CRAC Team
Automate écran capacitif
Dependencies: BSP_DISCO_F469NI LCD_DISCO_F469NI SeeedStudioTFTv2 TFT_fonts mbed
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DISCO-F469NI_LCD_demo
by 
ST
Diff: demo_1.cpp
- Revision:
- 2:2182df2d7810
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/demo_1.cpp Fri Mar 31 15:36:26 2017 +0000
@@ -0,0 +1,701 @@
+#include "mbed.h"
+#include "TS_DISCO_F469NI.h"
+#include "LCD_DISCO_F469NI.h"
+#include "F469_GUI.hpp"
+#include "ident_crac.h"
+#include <CAN.h>
+#include "fonts.h"
+
+#define BLEU 0xFF0000FF
+#define ROUGE 0xFFFF0000
+#define VERT 0xFF7FFF00
+#define JAUNE 0xFF8F8F25
+#define BLANC 0xFF000000
+#define SIZE_FIFO 16
+
+CAN can1(PB_8, PB_9); //laisser le 1er CAN car probleme sinon
+CAN can2(PB_5, PB_13);
+
+CANMessage msgRxBuffer[SIZE_FIFO];
+
+Ticker ticker;
+TS_DISCO_F469NI ts;
+LCD_DISCO_F469NI lcd;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+Timeout timeout;
+Timeout AffTime;
+Timer timerAck;
+Timer timer;
+
+unsigned char test[32] = {32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32};
+
+char counter = 0;
+char check;
+char Jack = 1;
+int check_cartes = 0, demo_fin = 0;
+char Ack_strat = 0;
+signed char Strat = 0;
+
+void SendRawId (unsigned short id);
+void SelectionStrat (unsigned char numeroStrat);
+void Setflag(void);
+void canProcessRx(void);
+void canRx_ISR(void);
+signed char Bouton_Strat (void);
+void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
+
+typedef enum {ATT, CHOIX, DEMO, DEMO_EN_COURS, SELECT_SIDE, TACTIQUE, DETAILS, LAUNCH, WAIT_JACK, FIN} T_etat;
+T_etat etat = ATT;
+unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
+signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
+int flagSendCan=1;
+unsigned char Cote = 0; //0 -> bleu | 1 -> jaune
+
+int main()
+{
+ ts.Init(lcd.GetXSize(), lcd.GetYSize());
+ TS_StateTypeDef TS_State;
+ CANMessage trame_Tx = CANMessage();
+ can2.frequency(1000000); // fréquence de travail 1Mbit/s
+ can2.attach(&canRx_ISR); //interrutpion can en reception
+ int cpt_dizaine,cpt_unite;
+
+ //Initialisation CAN
+ trame_Tx.len = 1;
+ trame_Tx.format = CANStandard;
+ trame_Tx.type = CANData;
+
+ /////////////////DEFINITION DES BOUTONS////////////////////
+ Button COTE_BLEU(20, 25, 755, 200, "Bleu");
+ Button COTE_JAUNE(20, 255, 500, 200, "Jaune");
+ Button RETOUR (530, 255, 245, 200, "--Precedent--");
+ Button LANCER (20, 255, 230, 200, "--LANCER--");
+ Button CHECK (275, 255, 230, 200, "Valider");
+ Button MATCH (10, 25, 780, 200, "Match");
+ Button DEMONSTRATION (10, 255, 780, 200, "Demo");
+ Button TEST_MOTEUR(20, 25, 200, 200, "Moteur");
+ Button TEST_BRAS(240, 25, 200, 200, "Bras");
+ Button FORCE_LAUNCH(530, 255, 245, 200, "Force Launch");
+ ////////////////////////////////////////////////////////////
+
+ signed char Strategie = 0; //N° de la strategie (1-10)
+
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.SetFont(&Font24);
+ lcd.DisplayStringAt(0, 200, (uint8_t *)"Verification des cartes ...", CENTER_MODE);
+ FORCE_LAUNCH.Draw(0xFFFF0000, 0);
+
+ while(1)
+ {
+ canProcessRx();
+ ts.GetState(&TS_State);
+ wait(0.1);
+ switch (etat)
+ {
+ case ATT :
+ if(check_cartes == 1)
+ {
+ etat = CHOIX;
+ check_cartes = 0;
+
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", CENTER_MODE);
+ DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
+ MATCH.Draw(0xFFF01010, 0);
+ //canProcessRx();
+ }
+ if (FORCE_LAUNCH.Touched())
+ {
+ //etat = CHOIX;
+ SendRawId(ECRAN_ALL_CHECK);
+ etat = CHOIX;
+ while(FORCE_LAUNCH.Touched())
+ canProcessRx();
+
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", CENTER_MODE);
+ DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
+ MATCH.Draw(0xFFF01010, 0);
+ }
+ break;
+
+ case CHOIX :
+ //canProcessRx();
+ if(DEMONSTRATION.Touched())
+ {
+ etat = DEMO;
+ while(DEMONSTRATION.Touched())
+ canProcessRx();
+
+ lcd.Clear(LCD_COLOR_WHITE);
+ TEST_MOTEUR.Draw(0xFFF0F0F0, 0);
+ TEST_BRAS.Draw(0xFFF0F0F0, 0);
+ RETOUR.Draw(0xFFFF0000, 0);
+ trame_Tx.id = 0x602;
+ trame_Tx.data[0] = 0;
+ can2.write(trame_Tx);
+ }
+
+ if(MATCH.Touched())
+ {
+ etat = SELECT_SIDE;
+ while(MATCH.Touched())
+ canProcessRx();
+
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Choisis un cote gros", CENTER_MODE);
+ COTE_BLEU.Draw(0xFF0070FF, 0);
+ COTE_JAUNE.Draw(0xFFFFF000, 0);
+ RETOUR.Draw(0xFFFF0000, 0);
+ trame_Tx.id = 0x602;
+ }
+ break;
+
+ case DEMO :
+
+ trame_Tx.id=0x601;
+ //canProcessRx();
+ if(TEST_MOTEUR.Touched())
+ {
+ Strat = 0x10;
+ trame_Tx.data[0] = Strat;
+ while(TEST_MOTEUR.Touched())
+ canProcessRx();
+ can2.write(trame_Tx);
+ TEST_MOTEUR.Draw(0xFFF0F0F0, 0);
+ //etat = DEMO_EN_COURS;
+ }
+
+ if(TEST_BRAS.Touched())
+ {
+ Strat = 0x11;
+ trame_Tx.data[0] = Strat;
+ while(TEST_BRAS.Touched())
+ canProcessRx();
+ can2.write(trame_Tx);
+ TEST_MOTEUR.Draw(0xFFF0F0F0, 0);
+ //etat = DEMO_EN_COURS;
+ }
+
+ if(RETOUR.Touched())
+ {
+ etat = CHOIX;
+ while(RETOUR.Touched())
+ canProcessRx();
+
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", CENTER_MODE);
+ DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
+ MATCH.Draw(0xFFF01010, 0);
+ }
+ //SelectionStrat(trame_Tx.data[0]);
+ if (Ack_strat == 1)
+ {
+ etat = DEMO_EN_COURS;
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.SetFont(&Font24);
+ lcd.DisplayStringAt(0, 190, (uint8_t *)"DEMONSTRATION EN COURS", CENTER_MODE);
+ Ack_strat = 0;
+ }
+
+ break;
+
+ case DEMO_EN_COURS:
+
+ if (demo_fin == 1)
+ {
+ etat = DEMO;
+ lcd.Clear(LCD_COLOR_WHITE);
+ TEST_MOTEUR.Draw(0xFFF0F0F0, 0);
+ TEST_BRAS.Draw(0xFFF0F0F0, 0);
+ RETOUR.Draw(0xFFFF0000, 0);
+ trame_Tx.id = 0x602;
+ trame_Tx.data[0] = 0;
+ can2.write(trame_Tx);
+ }
+ Ack_strat = 0;
+
+ case SELECT_SIDE :
+
+ //canProcessRx();
+ if(COTE_BLEU.Touched())
+ {
+ Cote = 0x0;
+ trame_Tx.data[0] = Cote;
+ can2.write(trame_Tx);
+ while(COTE_BLEU.Touched())
+ canProcessRx();
+ }
+
+ if(COTE_JAUNE.Touched())
+ {
+ Cote = 0x1;
+ trame_Tx.data[0] = Cote;
+ can2.write(trame_Tx);
+ while(COTE_JAUNE.Touched())
+ canProcessRx();
+ }
+
+ if(RETOUR.Touched())
+ {
+ etat = CHOIX;
+ while(RETOUR.Touched())
+ canProcessRx();
+
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", CENTER_MODE);
+ DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
+ MATCH.Draw(0xFFF01010, 0);
+ }
+ break;
+
+ case TACTIQUE :
+ if (Cote == 0){
+ lcd.Clear(0xFF0070FF);
+ lcd.SetBackColor(0xFF0070FF);
+ }
+ else if (Cote == 1){
+ lcd.Clear(0xFFFFF000);
+ lcd.SetBackColor(0xFFFFF000);
+ }
+ else {
+ lcd.Clear(0xFF0070FF);
+ lcd.SetBackColor(0xFF0070FF);
+ }
+
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Choisis une strat gros", CENTER_MODE);
+
+ Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
+ if (Strategie == -1)
+ {
+ etat = SELECT_SIDE;
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Choisis un cote gros", CENTER_MODE);
+ COTE_BLEU.Draw(0xFF0070FF, 0);
+ COTE_JAUNE.Draw(0xFFFFF000, 0);
+ RETOUR.Draw(0xFFFF0000, 0);
+ trame_Tx.id = 0x602;
+ }
+ else
+ {
+ etat = DETAILS;
+ lcd.Clear(LCD_COLOR_WHITE);
+ CHECK.Draw(0xFF00FF00);
+ RETOUR.Draw(0xFFFF0000);
+ SelectionStrat(Strategie);
+ }
+
+ break;
+
+ case DETAILS :
+ //canProcessRx();
+ if (CHECK.Touched())
+ {
+ SendRawId(ECRAN_START_MATCH);
+ //etat = WAIT_JACK;
+ while(CHECK.Touched())
+ canProcessRx();
+ }
+
+ if(RETOUR.Touched())
+ {
+ etat = TACTIQUE;
+ while(RETOUR.Touched());
+ }
+ break;
+
+
+ case WAIT_JACK :
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.SetFont(&Font24);
+ if (Cote == 0){
+ lcd.Clear(0xFF0070FF);
+ lcd.SetBackColor(0xFF0070FF);
+ }
+ else if (Cote == 1){
+ lcd.Clear(0xFFFFF000);
+ lcd.SetBackColor(0xFFFFF000);
+ }
+ else {
+ lcd.Clear(0xFF0070FF);
+ lcd.SetBackColor(0xFF0070FF);
+ }
+ SendRawId(DEBUG_FAKE_JAKE); // PERMET DE SIMULER LE RETRAIT DU JACK POUR QUE LE ROBOT DEMARRE APRES LA VALIDATION DE LA STRAT
+ /* while (Jack == 1){
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
+ }*/
+ cpt_dizaine = 57, cpt_unite = 48;
+ while (cpt_dizaine !=47){
+ lcd.DisplayChar(390,190,cpt_dizaine);
+ while (cpt_unite != 47)
+ {
+ lcd.DisplayChar(410,190,cpt_unite);//la fonction affiche un caractere en ASCII d'ou la valeur de cpt
+ cpt_unite--;
+ wait(1);
+ }
+ cpt_dizaine--;
+ cpt_unite = 57;
+ }
+ lcd.DisplayStringAt(0, 190, (uint8_t *)"FIN DU MATCH", CENTER_MODE);
+ wait(5);
+ etat = FIN;
+ break;
+
+ case FIN :
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetFont(&Font24);
+ lcd.DisplayStringAt(0, 170, (uint8_t *)"REDEMARAGE", CENTER_MODE);
+ lcd.DisplayStringAt(0, 190, (uint8_t *)"NECESSAIRE", CENTER_MODE);
+ while(1); // force le redemarage du robot
+ break;
+
+ }
+
+ }
+}
+
+
+void SendRawId (unsigned short id)
+{
+ CANMessage msgTx=CANMessage();
+ msgTx.id=id;
+ msgTx.len=0;
+ can2.write(msgTx);
+}
+
+void SelectionStrat (unsigned char numeroStrat)
+{
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.SetFont(&Font24);
+ switch (numeroStrat)
+ {
+ case 0x1 :
+ //description de Strategie n°1
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 1 :", LEFT_MODE);
+ break;
+
+ case 0x2 :
+ //description de Strategie n°2
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 2 :", LEFT_MODE);
+ break;
+
+ case 0x3 :
+ //description de Strategie n°3
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 3 :", LEFT_MODE);
+ break;
+
+ case 0x4 :
+ //description de Strategie n°4
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 4 :", LEFT_MODE);
+ break;
+
+ case 0x5 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 5 :", LEFT_MODE);
+ break;
+
+ case 0x6 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 6 :", LEFT_MODE);
+ break;
+
+ case 0x7 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 7 :", LEFT_MODE);
+ break;
+
+ case 0x8 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 8 :", LEFT_MODE);
+ break;
+
+ case 0x9 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 9 :", LEFT_MODE);
+ break;
+
+ case 0xA :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 10 :", LEFT_MODE);
+ break;
+
+ case 0x10 :
+ lcd.DisplayStringAt(20, 100, (uint8_t *)"Strategie 10 :", LEFT_MODE);
+ break;
+ }
+}
+
+void Setflag(void)
+{
+ flagSendCan = 1;
+}
+
+void canProcessRx(void)
+{
+ static signed char FIFO_occupation=0,FIFO_max_occupation=0;
+ char useless1 = 0;
+
+ FIFO_occupation=FIFO_ecriture-FIFO_lecture;
+ if(FIFO_occupation<0)
+ FIFO_occupation=FIFO_occupation+SIZE_FIFO;
+ if(FIFO_max_occupation<FIFO_occupation)
+ FIFO_max_occupation=FIFO_occupation;
+ if(FIFO_occupation!=0) {
+
+ switch(msgRxBuffer[FIFO_lecture].id) {
+ case ECRAN_PRINTF_1:
+ for(useless1 = 0; useless1 <8; useless1++) {
+ test[useless1] = msgRxBuffer[FIFO_lecture].data[useless1];
+ }
+ //updateDisplay();
+ break;
+ case ECRAN_PRINTF_2:
+ for(useless1 = 0; useless1 <8; useless1++) {
+ test[useless1+8] = msgRxBuffer[FIFO_lecture].data[useless1];
+ }
+ //updateDisplay();
+ //Ecrire_CANtxt(test);
+ break;
+ case ECRAN_PRINTF_3:
+ for(useless1 = 0; useless1 <8; useless1++) {
+ test[useless1+2*8] = msgRxBuffer[FIFO_lecture].data[useless1];
+ }
+ //updateDisplay();
+ //Ecrire_CANtxt(test);
+ break;
+ case ECRAN_PRINTF_4:
+ for(useless1 = 0; useless1 <8; useless1++) {
+ test[useless1+3*8] = msgRxBuffer[FIFO_lecture].data[useless1];
+ }
+ //updateDisplay();
+ //Ecrire_CANtxt(test);
+ break;
+ case ECRAN_PRINTF_CLEAR:
+ etat = CHOIX;
+ break;
+ case CHECK_IHM:
+ SendRawId(ALIVE_IHM);
+ break;
+ case RESET_IHM:
+ etat = CHOIX;
+ break;
+ case CHECK_BALISE:
+ //Check[1].color = Orange;
+ //DrawChecks();
+ break;
+ case ALIVE_BALISE:
+ //Check[1].color = Green;
+ //DrawChecks();
+ break;
+ case CHECK_MOTEUR:
+ //Check[2].color = Orange;
+ //DrawChecks();
+ break;
+ case ALIVE_MOTEUR:
+ //Check[2].color = Green;
+ //DrawChecks();
+ break;
+ case CHECK_ACTIONNEURS:
+ //Check[3].color = Orange;
+ //DrawChecks();
+ break;
+ case ALIVE_ACTIONNEURS:
+ //Check[3].color = Green;
+ //DrawChecks();
+ break;
+ case ECRAN_ALL_CHECK:
+ check_cartes=1;
+ //DrawEcran(1);
+ //EcranActuel = 1;
+ //menusOnEcranActuel = Liste_ecrans[EcranActuel-1].menus;
+ break;
+ case ECRAN_ACK_STRAT:
+ if (msgRxBuffer[FIFO_lecture].data[0] == Strat)
+ Ack_strat = 1;
+ break;
+ case ECRAN_ACK_COLOR:
+ if (etat != DEMO)
+ etat = TACTIQUE;
+ break;
+ case ECRAN_ACK_START_MATCH:
+ if (etat == DEMO_EN_COURS)
+ {
+ SendRawId(DEBUG_FAKE_JAKE);
+ }
+ else
+ {
+ etat = WAIT_JACK;
+ }
+ break;
+ case GLOBAL_START:
+ Jack=0;
+ break;
+
+ case DEBUG_STRATEGIE_AUTOMATE :
+ if (msgRxBuffer[FIFO_lecture].data[0] == 19) {
+ demo_fin = 1;
+ }
+ break;
+
+ default:
+ break;
+ }
+ FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
+ }
+}
+
+void canRx_ISR (void)
+{
+ if (can2.read(msgRxBuffer[FIFO_ecriture])) {
+ led2 = !led2;
+ if(msgRxBuffer[FIFO_ecriture].id==RESET_IHM)
+ lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"Erreur", CENTER_MODE);//mbed_reset();
+ else FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
+ }
+}
+
+signed char Bouton_Strat (void)
+{
+ CANMessage msgTx=CANMessage();
+ msgTx.id=0x601;
+ msgTx.len=1;
+
+ Button STRAT_1 (20, 10, 150, 150, "Strategie 1");
+ Button STRAT_2 (180, 10, 150, 150, "Strategie 2");
+ Button STRAT_3 (340, 10, 150, 150, "Strategie 3");
+ Button STRAT_4 (20, 165, 150, 150, "Strategie 4");
+ Button STRAT_5 (180, 165, 150, 150, "Strategie 5");
+ Button STRAT_6 (340, 165, 150, 150, "Strategie 6");
+ Button STRAT_7 (20, 320, 150, 150, "Strategie 7");
+ Button STRAT_8 (180, 320, 150, 150, "Strategie 8");
+ Button STRAT_9 (340, 320, 150, 150, "Strategie 9");
+ Button STRAT_10 (530, 25, 245, 200, "Strategie 10");
+ Button RETOUR (530, 255, 245, 200, "--Precedent--");
+ //Definition des boutons
+
+ Ack_strat = 0;
+ Strat = 0;
+ STRAT_1.Draw(0xFFF0F0F0, 0);
+ STRAT_2.Draw(0xFFF0F0F0, 0);
+ STRAT_3.Draw(0xFFF0F0F0, 0);
+ STRAT_4.Draw(0xFFF0F0F0, 0);
+ STRAT_5.Draw(0xFFF0F0F0, 0);
+ STRAT_6.Draw(0xFFF0F0F0, 0);
+ STRAT_7.Draw(0xFFF0F0F0, 0);
+ STRAT_8.Draw(0xFFF0F0F0, 0);
+ STRAT_9.Draw(0xFFF0F0F0, 0);
+ STRAT_10.Draw(0xFFF0F0F0, 0);
+ RETOUR.Draw(0xFFFF0000, 0);
+
+ while(Ack_strat == 0)
+ {
+ canProcessRx();
+ if (RETOUR.Touched())
+ return -1;
+ while(RETOUR.Touched());
+ //////////////////////////////STRATEGIE N°1
+ if (STRAT_1.Touched()){
+ Strat = 1;
+ msgTx.data[0] = 0x1;
+ can2.write(msgTx);
+ while(STRAT_1.Touched());
+ }
+ /////////////////////////////STRATEGIE N°2
+ if (STRAT_2.Touched()){
+ Strat = 2;
+ msgTx.data[0] = 0x2;
+ can2.write(msgTx);
+ while(STRAT_2.Touched());
+ }
+ //////////////////////////////STRATEGIE N°3
+ if (STRAT_3.Touched()){
+ Strat = 3;
+ msgTx.data[0] = 0x3;
+ can2.write(msgTx);
+ while(STRAT_3.Touched());
+ }
+ /////////////////////////////STRATEGIE N°4
+ if (STRAT_4.Touched()){
+ Strat = 4;
+ msgTx.data[0] = 0x4;
+ can2.write(msgTx);
+ while(STRAT_4.Touched());
+ }
+ ///////////////////////////////STRATEGIE N°5
+ if (STRAT_5.Touched()){
+ Strat = 5;
+ msgTx.data[0] = 0x5;
+ can2.write(msgTx);
+ while(STRAT_5.Touched());
+ }
+ ////////////////////////////////STRATEGIE N°6
+ if (STRAT_6.Touched()){
+ Strat = 6;
+ msgTx.data[0] = 0x6;
+ can2.write(msgTx);
+ while(STRAT_6.Touched());
+ }
+ /////////////////////////////////STRATEGIE N°7
+ if (STRAT_7.Touched()){
+ Strat = 7;
+ msgTx.data[0] = 0x7;
+ can2.write(msgTx);
+ while(STRAT_7.Touched());
+ }
+ /////////////////////////////////STRATEGIE N°8
+ if (STRAT_8.Touched()){
+ Strat = 8;
+ msgTx.data[0] = 0x8;
+ can2.write(msgTx);
+ while(STRAT_8.Touched());
+ }
+ /////////////////////////////////STRATEGIE N°9
+ if (STRAT_9.Touched()){
+ Strat = 9;
+ msgTx.data[0] = 0x9;
+ can2.write(msgTx);
+ while(STRAT_9.Touched());
+ }
+ ///////////////////////////////////STRATEGIE N°10
+ if (STRAT_10.Touched()){
+ Strat = 10;
+ msgTx.data[0] = 0xA;
+ can2.write(msgTx);
+ while(STRAT_10.Touched());
+ }
+ }
+ return Strat;
+}
+
+//FONCTION DE L'ASSERVISSEMENT POUR LA DEMONSTRATION
+void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement)
+{
+ CANMessage msgTx=CANMessage();
+ msgTx.id=ASSERVISSEMENT_RECALAGE;
+ msgTx.len=6;
+ msgTx.format=CANStandard;
+ msgTx.type=CANData;
+ // x sur 2 octets
+ msgTx.data[0]=(unsigned char)distance;
+ msgTx.data[1]=(unsigned char)(distance>>8);
+ //Recalage sur 1 octet
+ msgTx.data[2]=recalage;
+ //Valeur du recalage sur 2 octets
+ msgTx.data[3]=(unsigned char)newValue;
+ msgTx.data[4]=(unsigned char)(newValue>>8);
+ //Enchainement sur 1 octet
+ msgTx.data[5]=isEnchainement;
+
+ can1.write(msgTx);
+ //wait_ms(500);
+}
\ No newline at end of file