CRAC Team
code strat avant match 2, strat inversée OK normalement
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CRAC-Strat_2017_fin_premier_match
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CRAC Team
Diff: AX12/AX12.cpp
- Revision:
- 16:7321fb3bb396
- Parent:
- 15:c2fc239e85df
--- a/AX12/AX12.cpp Thu May 11 12:55:52 2017 +0000
+++ b/AX12/AX12.cpp Fri May 19 17:13:46 2017 +0000
@@ -21,114 +21,10 @@
* THE SOFTWARE.
*/
-#include "mbed.h"
#include "AX12.h"
-#define AX12_INITIALISATION 0
-#define AX12_PREPARATION_PRISE 1
-#define AX12_STOCKAGE_HAUT 2
-#define AX12_STOCKAGE_BAS 3
-#define AX12_DEPOSER 4
-#define AX12_PREPARATION_DEPOT_BAS 5
-#define AX12_PREPARATION_DEPOT_HAUT 6
-#define AX12_POUSSER_MODULE 7
-#define AX12_DEFAUT 20
-
-#define TIME 0.8
-#define SIZE_FIFO 25
-
#define MAX_TIMEOUT 500
-extern "C" void mbed_reset();//Pour pouvoir reset la carte
-
-unsigned char action = 0, choix_bras = 0, etat_ax12 = 0, flag = 0, action_precedente = 0;
-short vitesse=700;
-float angle=0.0;
-float test_socle=0.0,test_bas=0.0,test_milieu=0.0,test_haut=0.0,test_ventouse=0.0, test_calcul=0.0, valeur_test=0.0;
-AX12 *un_myAX12, *sept_myAX12, *huit_myAX12, *seize_myAX12, *multiple_myAX12; //Pince centrale
-AX12 *un_myAX12_2, *deux_myAX12_2, *trois_myAX12_2, *multiple_myAX12_2; //Bras de gauche
-
-Timer t;
-Ticker flipper;
-
-////////////////////// TABLEAU PINCE CENTRALE ///////////////////////////
-static char TAB1[25]= {0x01,0x05, 0x02, 0xFF, 0x00, ///Position initiale
- 0x10,0x00, 0x02, 0xFF, 0x00,
- 0x07,0x00, 0x01, 0xFF, 0x00,
- 0x08,0x00, 0x03, 0xFF, 0x00};
-
-static char TAB2[25]= {0x01,0x50, 0x00, 0xFF, 0x03, ///Preparation prise
- 0x10,0x50, 0x01, 0xFF, 0x03,
- 0x07,0xF4, 0x01, 0xFF, 0x03,
- 0x08,0xF4, 0x01, 0xFF, 0x03};
-
-static char TAB3[25]= {0x01,0x50, 0x00, 0xFF, 0x03, ///Stockage haut (pince fermee)
- 0x10,0x50, 0x01, 0xFF, 0x03,
- 0x07,0xC5, 0x00, 0xFF, 0x03,
- 0x08,0x4D, 0x03, 0xFF, 0x03};
-
-static char TAB4[25]= {0x01,0xA0, 0x01, 0xFF, 0x03, ///Stockage haut (pince en l'air)
- 0x10,0x50, 0x01, 0xFF, 0x03,
- 0x07,0xC5, 0x00, 0xFF, 0x03,
- 0x08,0x4D, 0x03, 0xFF, 0x03};
-
-static char TAB5[25]= {0x01,0xA0, 0x01, 0xFF, 0x03, ///Stockage haut (module sur tige)
- 0x10,0xF4, 0x01, 0xFF, 0x00,
- 0x07,0xC5, 0x00, 0xFF, 0x03,
- 0x08,0x4D, 0x03, 0xFF, 0x03};
-
-static char TAB6[25]= {0x01,0xB0, 0x01, 0xFF, 0x03, ///Stockage haut (pince ouverte)
- 0x10,0xF4, 0x01, 0xFF, 0x03,
- 0x07,0x00, 0x01, 0xFF, 0x03,
- 0x08,0x00, 0x03, 0xFF, 0x03};
-
-static char TAB7[25]= {0x01,0xA0, 0x01, 0xFF, 0x03, ///Stockage bas (pince en l'air)
- 0x10,0xB0, 0x00, 0xFF, 0x03,
- 0x07,0xC5, 0x00, 0xFF, 0x00,
- 0x08,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB8[25]= {0x01,0x40, 0x00, 0xFF, 0x03, ///Preparation_depot_bas
- 0x10,0xF4, 0x01, 0xFF, 0x03,
- 0x07,0xC5, 0x00, 0xFF, 0x00,
- 0x08,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB9[25]= {0x01,0x40, 0x00, 0xFF, 0x03, ///Deposer
- 0x10,0xF4, 0x01, 0xFF, 0x03,
- 0x07,0xD0, 0x00, 0xFF, 0x00,
- 0x08,0x35, 0x03, 0xFF, 0x00};
-
-static char TAB10[25]= {0x01,0xA0, 0x01, 0xFF, 0x03, ///Stockage haut (module sur tige)
- 0x10,0x00, 0x01, 0xFF, 0x00,
- 0x07,0xC5, 0x00, 0xFF, 0x03,
- 0x08,0x4D, 0x03, 0xFF, 0x03};
-
-static char TAB11[25]= {0x01,0x60, 0x00, 0xFF, 0x03, ///Pousser_module
- 0x10,0xF4, 0x01, 0xFF, 0x03,
- 0x07,0xC5, 0x00, 0xFF, 0x00,
- 0x08,0x4D, 0x03, 0xFF, 0x00};
-
-static char TAB12[25]= {0x01,0x05, 0x02, 0xFF, 0x03, ///Sortie position initiale
- 0x10,0x00, 0x02, 0xFF, 0x03,
- 0x07,0xF4, 0x01, 0xFF, 0x03,
- 0x08,0xF4, 0x01, 0xFF, 0x03};
-
-static char TAB13[25]= {0x01,0xF4, 0x00, 0xFF, 0x03, ///Deposer
- 0x10,0xA0, 0x02, 0xFF, 0x03,
- 0x07,0xD0, 0x00, 0xFF, 0x00,
- 0x08,0x35, 0x03, 0xFF, 0x00};
-
-////////////////////// TABLEAU BRAS GAUCHE ///////////////////////////
-static char TAB21[25]= {0x01,0x50, 0x03, 0xFF, 0x03, ///Position initiale
- 0x02,0xF4, 0x01, 0xFF, 0x03};
-
-static char TAB22[25]= {0x01,0x20, 0x01, 0xFF, 0x03, ///Preparation_tourner
- 0x02,0x40, 0x03, 0xFF, 0x03};
-
-static char TAB23[25]= {0x01,0x20, 0x01, 0xFF, 0x03, ///Tourner_module
- 0x02,0xE5, 0x02, 0xFF, 0x03};
-
-
-
extern Timer t;
typedef struct
@@ -933,7 +829,7 @@
{
#ifdef AX12_DEBUG
- printf("\nGetPositionID(%d)",_ID);
+ printf("\nGetPositionID(%d) \n\r",_ID);
#endif
char data[2];
@@ -1678,151 +1574,3 @@
return(Status[4]); // retourne le code d'erreur ( octect 5 de la trame de retour )
}
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////
-
-/****************************************************************************************/
-/* FUNCTION NAME: Initialisation_position */
-/* DESCRIPTION : Fonction qui place les bras en position verticale */
-/****************************************************************************************/
-void Initialisation_position(void){
- multiple_myAX12->multiple_goal_and_speed(4,TAB12);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB1);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_prise */
-/* DESCRIPTION : Fonction qui prepare le robot pour prendre les modules */
-/****************************************************************************************/
-void Preparation_prise(void){
- if (action_precedente == 0){
- multiple_myAX12->multiple_goal_and_speed(4,TAB12);
- wait(TIME);
- action_precedente = 1;
- }
- multiple_myAX12->multiple_goal_and_speed(4,TAB2);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Stockage_haut */
-/* DESCRIPTION : Fonction qui prend et stocke les modules dans la position haute */
-/****************************************************************************************/
-void Stockage_haut(void){
- multiple_myAX12->multiple_goal_and_speed(4,TAB3);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB4);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB5);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB6);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Stockage_bas */
-/* DESCRIPTION : Fonction qui prend et stocke un module dans la pince */
-/****************************************************************************************/
-void Stockage_bas(void){
- multiple_myAX12->multiple_goal_and_speed(4,TAB3);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB7);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Deposer */
-/* DESCRIPTION : Fonction qui permet de déposer le module */
-/****************************************************************************************/
-void Deposer(void){
- multiple_myAX12->multiple_goal_and_speed(4,TAB9);
- wait(TIME/5);
- multiple_myAX12->multiple_goal_and_speed(4,TAB8);
- wait(TIME/5);
- multiple_myAX12->multiple_goal_and_speed(4,TAB13);
- wait(TIME/5);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_depot_bas */
-/* DESCRIPTION : Fonction qui prépare le depos d'un module en bas */
-/****************************************************************************************/
-void Preparation_depot_bas(void){
- multiple_myAX12->multiple_goal_and_speed(4,TAB8);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_depot_haut */
-/* DESCRIPTION : Fonction qui prépare le depos d'un module en haut */
-/****************************************************************************************/
-void Preparation_depot_haut(void){
- multiple_myAX12->multiple_goal_and_speed(4,TAB6);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB5);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB10);
- wait(TIME);
- multiple_myAX12->multiple_goal_and_speed(4,TAB8);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Pousser_module */
-/* DESCRIPTION : Fonction qui permet pousser le module situé à l'entrée de la bas */
-/****************************************************************************************/
-void Pousser_module(void){
- multiple_myAX12->multiple_goal_and_speed(4,TAB11);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Initialisation_gauche */
-/* DESCRIPTION : Fonction qui permet de placer le cote gauche en position initiale */
-/****************************************************************************************/
-void Initialisation_gauche(void){
- trois_myAX12_2->Set_Secure_Goal(235);
- multiple_myAX12_2->multiple_goal_and_speed(4,TAB22);
- wait(TIME);
- multiple_myAX12_2->multiple_goal_and_speed(4,TAB21);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_prise_gauche */
-/* DESCRIPTION : Fonction qui permet de preparer la recuperation d'un module */
-/****************************************************************************************/
-void Preparation_prise_gauche(void){
- trois_myAX12_2->Set_Secure_Goal(120);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Prendre_module_gauche */
-/* DESCRIPTION : Fonction qui permet prendre un module sur le cote gauche */
-/****************************************************************************************/
-void Prendre_module_gauche(void){
- trois_myAX12_2->Set_Secure_Goal(160);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Preparation_module_gauche */
-/* DESCRIPTION : Fonction qui prepare le tournante */
-/****************************************************************************************/
-void Preparation_module_gauche(void){
- multiple_myAX12_2->multiple_goal_and_speed(4,TAB22);
- wait(TIME);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Tourner_module_gauche */
-/* DESCRIPTION : Fonction qui permet de tourner les modules a gauche */
-/****************************************************************************************/
-void Tourner_module_gauche(void){
- multiple_myAX12_2->multiple_goal_and_speed(4,TAB23);
- wait(TIME);
-}