Revision 25:869b1c1f51a7, committed 2020-10-29

Comitter:

Nanaud

Date:

Thu Oct 29 07:53:25 2020 +0000

Parent:

24:be2b2be6907b

Child:

26:bb2b778bd351

Commit message:

Serie1

Changed in this revision

--- a/captUS.cpp	Wed Oct 28 20:08:39 2020 +0000
+++ b/captUS.cpp	Thu Oct 29 07:53:25 2020 +0000
@@ -2,130 +2,77 @@
 #include "pins.h"
 
 /* #define */
-#define DISTLIM 600
-#define MAXMOY 3
+#define DISTLIM 600 // Distance max de détection
+#define OFFSET 200
+#define MAXMOY 3 // Nombre de mesure pour la moyenne
 
 /* Variables globales */
-Timer TimUS;
-Ticker TickUS_actu;
-
-//const float DISTLIM = 600;
+Timer TimUS; // Timer pour la mesure de distance entre le robot
+Ticker TickUS_actu; // Actualisation valeur distance détection d'obstacle
 
-unsigned int us_high[6]= {0};
-unsigned int us_low[6]= {0};
-unsigned int us_diff[6]= {0};
-bool us_verif[6]= {0};
+unsigned int us_high[6] = {0}; // Valeurs du timer lorsqu'il y a une interruption sur front montant
+unsigned int us_low[6] = {0}; // Valeurs du timer lorsqu'il y a une interruption sur front descendant
+unsigned int us_diff[6] = {0}; // Différence entre ces deux temps
+//bool us_verif[6] = {0}; // Permet d'enchainer dans le bon ordre : front montant puis front descendant
+bool us_verif2[2][6] = {0};
+
+unsigned int us_dist[6] = {0}; // Valeurs des distances
+bool us_rbt_restart = 0; // Le robot a détecté un obstacle et s'arrête
+bool us_libre = 0; // Le robot ne détecte plus d'obstacle, il est prêt à redémarrer
 
-unsigned int distt[6];
-bool rebooted = 0;
-bool wtt = 0;
-
-int indix = 0;
-unsigned int total[6] = {0};
-unsigned int ttt[6] = {0};
+int i = 0;
+unsigned int us_dist_total[6] = {0};
+unsigned int us_dist_moy[6] = {0};
 
-void calculTotal()
+void captUS_moyenne()
 {
-    if(indix < MAXMOY) {
+    if(i < MAXMOY) {
         for(int j=0; j<6 ; j++) {
-            total[j]+=distt[j];
+            us_dist_total[j] += us_dist[j];
         }
-        indix++;
+        i++;
+
     } else {
         for(int j=0; j<6 ; j++) {
-            ttt[j]=total[j]/MAXMOY;
-            total[j]=0;
+            us_dist_moy[j]=us_dist_total[j] / MAXMOY;
+            us_dist_total[j]=0;
         }
 
-        /*
-        pc.printf("ttt[1] = %d\n\r", ttt[0]);
-        pc.printf("ttt[2] = %d\n\r", ttt[1]);
-        pc.printf("ttt[3] = %d\n\r", ttt[2]);
-        pc.printf("ttt[4] = %d\n\r", ttt[3]);
-        pc.printf("ttt[5] = %d\n\r", ttt[4]);
-        pc.printf("ttt[6] = %d\n\r", ttt[5]);
-        pc.printf("\n\r");
-        */
-
-        indix=0;
+        i=0;
     }
 }
 
-/*
-void captUS_init()
-{
-    ::distance = new double(6); //équivalent au malloc()
-    tps.reset();
-    tps.start();
-}
-*/
 
 void captUS_trig()
 {
-    convertToDistance();
+    captUS_convToDist();
 
-    calculTotal();
+    captUS_moyenne();
 
-    if((objRecule[indice]==0) && (fnc == 2)) {
-        //if ((distt[5] >= DISTLIM) && (distt[0] >= DISTLIM)  && (distt[1] >= DISTLIM)) {
-        //if (((distt[5] >= DISTLIM) && (distt[0] >= DISTLIM)  && (distt[1] >= DISTLIM)) /*|| ((distt[5] < 0) && (distt[0] < 0)  && (distt[1] < 0))*/) {
-        if ((ttt[5] >= DISTLIM) && (ttt[0] >= DISTLIM)  && (ttt[1] >= DISTLIM)) {
-            wtt = 1;
+    if((objRecule[indiceStrategie]==0) && (action == 2)) {
+        if ((us_dist_moy[5] >= (DISTLIM-OFFSET)) && (us_dist_moy[0] >= DISTLIM)  && (us_dist_moy[1] >= (DISTLIM-OFFSET))) {
+            us_libre = 1;
         }
 
         else {
             mot_dis();
-            rebooted = 1;
-            wtt=0;
+            us_rbt_restart = 1;
+            us_libre=0;
         }
     }
 
-    else if((objRecule[indice]==1) && (fnc == 2)) {
-        //if ((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM) && (distt[4] >= DISTLIM)) {
-        //if (((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM)  && (distt[4] >= DISTLIM)) /*|| ((distt[2] < 0) && (distt[3] < 0)  && (distt[4] < 0))*/) {
-        if ((ttt[2] >= DISTLIM) && (ttt[3] >= DISTLIM)  && (ttt[4] >= DISTLIM)) {
-            wtt=1;
+    else if((objRecule[indiceStrategie]==1) && (action == 2)) {
+        if ((us_dist_moy[2] >= (DISTLIM-OFFSET)) && (us_dist_moy[3] >= DISTLIM)  && (us_dist_moy[4] >= (DISTLIM-OFFSET))) {
+            us_libre=1;
         }
 
         else {
             mot_dis();
-            rebooted = 1;
-            wtt=0;
+            us_rbt_restart = 1;
+            us_libre=0;
         }
     }
 
-    /*
-    pc.printf("US1 = %5.0lf uS\n\r", us_out[0]);
-    pc.printf("US2 = %5.0lf uS\n\r", us_out[1]);
-    //pc.printf("US3 = %5.0lf uS\n\r", us_out[2]);
-    //pc.printf("US4 = %5.0lf uS\n\r", us_out[3]);
-    //pc.printf("US5 = %5.0lf uS\n\r", us_out[4]);
-    pc.printf("US6 = %5.0lf uS\n\r", us_out[5]);
-    pc.printf("\n\r");
-    */
-
-    /*
-    pc.printf("Dist1 = %5.0lf mm\n\r", ::distance[0]);
-    pc.printf("Dist2 = %5.0lf mm\n\r", ::distance[1]);
-    pc.printf("Dist3 = %5.0lf mm\n\r", ::distance[2]);
-    pc.printf("Dist4 = %5.0lf mm\n\r", ::distance[3]);
-    pc.printf("Dist5 = %5.0lf mm\n\r", ::distance[4]);
-    pc.printf("Dist6 = %5.0lf mm\n\r", ::distance[5]);
-    pc.printf("\n\r");
-    */
-    
-    /*
-    pc.printf("ttt[1] = %d\n\r", ttt[0]);
-    pc.printf("ttt[2] = %d\n\r", ttt[1]);
-    pc.printf("ttt[3] = %d\n\r", ttt[2]);
-    pc.printf("ttt[4] = %d\n\r", ttt[3]);
-    pc.printf("ttt[5] = %d\n\r", ttt[4]);
-    pc.printf("ttt[6] = %d\n\r", ttt[5]);
-    pc.printf("\n\r");
-    */
-
-    //calculTotal();
-
     TimUS.reset();
     trigger=1;
     wait(0.00002);
@@ -134,108 +81,102 @@
 
 void echoRise1()
 {
-    if(us_verif[0] == 0) {
+    if(us_verif2[1][0] == false) {
         us_high[0]=TimUS.read_us();
-        us_verif[0] = 1;
+        us_verif2[0][0] = true;
     }
 }
 
 void echoFall1()
 {
-    if(us_verif[0] == 1) {
+    if(us_verif2[0][0] == true) {
         us_low[0]=TimUS.read_us();
-        us_diff[0]=us_low[0]-us_high[0];
-        us_verif[0] = 0;
+        us_verif2[1][0] = true;
     }
 }
 
 void echoRise2()
 {
-    if(us_verif[1] == 0) {
+    if(us_verif2[1][1] == false) {
         us_high[1]=TimUS.read_us();
-        us_verif[1] = 1;
+        us_verif2[0][1] = true;
     }
 }
 
 void echoFall2()
 {
-    if(us_verif[1] == 1) {
+    if(us_verif2[0][1] == true) {
         us_low[1]=TimUS.read_us();
-        us_diff[1]=us_low[1]-us_high[1];
-        us_verif[1] = 0;
+        us_verif2[1][1] = true;
     }
 }
 
 void echoRise3()
 {
-    if(us_verif[2] == 0) {
+    if(us_verif2[1][2] == false) {
         us_high[2]=TimUS.read_us();
-        us_verif[2] = 1;
+        us_verif2[0][2] = true;
     }
 }
 
 void echoFall3()
 {
-    if(us_verif[2] == 1) {
+    if(us_verif2[0][2] == true) {
         us_low[2]=TimUS.read_us();
-        us_diff[2]=us_low[2]-us_high[2];
-        us_verif[2] = 0;
+        us_verif2[1][2] = true;
     }
 }
 
 void echoRise4()
 {
-    if(us_verif[3] == 0) {
+    if(us_verif2[1][3] == false) {
         us_high[3]=TimUS.read_us();
-        us_verif[3] = 1;
+        us_verif2[0][3] = true;
     }
 }
 
 void echoFall4()
 {
-    if(us_verif[3] == 1) {
+    if(us_verif2[0][3] == true) {
         us_low[3]=TimUS.read_us();
-        us_diff[3]=us_low[3]-us_high[3];
-        us_verif[3] = 0;
+        us_verif2[1][3] = true;
     }
 }
 
 void echoRise5()
 {
-    if(us_verif[4] == 0) {
+    if(us_verif2[1][4] == false) {
         us_high[4]=TimUS.read_us();
-        us_verif[4] = 1;
+        us_verif2[0][4] = true;
     }
 }
 
 void echoFall5()
 {
-    if(us_verif[4] == 1) {
+    if(us_verif2[0][4] == true) {
         us_low[4]=TimUS.read_us();
-        us_diff[4]=us_low[4]-us_high[4];
-        us_verif[4] = 0;
+        us_verif2[1][4] = true;
     }
 }
 
 void echoRise6()
 {
-    if(us_verif[5] == 0) {
+    if(us_verif2[1][5] == false) {
         us_high[5]=TimUS.read_us();
-        us_verif[5] = 1;
+        us_verif2[0][5] = true;
     }
 }
 
 void echoFall6()
 {
-    if(us_verif[5] == 1) {
+    if(us_verif2[0][5] == true) {
         us_low[5]=TimUS.read_us();
-        us_diff[5]=us_low[5]-us_high[5];
-        us_verif[5] = 0;
+        us_verif2[1][5] = true;
     }
 }
 
 
-void convertToDistance()
+void captUS_convToDist()
 {
     /**************************************
      * Nous convertisons grâce au valeur  *
@@ -244,11 +185,9 @@
      **************************************/
 
     for(int i = 0; i<6; i++) {
-        distt[i] = (int) ((us_diff[i]*340)/1000); //conversion en distance(mm)
+        if(us_verif2[0][i] == true && us_verif2[1][i] == true)
+            us_dist[i] = (int) (((us_low[i] - us_high[i])*340)/1000); //conversion en distance(mm)
+        else
+            us_dist[i] = LARGEUR_TAB;
     }
-
-    /****************************************
-     * nous retournons l'adresse du tableau *
-     ****************************************/
-    //return ::distance;
 }

--- a/captUS.h	Wed Oct 28 20:08:39 2020 +0000
+++ b/captUS.h	Thu Oct 29 07:53:25 2020 +0000
@@ -20,10 +20,10 @@
 
 extern Timer TimUS;
 extern Ticker TickUS_actu;
-extern unsigned int distt[6];
+extern unsigned int us_dist[6];
 
-extern bool rebooted;
-extern bool wtt;
+extern bool us_rbt_restart;
+extern bool us_libre;
 
 // Prototypes
 void captUS_trig();
@@ -46,7 +46,7 @@
  * Création d'une fonction qui    *
  * convertis le temps en distance *
  **********************************/
-void convertToDistance(void);
+void captUS_convToDist(void);
  
  
 /********************************************

--- a/debugPC.cpp	Wed Oct 28 20:08:39 2020 +0000
+++ b/debugPC.cpp	Thu Oct 29 07:53:25 2020 +0000
@@ -291,7 +291,7 @@
             pc.printf("O = %lf\n\r", O);
             pc.printf("consigneAngl = %lf\n\r", consigneOrientation);
             pc.printf("consigneDist = %lf\n\r", distanceCible);
-            pc.printf("indice = %d\n\r", indice);
+            pc.printf("indice = %d\n\r", indiceStrategie);
             //pc.printf("dist 1 = %d\n\r", ttt[0]);
             //pc.printf("dist 2 = %d\n\r", ttt[1]);
             //pc.printf("dist 6 = %d\n\r", ttt[5]);
@@ -306,14 +306,14 @@
             bt.printf("O = %lf\n\r", O);
             bt.printf("consigneAngl = %lf\n\r", consigneOrientation);
             bt.printf("consigneDist = %lf\n\r", distanceCible);
-            bt.printf("indice = %d\n\r", indice);
-            bt.printf("dist 1 = %lf\n\r", distt[0]);
-            bt.printf("dist 2 = %lf\n\r", distt[1]);
-            bt.printf("dist 6 = %lf\n\r", distt[5]);
+            bt.printf("indice = %d\n\r", indiceStrategie);
+            bt.printf("dist 1 = %d\n\r", us_dist[0]);
+            bt.printf("dist 2 = %d\n\r", us_dist[1]);
+            bt.printf("dist 6 = %d\n\r", us_dist[5]);
             bt.printf("---\n\r");
-            bt.printf("dist 3 = %lf\n\r", distt[2]);
-            bt.printf("dist 4 = %lf\n\r", distt[3]);
-            bt.printf("dist 5 = %lf\n\r", distt[4]);
+            bt.printf("dist 3 = %d\n\r", us_dist[2]);
+            bt.printf("dist 4 = %d\n\r", us_dist[3]);
+            bt.printf("dist 5 = %d\n\r", us_dist[4]);
             bt.printf("distanceMem = %lf\n\r", distanceMem);
             bt.printf("distancePlus = %lf\n\r", distancePlus);
             break;
@@ -391,62 +391,7 @@
 
 void affUltrasons()
 {
-    // Données bruts
-
-    /*
-    // pc
-    if(aff_US[0]) pc.printf("Tps US1 = %5.0f uS\n\r", us_diff[0]);
-    if(aff_US[1]) pc.printf("Tps US2 = %5.0f uS\n\r", us_diff[1]);
-    if(aff_US[2]) pc.printf("Tps US3 = %5.0f uS\n\r", us_diff[2]);
-    if(aff_US[3]) pc.printf("Tps US4 = %5.0f uS\n\r", us_diff[3]);
-    if(aff_US[4]) pc.printf("Tps US5 = %5.0f uS\n\r", us_diff[4]);
-    if(aff_US[5]) pc.printf("Tps US6 = %5.0f uS\n\r", us_diff[5]);
-    if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) pc.printf("\n\r");
-
-    // bt
-    if(aff_US[0]) bt.printf("Tps US1 = %5.0f uS\n\r", us_diff[0]);
-    if(aff_US[1]) bt.printf("Tps US2 = %5.0f uS\n\r", us_diff[1]);
-    if(aff_US[2]) bt.printf("Tps US3 = %5.0f uS\n\r", us_diff[2]);
-    if(aff_US[3]) bt.printf("Tps US4 = %5.0f uS\n\r", us_diff[3]);
-    if(aff_US[4]) bt.printf("Tps US5 = %5.0f uS\n\r", us_diff[4]);
-    if(aff_US[5]) bt.printf("Tps US6 = %5.0f uS\n\r", us_diff[5]);
-    if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) bt.printf("\n\r");
-    */
-
-    
-    // Distances
-
-    // pc
-    /*
-    pc.printf("US[1] = %lf\n\r", us_diff[0]);
-    pc.printf("US[2] = %lf\n\r", us_diff[1]);
-    pc.printf("US[3] = %lf\n\r", us_diff[2]);
-    pc.printf("US[4] = %lf\n\r", us_diff[3]);
-    pc.printf("US[5] = %lf\n\r", us_diff[4]);
-    pc.printf("US[6] = %lf\n\r", us_diff[5]);
-    pc.printf("\n\r");
-    */
-    
-    ///*
-    pc.printf("distance[1] = %lf\n\r", distt[0]);
-    pc.printf("distance[2] = %lf\n\r", distt[1]);
-    pc.printf("distance[3] = %lf\n\r", distt[2]);
-    pc.printf("distance[4] = %lf\n\r", distt[3]);
-    pc.printf("distance[5] = %lf\n\r", distt[4]);
-    pc.printf("distance[6] = %lf\n\r", distt[5]);
-    pc.printf("\n\r");
-    //*/
-
-    // bt
-    
-    bt.printf("distance[1] = %lf\n\r", distt[0]);
-    bt.printf("distance[2] = %lf\n\r", distt[1]);
-    bt.printf("distance[3] = %lf\n\r", distt[2]);
-    bt.printf("distance[4] = %lf\n\r", distt[3]);
-    bt.printf("distance[5] = %lf\n\r", distt[4]);
-    bt.printf("distance[6] = %lf\n\r", distt[5]);
-    bt.printf("\n\r");
-    
+    /* Rien */
 }
 
 void affCodeurs()

--- a/main.cpp	Wed Oct 28 20:08:39 2020 +0000
+++ b/main.cpp	Thu Oct 29 07:53:25 2020 +0000
@@ -89,14 +89,14 @@
             match = 1;
             cptGlobal = 0;
             
-            indice= 1;
-            fnc = objEtape[indice];
-            xC = objX[indice];
-            yC = objY[indice];
+            indiceStrategie = 1;
+            action = objEtape[indiceStrategie];
+            xC = objX[indiceStrategie];
+            yC = objY[indiceStrategie];
         }
 
-        if (indice>=NbObj) {
-            fnc = 0;
+        if (indiceStrategie >= NbObj) {
+            action = 0;
         }
     }
 }
@@ -115,6 +115,6 @@
     }
 
     if(cptGlobal>=100) { // Le robot doit s'arrêter à 100sec
-        fnc=0;
+        action=0;
     }
 }

--- a/odo_asserv.cpp	Wed Oct 28 20:08:39 2020 +0000
+++ b/odo_asserv.cpp	Thu Oct 29 07:53:25 2020 +0000
@@ -2,41 +2,70 @@
 #include "pins.h"
 
 /* #define & constantes */
-#define VMAXROT 0.020
-#define VMAXLIN 0.040
-#define entraxe 253 // (Valeur théorique = 255)
-const double coeffGLong = 5.956, coeffDLong = 5.956; // tics/millimètre
+#define VMAXROT 0.040 // 0.020
+#define VMAXLIN 0.100 // 0.060
+
+/* Choix côté */
 
-/* Stratégie */
-int indice = 0;
-/*
-int objEtape[NbObj] = {0,1,1,1,1,1,1,1,1,1,1,1,1}; // Stratégie côté bleu
-double objX[NbObj] =  {110,645,645,468,645,336,189,200,645,468,645,371,215};
-double objY[NbObj] =  {1085,1200,1490,1490,1490,1788,1032,1200,920,920,920,519,780};
-int objRecule[NbObj]= {0,0,0,0,1,0,0,1,0,0,1,0,0};
-*/
+// Côté bleu
+#define X_INIT 110
+#define Y_INIT 1070
+#define O_INIT 0
+
 
 /*
-int objEtape[NbObj] = {0,1,1,1,1,1,1,1,1,1,1,1,1}; // Stratégie côté bleu
-double objX[NbObj] =  {110,645,645,200,645,336,189,200,645,468,645,371,215};
-double objY[NbObj] =  {1085,1200,1400,1400,1400,1788,1032,1200,920,920,920,519,780};
-int objRecule[NbObj]= {0,0,0,0,1,0,0,1,0,0,1,0,0};
+// Côté jaune
+#define X_INIT 2890
+#define Y_INIT 1070
+#define O_INIT 3.1414
 */
 
 
-//int objEtape[NbObj] = {0,1,1,1}; // Stratégie côté bleu
-int objEtape [4] = {0,1,1,1};
-double objX[4] = {0,660, 660, 210};
-double objY[4] = {0,1070,1650,1300};
-int objRecule[NbObj]= {0,0,0,0};
+#define entraxe 253 // (Valeur théorique = 255)
+const double coeffG = 0.16008537; // mm/tic
+const double coeffD = 0.16059957; // mm/tic
+/* COEFF ROTATION */
+const double coeffPro = 0.040; // 0.020
+const double coeffDer = 0.030; // 0.010
+/* COEFF LIGNE DROITE */
+const double coeffProDist = 0.003; // 0.0008
+const double coeffDerDist = 0.003; // 0.0008
+
+#define ACC_ROT 0.002
+#define ACC_LIN 0.002
+
+/* Stratégie */
+int indiceStrategie = 0;
+
+/* // Stratégie ultra simple
+int objEtape[NbObj] = {0,1,1,1};
+double objX[NbObj] = {0,660, 660, 210};
+double objY[NbObj] = {0,1070,1650,1300};
+int objRecule[NbObj]= {0,0,0,0};*/
 
 
-/* Variable globale */
-Ticker Ticker_asserv;
+ // Stratégie Lucas Blue
+int objEtape[NbObj] = {0,1,1,1,1,1,1,1,1,1};
+double objX[NbObj] = {110,200,660,627,450,235,698,300,300,230};
+double objY[NbObj] = {1070,1070,1200,743,920,1124,672,460,1100,750};
+int objRecule[NbObj]= {0,0,0,0,0,0,1,0,0,1}; 
 
-long comptG = 0, comptD = 0; // nb de tics comptés pour chaque codeur
+/*// Stratégie Lucas Yellow
+int objEtape[NbObj] = {0,1,1,1,1,1,1,1,1,1};
+double objX[NbObj] = {2890,2800,2340,2373,2550,2765,2302,2700,2700,2800};
+double objY[NbObj] = {1070,1070,1200,743,920,1124,672,460,1100,750};
+int objRecule[NbObj]= {0,0,0,0,0,0,1,0,0,1};
+*/
 
-///// INTERRUPTIONS CODEURS
+/* Variable globale */
+Ticker Ticker_asserv; // Ticker pour l'asservissement en position
+
+int action = 0; // Actions possibles : Rotation & Avancer/Reculer
+long comptG = 0, comptD = 0; // Nb de tics compté par roue
+double dDist = 0, dAngl = 0; // Distance moyenne du robot et orientation
+double x = X_INIT, y = Y_INIT, O = O_INIT;
+
+/* Interruptions codeurs */
 
 void cdgaRise()
 {
@@ -51,10 +80,7 @@
 }
 
 
-const double coeffG = 0.16008537;
-const double coeffD = 0.16059957;
-double dDist = 0, dAngl = 0; // Distance moyenne du robot et orientation
-double x = 110, y = 1070, O = 0;
+
 
 void odo2()
 {
@@ -82,17 +108,15 @@
 double erreurAngle = 0;
 double erreurPre = 0;
 double deltaErreur = 0;
-const double coeffPro = 0.020; // 0.023 de base
-const double coeffDer = 0.010; // 0.023 de base
+
 
 // Ligne droite
 double erreurPreDist = 0;
 double deltaErreurDist = 0;
-const double coeffProDist = 0.0008; // 0.010 de base
-const double coeffDerDist = 0.0008; // 0.010 de base
+
 
 // NEW NEW NEW NEW
-int fnc = 0;
+
 bool acc = 1;
 double distancePrecedente = 0;
 bool stt = 0; // Dépassement du point
@@ -127,7 +151,7 @@
 
     // Switch de sélection de l'étape
 
-    switch (fnc) {
+    switch (action) {
         case 0: // Stand-by
             mot_dis();
             break;
@@ -136,7 +160,7 @@
             mot_en();
 
             // Si on doit reculer
-            if (objRecule[indice]==1) {
+            if (objRecule[indiceStrategie]==1) {
                 consigneOrientation += 3.1415;
 
                 if(consigneOrientation>3.1415) consigneOrientation-=2*3.1415;
@@ -173,7 +197,7 @@
             double deltaCommande = (abs(coeffPro * erreurAngle) + abs(coeffDer * deltaErreur));
 
             if(acc) {
-                cmdG = cmdG + 0.0008; // +0.0008
+                cmdG = cmdG + ACC_ROT; // +0.0008
                 cmdD = cmdG;
 
                 if (cmdG >= VMAXROT) acc = 0;
@@ -193,8 +217,8 @@
             vitesseMotD(abs(cmdD));
 
             if (O > (consigneOrientation - (1*0.0174533)) && O < (consigneOrientation + (1*0.0174533))) {
-                fnc++;
-                rebooted = 1;
+                action++;
+                us_rbt_restart = 1;
                 acc = 1;
                 //azerty();
                 distanceMem = distanceCible;
@@ -206,10 +230,10 @@
 
         case 2: // Avancer
 
-            if (rebooted == 1 && wtt==1) {
+            if (us_rbt_restart == 1 && us_libre == 1) {
                 cmdG = 0;
                 cmdD = 0;
-                rebooted = 0;
+                us_rbt_restart = 0;
                 acc=1;
                 mot_en();
             }
@@ -221,7 +245,7 @@
             double deltaCommande2 = (abs(coeffProDist * distanceCible) + abs(coeffDerDist * deltaErreurDist));
 
             if(acc) {
-                cmdG = cmdG + 0.0006; // +0.0008
+                cmdG = cmdG + ACC_LIN; // +0.0006
                 cmdD = cmdG;
 
                 if (cmdG >= VMAXLIN) {
@@ -242,22 +266,21 @@
 
             if ((distanceCible < 10) || (distancePlus >= distanceMem)) {
                 acc = 1;
-                indice++;
+                indiceStrategie++;
 
-                if (indice>=(int)NbObj) {
-                    fnc = 0;
+                if (indiceStrategie >= (int)NbObj) {
+                    action = 0;
                 } else {
-                    fnc = objEtape[indice];
-                    xC = objX[indice];
-                    yC = objY[indice];
+                    action = objEtape[indiceStrategie];
+                    xC = objX[indiceStrategie];
+                    yC = objY[indiceStrategie];
                 }
 
                 distancePrecedente = 0;
                 break;
-
             }
 
-            if (objRecule[indice] == 0) {
+            if (objRecule[indiceStrategie] == 0) {
                 motGauche_fwd();
                 motDroite_fwd();
             } else {

--- a/odo_asserv.h	Wed Oct 28 20:08:39 2020 +0000
+++ b/odo_asserv.h	Thu Oct 29 07:53:25 2020 +0000
@@ -1,8 +1,8 @@
 // Nom du fichier : odo_asserv.h
 
-#define NbObj 4
+#define NbObj 10
 
-extern int indice;
+extern int indiceStrategie;
 extern int objEtape[NbObj];
 extern double objX[NbObj];
 extern double objY[NbObj];
@@ -23,7 +23,7 @@
 extern double consigneOrientation;
 extern double cmdG;
 extern double cmdD;
-extern int fnc;
+extern int action;
 
 extern double distanceMem;
 extern double distancePlus;