Leopold Clement / Mbed 2 deprecated PSL-VicTeam

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Dependencies:   mbed AX12

main.cpp@13:dfbfefe2f0a8, 2020-06-08 (annotated)

Committer:
jlesoudeer
Date:
Mon Jun 08 13:36:23 2020 +0000
Revision:
13:dfbfefe2f0a8
Parent:
12:7d61181d7ac7
Child:
15:ccfe333bcf76
Version qui marche sur robot Jeanne

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