Diff: Strategie/Strategie.cpp

Revision:

8:0edc7dfb7f7e

Parent:

6:eddfa414fd11

Child:

9:d0042422d95a

--- a/Strategie/Strategie.cpp	Tue Apr 26 15:30:54 2016 +0000
+++ b/Strategie/Strategie.cpp	Wed Apr 27 13:05:03 2016 +0000
@@ -21,9 +21,11 @@
 #ifdef ROBOT_BIG
 unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR};
 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR};
+InterruptIn jack(p24); //  entrée analogique en interruption pour le jack
 #else
 unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR};
 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR};
+InterruptIn jack(p24); //  entrée analogique en interruption pour le jack
 #endif
 unsigned char checkCurrent = 0;
 unsigned char countAliveCard = 0; 
@@ -50,6 +52,18 @@
 }
 
 /****************************************************************************************/
+/* FUNCTION NAME: jack_ISR                                                              */
+/* DESCRIPTION  : Interruption en changement d'état sur le Jack                         */
+/****************************************************************************************/
+void jack_ISR (void)
+{
+    if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
+        led4=1;
+        gameEtat = ETAT_GAME_START;//On débute le match
+    }
+}
+
+/****************************************************************************************/
 /* FUNCTION NAME: automate_process                                                      */
 /* DESCRIPTION  : Automate de gestion de la stratégie du robot                          */
 /****************************************************************************************/
@@ -189,15 +203,17 @@
             gameEtat = ETAT_GAME_WAIT_FOR_JACK;
             SendRawId(ECRAN_ACK_START_MATCH);
             tactile_printf("Attente du JACK.");
+            jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
         break;
         case ETAT_GAME_WAIT_FOR_JACK:
             //TODO Attendre le jack
         break;
         case ETAT_GAME_START:
+            chronoEnd.attach(&chronometre_ISR,90);
             gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
             gameTimer.reset();
             gameTimer.start();
-            chronoEnd.attach(&chronometre_ISR,90);
+            jack.fall(NULL);
         break;
         case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
             /*
@@ -501,14 +517,17 @@
                 }
             break;
             case SERVO_AX12_SETGOAL:
+                SendAck(0x114, SERVO_AX12_SETGOAL);
                 if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
                     AX12_setGoal(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[2])<<8), msgRxBuffer[FIFO_lecture].data[3]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[4])<<8));
                   
             break;
             case SERVO_AX12_PROCESS:
+                SendAck(0x114, SERVO_AX12_PROCESS);
                 AX12_processChange(1);
             break;
             case SERVO_AX12_DONE:
+                SendAck(0x114, SERVO_AX12_DONE);
                 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
             break;
             case ECRAN_CHOICE_COLOR://Choix de la couleur