Secoue les planches, v1.2
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@ -5,7 +5,7 @@
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#define SERVO_PINCE_GAUCHE 8
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#define SERVO_PINCE_DROITE 9
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#define FOURCHE_TRANSPORT 5, 266
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#define FOURCHE_TRANSPORT 5, 277
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#define FOURCHE_LEVEE 5, 206
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#define FOURCHE_PRISE 5, 308
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@ -13,7 +13,7 @@
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#define DOIGT_PINCE_GAUCHE_OUVRE 3, 1790
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#define DOIGT_PINCE_GAUCHE_SEUIL 1545
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#define DOIGT_PINCE_DROIT_FERME 4, 2475
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#define DOIGT_PINCE_DROIT_FERME 4, 2500
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#define DOIGT_PINCE_DROIT_OUVRE 4, 2365
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#define DOIGT_PINCE_DROIT_SEUIL 1575
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@ -231,7 +231,11 @@ void loop()
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while(Actionneur_prepare_prise_extern() != ACTION_TERMINEE);
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I2C_memory[I2C_CDE_REALISE] = I2C_memory[I2C_CDE_DEMANDE];
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break;
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case 8:
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while(Actionneur_fourche_transport() != ACTION_TERMINEE);
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I2C_memory[I2C_CDE_REALISE] = I2C_memory[I2C_CDE_DEMANDE];
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break;
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}
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@ -394,7 +398,7 @@ enum etat_action_t Actionneur_deplacement(void){
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}
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enum etat_action_t Actionneur_prepare_prise_extern(void){
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Servo_set(FOURCHE_PRISE);
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Servo_set(FOURCHE_TRANSPORT);
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// Ascenseur en bas
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Ascenseur_descend();
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// Pinces internes fermées
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@ -433,26 +437,12 @@ enum etat_action_t Actionneur_depile_planche(void){
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delay(1000);
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ledcWrite(FOURCHE_LEVEE);
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delay(1000);
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ledcWrite(FOURCHE_PRISE);
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delay(50);
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ledcWrite(FOURCHE_LEVEE);
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delay(150);
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ledcWrite(FOURCHE_PRISE);
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delay(50);
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ledcWrite(FOURCHE_LEVEE);
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delay(150);
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ledcWrite(FOURCHE_PRISE);
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delay(50);
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ledcWrite(FOURCHE_LEVEE);
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delay(150);
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ledcWrite(FOURCHE_PRISE);
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delay(50);
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ledcWrite(FOURCHE_LEVEE);
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delay(150);
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ledcWrite(FOURCHE_PRISE);
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delay(50);
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ledcWrite(FOURCHE_LEVEE);
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delay(150);
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for(int i=0;i<20;i++){
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ledcWrite(FOURCHE_PRISE);
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delay(50);
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ledcWrite(FOURCHE_LEVEE);
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delay(200);
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}
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return ACTION_TERMINEE;
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@ -474,7 +464,6 @@ enum etat_action_t Actionneur_prise_initiale(void){
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Servo_set(DOIGT_PINCE_GAUCHE_OUVRE);
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Servo_set(DOIGT_PINCE_DROIT_OUVRE);
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Servo_set(FOURCHE_LEVEE);
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etat_actionneur = ACTIONNEUR_PRISE_INTERNE_2;
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break;
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@ -498,7 +487,7 @@ enum etat_action_t Actionneur_prise_initiale(void){
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case ACTIONNEUR_RECULE_PRISE_INTERNE_2:
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Serial.println("ACTIONNEUR_RECULE_PRISE_INTERNE_2");
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if(Translateur_etat() == ACTION_TERMINEE){
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Servo_set(FOURCHE_TRANSPORT);
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//Servo_set(FOURCHE_TRANSPORT);
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etat_actionneur=ACTIONNEUR_PRISE_INTERNE_1;
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return ACTION_TERMINEE;
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}
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@ -509,6 +498,11 @@ enum etat_action_t Actionneur_prise_initiale(void){
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}
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enum etat_action_t Actionneur_fourche_transport(){
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Servo_set(FOURCHE_TRANSPORT);
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return ACTION_TERMINEE;
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}
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enum etat_action_t Actionneur_empile(){
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static enum etat_actionneur_t{
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ACTIONNEUR_LEVE,
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@ -706,13 +706,18 @@ enum etat_action_t gradin_approche(void){
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// Depile les planches
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while(actionneur_action(ACTIONNEUR_DEPILE)!=ACTION_TERMINEE);
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// Recule de 4 cm
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while(deplacement_relatif(-20, 0, 0, 0) != ACTION_TERMINEE);
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while(deplacement_relatif(-40, 0, 0, 0) != ACTION_TERMINEE);
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// Prepa prise externe
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while(actionneur_action(ACTIONNEUR_PRISE_EXTERNE)!=ACTION_TERMINEE);
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// Avance de 4,4 cm
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while(deplacement_relatif(45, 0, 0, 0) != ACTION_TERMINEE);
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while(deplacement_relatif(65, 0, 0, 0) != ACTION_TERMINEE);
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// On attrape les canettes internes
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while(actionneur_action(ACTIONNEUR_PRISE)!=ACTION_TERMINEE);
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// On recule pour ne pas faire tomber la fourche sur les cannettes
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//while(deplacement_relatif(-20, 0, 0, 0) != ACTION_TERMINEE);
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// On baisse la fourche
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//while(actionneur_action(ACTIONNEUR_FOURCHE_TRANSPORT)!=ACTION_TERMINEE);
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statu_approche_gradin = GA_CHERCHE_GAUCHE;
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return ACTION_TERMINEE;
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break;
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@ -11,6 +11,7 @@
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#define ACTIONNEUR_EMPILE 5
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#define ACTIONNEUR_DEPILE 6
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#define ACTIONNEUR_PRISE_EXTERNE 7
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#define ACTIONNEUR_FOURCHE_TRANSPORT 8
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struct com_actionneur_t{
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char demande_action, action_terminee;
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