From b95709754c870cbb793266ce8e605a81d01a4f75 Mon Sep 17 00:00:00 2001 From: becquet Date: Fri, 11 May 2007 12:47:52 +0000 Subject: --- i/chuck/src/es/es.cc | 40 ++++++++++++++++++---------------- i/chuck/src/es/es.hh | 23 ++++++++++---------- i/chuck/src/es/test_es.cc | 55 ++++------------------------------------------- 3 files changed, 37 insertions(+), 81 deletions(-) (limited to 'i/chuck/src/es') diff --git a/i/chuck/src/es/es.cc b/i/chuck/src/es/es.cc index 12a6f3d..452e689 100644 --- a/i/chuck/src/es/es.cc +++ b/i/chuck/src/es/es.cc @@ -83,8 +83,6 @@ Es::reset (void) setAckStat (ackFreq_); setOthersStat (othersStat_); lcdGetKey (lcdKeyStat_); - - enableAllSensors (true); log_ ("Es", Log::debug) << "Reset Es done."; } @@ -124,16 +122,6 @@ Es::isColorModeBlue (void) return colorModeBlue_; } -/// Enable all the sensors or just the 4 and 1 near the ground -void -Es::enableAllSensors (bool enable) -{ - if (enable) - proto_.send ('u', "b", 1); - else - proto_.send ('u', "b", 0); -} - /// Set frequency of jack, selectoul printed out function void Es::setOthersStat (int freq) @@ -141,11 +129,11 @@ Es::setOthersStat (int freq) proto_.send ('O', "b", freq); } -// Discute avec les servo... -void Es::setServoPos (int servo_mask, int servoPos) -{ - proto_.send ('m', "bb", servo_mask, servoPos); -} + + + + + /// Set update frequency of sharps void @@ -188,7 +176,7 @@ Es::lcdGetKey (int freq) void Es::receive(char command, const Proto::Frame & frame) { - int errCode, red, blue, clear, green, compt, value; + int errCode, clear, compt, value; int stat1, stat2, stat3, stat4; switch (command) @@ -242,6 +230,22 @@ void Es::receive(char command, const Proto::Frame & frame) sharps_[compt] = value; } break; + } +} + +//Activation du truk ki monte et descend. +void +Es::bouge_ascenceur(int sens,uint8_t vit,uint8_t tps) +{ + if (sens == UP) + { + proto_.send('a',"bbb",vit,tps,0x01); + } + if (sens == DOWN) + { + proto_.send('a',"bbb",vit,tps,0x00); } + //faire un static pour savoir la dernière commande. + //permettra de faire l'inverse en automatique. } diff --git a/i/chuck/src/es/es.hh b/i/chuck/src/es/es.hh index 1d5c13d..0de1264 100644 --- a/i/chuck/src/es/es.hh +++ b/i/chuck/src/es/es.hh @@ -36,8 +36,8 @@ class Config; class Es : public Proto::Receiver { public: - typedef std::vector Sharps; - + enum ascen{UP,DOWN}; + typedef std::vector Sharps; private: // Objet Proto de communication vers la carte es Proto proto_; @@ -93,14 +93,14 @@ class Es : public Proto::Receiver /// Get the color mode of the button bool isColorModeBlue (void); - /// Enable all the sensors or just the 4 and 1 near the ground - void enableAllSensors (bool enable); + + /// Set frequency of jack, selectoul printed out function /// Use this function with frequency 0 to disable this stat. void setOthersStat (int freq); - /// Discute avec les servo... - void setServoPos (int servo_mask, int servoPos); + + /// Set update frequency of sharps void setSharpUpdate (int sharp_mask, int freq); @@ -115,14 +115,13 @@ class Es : public Proto::Receiver /// Get the current pressed keys of the LCD void lcdGetKey (int freq); - /// Front sensor - bool frontSensor (void) { return front_sensor_; } - /// Clear sensor - void clearFrontSensor (void) { front_sensor_ = false; } + + + ///Activé l'assenceur - void bouge_ascenceur(int sensrot); - + void bouge_ascenceur(int sens,uint8_t vit,uint8_t tps); + //a faire private: /// Update system for one sensor void updateAnalysisSensor (int value, int index, int threshold); diff --git a/i/chuck/src/es/test_es.cc b/i/chuck/src/es/test_es.cc index 1e39167..b96baa5 100644 --- a/i/chuck/src/es/test_es.cc +++ b/i/chuck/src/es/test_es.cc @@ -64,15 +64,7 @@ class TestEs : public Tester interpreter.add ("wait", Interpreter::memFunc (*this, &TestEs::wait), "Blocking wait (time)\n" " - time : time to wait in ms"); - interpreter.add - ("colorRef", Interpreter::memFunc (es_, &Es::refColor), - "Reference current color as green for sensors (mask)"); - interpreter.add - ("rvbAll", Interpreter::memFunc (es_, &Es::enableAllSensors), - "Drop a ball at the rear ()"); - interpreter.add - ("servoPos", Interpreter::memFunc (es_, &Es::setServoPos), - "Set servo position (mask, pos)"); + interpreter.add ("sharpUp", Interpreter::memFunc (es_, &Es::setSharpUpdate), "Set sharp update frequency (mask, freq)"); @@ -91,48 +83,9 @@ class TestEs : public Tester interpreter.add ("lcdKey", Interpreter::memFunc (es_, &Es::lcdGetKey), "Set stat for key if pressed (freq)"); - interpreter.add - ("turbSpeed", Interpreter::memFunc (es_, &Es::setTurbineSpeed), - "Set turbine speed (num, speed)\n" - " - num : 1 front, 2 rear\n" - " - speed : 256 - 819"); - interpreter.add - ("turbMinSpeed", Interpreter::memFunc (es_, - &Es::barilletDebutLancement), - avant1 = 0x20, arriere3 = 0x24}; - "Turbine minimal speed ()"); - interpreter.add - ("turbFrontFull", Interpreter::memFunc (es_, - &Es::barilletLancement), - "Turbine front full speed ()"); - interpreter.add - ("barSleep", Interpreter::memFunc (es_, &Es::barilletSleep), - "Barillet in sleep mode (low speed turbine)"); - interpreter.add - ("turbDepose", Interpreter::memFunc (es_, &Es::deposeBalle), - "Drop a ball at the rear ()"); - interpreter.add - ("barDropWhite", Interpreter::memFunc (es_, &Es::dropWhiteBall), - "drop une balle blanche"); - interpreter.add("barDropBlack", Interpreter::memFunc (es_, - &Es::dropBlackBall), - "drop une balle noire"); - interpreter.add("barSetEmpty", Interpreter::memFunc (es_, - &Es::setEmptyHoleFront), - "met un trou vide en position avale une balle"); - interpreter.add - ("barExtract", Interpreter::memFunc (es_, &Es::extraitBalle), - "Extract a ball ()"); - interpreter.add - ("barInit", Interpreter::memFunc (es_, &Es::barilletInit), - "Init barillet ()"); - interpreter.add - ("barGoTo", Interpreter::memFunc (es_, &Es::rotationBarillet), - "Barillet go to position (pos)\n" - " - pos : in 40° of a round"); - interpreter.add - ("barPurge", Interpreter::memFunc (es_, &Es::barilletEmpty), - "Extract a ball ()"); + interpreter.add ("ascenseur", Interpreter::memFunc(es_, + &Es::bouge_ascenceur),"Set sens , vitesse , tps\n" "sens : 0 UP 1 DOWN\n" "vit and tps : en hex"); + interpreter.add ("_postcall", Interpreter::memFunc (*this, &TestEs::postcall)); } -- cgit v1.2.3