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I2C_annexe : Attraper la plante

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Ajout du message pour attraper la plante. Suppression des tests des anciennes fonctions I2C
This commit is contained in:
Samuel 2024-03-24 18:25:05 +01:00
parent c1e11676c2
commit 4d251b4b74
3 changed files with 48 additions and 68 deletions
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94
Test_i2c.c
View File

@ -291,20 +291,14 @@ int test_i2c_ecriture_pico_annex_nb_2(){
printf("A - Aimant tient pot\n");
printf("B - Bras attrape pot\n");
printf("C - Aimant lache pot\n");
printf("D - Deguisement On\n");
printf("E - Deguisement Off\n");
printf("F - Ferme porte\n");
printf("G - Mi-Ferme porte\n");
printf("O - Ouvre porte\n");
printf("T - Turbine On\n");
printf("U - Turbine Off\n");
printf("P - Propulseur On\n");
printf("M - Propulseur Off\n");
printf("D - Bras lève pot\n");
printf("E - Attrape plante - bras 1\n");
printf("F - Attrape plante - bras 6\n");
printf("S - Score + 1\n");
printf("B - Bras deplie\n");
printf("N - Bras plie 1\n");
printf("\nQ - Quitter\n");
int lettre;
int continue_test=1;
@ -314,6 +308,8 @@ int test_i2c_ecriture_pico_annex_nb_2(){
time_i2c[1] = time_us_32();
time_i2c[2] = 0;
i2c_annexe_init();
multicore_launch_core1(affiche_contacteur);
@ -329,6 +325,14 @@ int test_i2c_ecriture_pico_annex_nb_2(){
}
printf("=> Lache pot\n");
break;
case 'b':
case 'B':
for(int i=1; i<7; i++){
i2c_annexe_actionneur_pot(i, BRAS_POT_SOL, DOIGT_TIENT);
}
printf("=> Attrape pot\n");
break;
case 'c':
case 'C':
@ -338,58 +342,24 @@ int test_i2c_ecriture_pico_annex_nb_2(){
printf("=> Tient pot\n");
break;
case 'd':
case 'D':
i2c_annexe_active_deguisement();
printf("=> Active déguisement\n");
case 'd':
for(int i=1; i<7; i++){
i2c_annexe_actionneur_pot(i, BRAS_HAUT, DOIGT_TIENT);
}
printf("=> Attrape pot\n");
break;
case 'E':
case 'e':
i2c_annexe_desactive_deguisement();
printf("=> Desactive déguisement\n");
i2c_annexe_attrape_plante(PLANTE_BRAS_1);
printf("=> Attrape plante - bras 1\n");
break;
case 'F':
case 'f':
i2c_annexe_ferme_porte();
printf("=> Ferme porte\n");
break;
case 'G':
case 'g':
i2c_annexe_mi_ferme_porte();
printf("=> Ferme porte\n");
break;
case 'O':
case 'o':
i2c_annexe_ouvre_porte();
printf("=> Ouvre porte\n");
break;
case 't':
case 'T':
i2c_annexe_active_turbine();
printf("=> Active turbine\n");
break;
case 'u':
case 'U':
i2c_annexe_desactive_turbine();
printf("=> Arrete turbine\n");
break;
case 'm':
case 'M':
i2c_annexe_desactive_propulseur();
printf("=> Arrete propulseur\n");
break;
case 'p':
case 'P':
i2c_annexe_active_propulseur();
printf("=> Active propulseur\n");
i2c_annexe_attrape_plante(PLANTE_BRAS_6);
printf("=> Attrape plante - bras 6\n");
break;
case 'q':
@ -402,18 +372,6 @@ int test_i2c_ecriture_pico_annex_nb_2(){
score++;
i2c_annexe_envoie_score(score);
break;
case 'b':
case 'B':
i2c_annexe_deplie_bras();
printf("=> Deplie bras\n");
break;
case 'n':
case 'N':
i2c_annexe_plie_bras();
printf("=> Plie bras\n");
break;
default:
printf("lettre non reconnue: %d %c\n", lettre, lettre);

15
i2c_annexe.c
View File

@ -18,10 +18,12 @@
#define ADRESSE_PIC18F4550 0x31
#define ADRESSE_PIC18F4550_DEBUT_W 0x00
#define ADRESSE_ACTION_PINCE 6
#define TAILLE_DONNEES_PIC18F4550_EMISSION 7
uint8_t donnees_emission[TAILLE_DONNEES_EMISSION];
uint8_t donnees_emission_pic18f4550[TAILLE_DONNEES_PIC18F4550_EMISSION];
uint8_t donnees_reception_pic18f4550[TAILLE_DONNEES_PIC18F4550_EMISSION];
uint8_t donnees_reception[TAILLE_DONNEES_RECEPTION];
@ -77,12 +79,14 @@ void i2c_annexe_gestion(){
etat_i2c_annexe = EMISSION_DONNEES_RPi;
temps = time_us_32();
donnees_a_envoyer_pic=0;
donnees_emission_pic18f4550[ADRESSE_ACTION_PINCE]=0;
}
}else{
etat_i2c_annexe = EMISSION_DONNEES_RPi;
}
break;
}
}
@ -187,3 +191,14 @@ void i2c_annexe_actionneur_pot(int actionneur, uint8_t pos_bras, uint8_t pos_doi
donnees_emission_pic18f4550[actionneur-1] = (pos_bras << 2) | pos_doigt;
donnees_a_envoyer_pic=1;
}
void i2c_annexe_attrape_plante(uint8_t action){
donnees_emission_pic18f4550[ADRESSE_ACTION_PINCE] = action;
donnees_a_envoyer_pic=1;
}
void i2c_annexe_init(void){
for(unsigned int actionneur=1; actionneur<= NB_BRAS; actionneur++){
i2c_annexe_actionneur_pot(actionneur, BRAS_PLIE, DOIGT_LACHE);
}
}

7
i2c_annexe.h
View File

@ -13,6 +13,11 @@
#define BRAS_DEPOSE_JARDINIERE 4
#define BRAS_HAUT 5
#define NB_BRAS 6
#define PLANTE_BRAS_1 '1'
#define PLANTE_BRAS_6 '6'
void i2c_annexe_gestion(void);
void i2c_annexe_active_turbine(void);
void i2c_annexe_desactive_turbine(void);
@ -44,3 +49,5 @@ void i2c_annexe_deplie_bras(void);
uint8_t i2c_annexe_get_tension_batterie(void);
void i2c_annexe_actionneur_pot(int actionneur, uint8_t pos_bras, uint8_t pos_doigt);
void i2c_annexe_attrape_plante(uint8_t action);
void i2c_annexe_init(void);