:b32a24905cd6 531
leocle 6:b32a24905cd6 532 wait(0.00002);
leocle 6:b32a24905cd6 533
leocle 6:b32a24905cd6 534 }