CRAC Team / Mbed 2 deprecated carte_straegie_2019

Programme carte strategie (disco)

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Strategie/Strategie.cpp@40:21bb685b553b, 2018-05-10 (annotated)

Committer:
Sitkah
Date:
Thu May 10 18:49:25 2018 +0000
Revision:
40:21bb685b553b
Parent:
38:76f886a1c8e6
Child:
41:b029ddc4d60e
Avant match 3;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 35:742dc6b200b0 1 #include "global.h"
Sitkah 31:833fc481b002 2 #include <string.h>
Sitkah 31:833fc481b002 3 #include <sstream>
Sitkah 29:41e02746041d 4 //#include "StrategieManager.h"
Sitkah 29:41e02746041d 5
Sitkah 29:41e02746041d 6
Sitkah 29:41e02746041d 7
Sitkah 29:41e02746041d 8 #define M_PI 3.14159265358979323846
Sitkah 35:742dc6b200b0 9 #define VERT 0xFF00FF00
Sitkah 29:41e02746041d 10 #define ROUGE 0xFFFF0000
Sitkah 35:742dc6b200b0 11 #define BLEU 0xFF0000FF
Sitkah 29:41e02746041d 12 #define JAUNE 0xFFFEFE00
Sitkah 29:41e02746041d 13 #define BLANC 0xFF000000
Sitkah 31:833fc481b002 14 #define ORANGE 0xFFFFA500
Sitkah 31:833fc481b002 15 #define NOIR 0xFF000000
Sitkah 29:41e02746041d 16 #define DIY_GREY 0xFFDFDFDF
antbig 0:ad97421fb1fb 17
Sitkah 29:41e02746041d 18 char tableau_aff[10][50];
Sitkah 29:41e02746041d 19 char tableau_etat[22][50]=
Sitkah 29:41e02746041d 20 {
Sitkah 29:41e02746041d 21 "Check_carte_screen",
Sitkah 29:41e02746041d 22 "Check_carte_screen_wait_ack",
Sitkah 29:41e02746041d 23 "Check_cartes",
Sitkah 29:41e02746041d 24 "Check_cartes_wait_ack",
Sitkah 29:41e02746041d 25 "Wait_force",
Sitkah 29:41e02746041d 26 "Config",
Sitkah 29:41e02746041d 27 "Game_init",
Sitkah 29:41e02746041d 28 "Game_wait_for_jack",
Sitkah 29:41e02746041d 29 "Game_start",
Sitkah 29:41e02746041d 30 "Game_next_instruction",
Sitkah 29:41e02746041d 31 "Game_instruction",
Sitkah 29:41e02746041d 32 "Game_wait_ack",
Sitkah 29:41e02746041d 33 "Game_jump_time",
Sitkah 29:41e02746041d 34 "Game_jump_config",
Sitkah 29:41e02746041d 35 "Game_jump_position",
Sitkah 29:41e02746041d 36 "Game_wait_end_instruction",
Sitkah 29:41e02746041d 37 "Warning_timeout",
Sitkah 29:41e02746041d 38 "Waring_end_balise_wait",
Sitkah 29:41e02746041d 39 "Warning_end_last_instruction",
Sitkah 29:41e02746041d 40 "Warning_switch_strategie",
Sitkah 29:41e02746041d 41 "End",
Sitkah 29:41e02746041d 42 "End_loop",
Sitkah 29:41e02746041d 43 };
Sitkah 29:41e02746041d 44
Sitkah 34:6aa4b46b102e 45 int waitingAckID_FIN;
Sitkah 34:6aa4b46b102e 46 int waitingAckFrom_FIN;
Sitkah 29:41e02746041d 47
Sitkah 29:41e02746041d 48 Ticker ticker;
Sitkah 29:41e02746041d 49 TS_DISCO_F469NI ts;
Sitkah 29:41e02746041d 50 LCD_DISCO_F469NI lcd;
Sitkah 29:41e02746041d 51
Sitkah 29:41e02746041d 52 TS_StateTypeDef TS_State;
Sitkah 29:41e02746041d 53
Sitkah 29:41e02746041d 54 Ticker chrono;
Sitkah 29:41e02746041d 55 Timeout AffTime;
Sitkah 29:41e02746041d 56 Timer timer;
antbig 0:ad97421fb1fb 57 Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
antbig 0:ad97421fb1fb 58 Timer gameTimer;
antbig 0:ad97421fb1fb 59 Timer debugetatTimer;
antbig 5:dcd817534b57 60 Timer timeoutWarning;
antbig 5:dcd817534b57 61 Timer timeoutWarningWaitEnd;
antbig 0:ad97421fb1fb 62 Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
antbig 0:ad97421fb1fb 63
Sitkah 29:41e02746041d 64 unsigned char screenChecktry = 0;
Sitkah 29:41e02746041d 65 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};
Sitkah 29:41e02746041d 66
Sitkah 29:41e02746041d 67 char counter = 0;
Sitkah 29:41e02746041d 68 char check;
Sitkah 29:41e02746041d 69 char Jack = 1;
Sitkah 40:21bb685b553b 70 short SCORE_GLOBAL=0;
Sitkah 40:21bb685b553b 71 short SCORE_GR=20;
Sitkah 38:76f886a1c8e6 72 short SCORE_PR=0;
Sitkah 29:41e02746041d 73
Sitkah 29:41e02746041d 74 int flag = 0, flag_strat = 0, flag_timer;
Sitkah 29:41e02746041d 75 char Ack_strat = 0;
Sitkah 29:41e02746041d 76 signed char Strat = 0;
antbig 0:ad97421fb1fb 77 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 78
antbig 0:ad97421fb1fb 79 signed short x_robot,y_robot,theta_robot;//La position du robot
ClementBreteau 25:f140c93a8666 80 signed short target_x_robot, target_y_robot, target_theta_robot;
ClementBreteau 25:f140c93a8666 81 E_InstructionType actionPrecedente;
antbig 12:14729d584500 82 signed short start_move_x,start_move_y,start_move_theta;//La position du robot lors du début d'un mouvement, utilisé pour reprendre le mouvement apres stop balise
Sitkah 29:41e02746041d 83 //unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Sitkah 29:41e02746041d 84 int flagSendCan=1;
Sitkah 34:6aa4b46b102e 85 unsigned char Cote = 0; //0 -> VERT | 1 -> jaune
Sitkah 35:742dc6b200b0 86 unsigned short angleRecalage = 0;
antbig 0:ad97421fb1fb 87 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 88 unsigned char countAliveCard = 0;
Sitkah 35:742dc6b200b0 89 unsigned char ligne=0;
antbig 0:ad97421fb1fb 90
Sitkah 37:fca332b64b42 91 float angle_moyen_balise_IR = 0.0;
Sitkah 37:fca332b64b42 92
Sitkah 37:fca332b64b42 93
Sitkah 29:41e02746041d 94 signed char Strategie = 0; //N° de la strategie (1-10)
antbig 1:116040d14164 95
ClementBreteau 14:c8fc06c4887f 96 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 97
antbig 5:dcd817534b57 98 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 99
antbig 12:14729d584500 100 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 101
antbig 28:acd18776ed2d 102 unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
antbig 28:acd18776ed2d 103
antbig 28:acd18776ed2d 104 struct S_Instruction instruction;
antbig 28:acd18776ed2d 105
Sitkah 30:a1e37af4bbde 106 char couleur1, couleur2, couleur3;
Sitkah 29:41e02746041d 107 float cptf;
Sitkah 29:41e02746041d 108 int cpt,cpt1;
Sitkah 29:41e02746041d 109
Sitkah 32:1c9ab15c740e 110 typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_CAPTEURS, TEST_SERVO, TEST_TIR, DEMO_IMMEUBLE,DEMO_TRIEUR, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
Sitkah 29:41e02746041d 111 T_etat etat = INIT;
Sitkah 29:41e02746041d 112 E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 113 E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
Sitkah 38:76f886a1c8e6 114 E_Stratposdebut etat_pos=RECALAGE_1;
Sitkah 29:41e02746041d 115
Sitkah 29:41e02746041d 116 /////////////////DEFINITION DES BOUTONS////////////////////
Sitkah 34:6aa4b46b102e 117 Button COTE_VERT(0, 25, 400, 300, "VERT");
Sitkah 34:6aa4b46b102e 118 Button COTE_ORANGE(0, 350, 400, 300, "ORANGE");
Sitkah 29:41e02746041d 119 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 120 Button LANCER (0, 200, 400, 200, "--LANCER--");
Sitkah 29:41e02746041d 121 Button CHECK (0, 420, 400, 200, "Valider");
Sitkah 29:41e02746041d 122 Button MATCH (0, 50, 400, 320, "Match");
Sitkah 29:41e02746041d 123 Button DEMONSTRATION (0, 400, 400, 320, "Demo");
Sitkah 31:833fc481b002 124 Button TEST_HERKULEX(0, 25, 400, 100, "Test servos");
Sitkah 32:1c9ab15c740e 125 Button TEST_LASER(0, 135, 400, 100, "Test telemetre");
Sitkah 32:1c9ab15c740e 126 Button TEST_COULEURS(0,245,400,100,"Test capteurs");
Sitkah 32:1c9ab15c740e 127 Button TEST_TIR_BALLE(0,355,400,100,"Test Lanceur");
Sitkah 32:1c9ab15c740e 128 Button TEST_IMMEUBLE(0,465,400,100,"Test immeuble");
Sitkah 32:1c9ab15c740e 129 Button TEST_TRIEUR(0,575,400,100,"Test aiguilleur");
Sitkah 31:833fc481b002 130 Button TIR_CHATEAU(0, 25, 400, 100, "Tir chateau");
Sitkah 31:833fc481b002 131 Button EPURATION(0, 150, 400, 100, "epuration");
Sitkah 31:833fc481b002 132 Button LANCEUR_ON(0,275,400,100,"allumer le lanceur");
Sitkah 31:833fc481b002 133 Button LANCEUR_OFF(0,400,400,100,"eteindre le lanceur");
Sitkah 31:833fc481b002 134 Button ABAISSE_BLOC(0, 25, 400, 100, "Ramasser blocs");
Sitkah 31:833fc481b002 135 Button RELEVE_BLOC(0, 135, 400, 100, "lacher blocs");
Sitkah 31:833fc481b002 136 Button BRAS_ABEILLE_ON(0,245,400,100,"bras abeille");
Sitkah 32:1c9ab15c740e 137 Button BRAS_ABEILLE_OFF(0,355,400,100,"baisser bras abeille");
Sitkah 31:833fc481b002 138 Button INTERRUPTEUR_ON(0,465,400,100,"baisser bras interrupt");
Sitkah 31:833fc481b002 139 Button INTERRUPTEUR_OFF(0,575,400,100,"baisser bras interrupt");
Sitkah 29:41e02746041d 140 Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
Sitkah 32:1c9ab15c740e 141 Button TRI(0, 25, 400, 100, "Test tri");
Sitkah 32:1c9ab15c740e 142 Button AIGUILLEUR_D(0, 150, 400, 100, "aiguilleur droite");
Sitkah 32:1c9ab15c740e 143 Button AIGUILLEUR_G(0,275,400,100,"aiguilleur gauche");
Sitkah 32:1c9ab15c740e 144 Button AIGUILLEUR_CTRE(0,400,400,100,"aiguilleur centre");
Sitkah 29:41e02746041d 145 Button SUIVANT(0,380,200,100,"Suivant");
Sitkah 31:833fc481b002 146 Button COLOR_ORANGE (0, 230, 190, 110,"");
Sitkah 31:833fc481b002 147 Button COLOR_JAUNE (210, 230, 190, 110,"");
Sitkah 34:6aa4b46b102e 148 Button COLOR_VERT (0, 350, 190, 110,"");
Sitkah 34:6aa4b46b102e 149 Button COLOR_BLEU (210, 350, 190, 110,"");
Sitkah 31:833fc481b002 150 Button COLOR_NOIR (105, 470, 190, 110,"");
Sitkah 29:41e02746041d 151 ////////////////////////////////////////////////////////////
Sitkah 29:41e02746041d 152
Sitkah 29:41e02746041d 153 void SendRawId (unsigned short id);
Sitkah 29:41e02746041d 154 void SelectionStrat (unsigned char numeroStrat);
Sitkah 29:41e02746041d 155 void Setflag(void);
Sitkah 29:41e02746041d 156 void can2Rx_ISR(void);
Sitkah 29:41e02746041d 157 signed char Bouton_Strat (void);
Sitkah 29:41e02746041d 158
Sitkah 29:41e02746041d 159 void print_segment(int nombre, int decalage);
Sitkah 29:41e02746041d 160 void affichage_compteur (int nombre);
Sitkah 29:41e02746041d 161 void effacer_segment(long couleur);
Sitkah 29:41e02746041d 162
Sitkah 30:a1e37af4bbde 163 unsigned short telemetreDistance=0;
Sitkah 34:6aa4b46b102e 164 unsigned short telemetreDistance_avant_gauche=0;
Sitkah 34:6aa4b46b102e 165 unsigned short telemetreDistance_avant_droite=0;
Sitkah 34:6aa4b46b102e 166 unsigned short telemetreDistance_arriere_gauche=0;
Sitkah 34:6aa4b46b102e 167 unsigned short telemetreDistance_arriere_droite=0;
Sitkah 29:41e02746041d 168
Sitkah 29:41e02746041d 169 #ifdef ROBOT_BIG
Sitkah 29:41e02746041d 170
Sitkah 29:41e02746041d 171
Sitkah 38:76f886a1c8e6 172 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
Sitkah 38:76f886a1c8e6 173 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
Sitkah 29:41e02746041d 174
Sitkah 31:833fc481b002 175 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 176 #else
Sitkah 29:41e02746041d 177
Sitkah 29:41e02746041d 178
Sitkah 38:76f886a1c8e6 179 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
Sitkah 38:76f886a1c8e6 180 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
Sitkah 31:833fc481b002 181 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 182
Sitkah 29:41e02746041d 183
Sitkah 29:41e02746041d 184 #endif
Sitkah 29:41e02746041d 185
Sitkah 29:41e02746041d 186
Sitkah 29:41e02746041d 187
Sitkah 29:41e02746041d 188
Sitkah 29:41e02746041d 189
ClementBreteau 14:c8fc06c4887f 190
antbig 4:88431b537477 191 /****************************************************************************************/
antbig 4:88431b537477 192 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 193 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 194 /****************************************************************************************/
antbig 0:ad97421fb1fb 195 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 196 {
antbig 0:ad97421fb1fb 197 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 198 SendRawId(GLOBAL_GAME_END);//Indication fin de match
Sitkah 29:41e02746041d 199 etat=FIN;
antbig 0:ad97421fb1fb 200 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 201
antbig 1:116040d14164 202 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 203 }
antbig 0:ad97421fb1fb 204
Sitkah 29:41e02746041d 205
Sitkah 29:41e02746041d 206
antbig 4:88431b537477 207 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 208 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 209 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 210 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 211 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 212 {
antbig 8:0edc7dfb7f7e 213 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 214 gameEtat = ETAT_GAME_START;//On débute le match
Sitkah 29:41e02746041d 215 etat=COMPTEUR;
antbig 8:0edc7dfb7f7e 216 }
antbig 8:0edc7dfb7f7e 217 }
antbig 8:0edc7dfb7f7e 218
antbig 8:0edc7dfb7f7e 219 /****************************************************************************************/
Sitkah 29:41e02746041d 220 /* FUNCTION NAME: SelectionStrat */
Sitkah 29:41e02746041d 221 /* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
Sitkah 29:41e02746041d 222 /****************************************************************************************/
Sitkah 29:41e02746041d 223
Sitkah 29:41e02746041d 224
Sitkah 29:41e02746041d 225 void SelectionStrat (unsigned char Strategie)
Sitkah 29:41e02746041d 226 {
Sitkah 29:41e02746041d 227 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 228 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 229
Sitkah 29:41e02746041d 230 switch (Strategie+1)
Sitkah 29:41e02746041d 231 {
Sitkah 29:41e02746041d 232 case 0x1 :
Sitkah 29:41e02746041d 233 //description de Strategie n°1
Sitkah 29:41e02746041d 234 lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 235 break;
Sitkah 29:41e02746041d 236
Sitkah 29:41e02746041d 237 case 0x2 :
Sitkah 29:41e02746041d 238 //description de Strategie n°2
Sitkah 29:41e02746041d 239 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 240 break;
Sitkah 29:41e02746041d 241
Sitkah 29:41e02746041d 242 case 0x3 :
Sitkah 29:41e02746041d 243 //description de Strategie n°3
Sitkah 29:41e02746041d 244 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 245 break;
Sitkah 29:41e02746041d 246
Sitkah 29:41e02746041d 247 case 0x4 :
Sitkah 29:41e02746041d 248 //description de Strategie n°4
Sitkah 29:41e02746041d 249 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 250 break;
Sitkah 29:41e02746041d 251
Sitkah 29:41e02746041d 252 case 0x5 :
Sitkah 29:41e02746041d 253 //description de Strategie n°5
Sitkah 29:41e02746041d 254 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 255 break;
Sitkah 29:41e02746041d 256
Sitkah 29:41e02746041d 257 case 0x6 :
Sitkah 29:41e02746041d 258 //description de Strategie n°5
Sitkah 29:41e02746041d 259 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 260 break;
Sitkah 29:41e02746041d 261
Sitkah 29:41e02746041d 262 case 0x7 :
Sitkah 29:41e02746041d 263 //description de Strategie n°5
Sitkah 29:41e02746041d 264 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 265 break;
Sitkah 29:41e02746041d 266
Sitkah 29:41e02746041d 267 case 0x8 :
Sitkah 29:41e02746041d 268 //description de Strategie n°5
Sitkah 29:41e02746041d 269 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 270 break;
Sitkah 29:41e02746041d 271
Sitkah 29:41e02746041d 272 case 0x9 :
Sitkah 29:41e02746041d 273 //description de Strategie n°5
Sitkah 29:41e02746041d 274 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 275 break;
Sitkah 29:41e02746041d 276
Sitkah 29:41e02746041d 277 case 0xA :
Sitkah 29:41e02746041d 278 //description de Strategie n°5
Sitkah 29:41e02746041d 279 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 280 break;
Sitkah 29:41e02746041d 281 }
Sitkah 29:41e02746041d 282 }
Sitkah 29:41e02746041d 283
Sitkah 29:41e02746041d 284 void Setflag(void)
Sitkah 29:41e02746041d 285 {
Sitkah 29:41e02746041d 286 flagSendCan = 1;
Sitkah 29:41e02746041d 287 }
Sitkah 29:41e02746041d 288
Sitkah 35:742dc6b200b0 289 void affichage_var(double Var){
Sitkah 35:742dc6b200b0 290 if(ligne==7)
Sitkah 35:742dc6b200b0 291 ligne=0;
Sitkah 35:742dc6b200b0 292 char aff[10]="toto";
Sitkah 35:742dc6b200b0 293 sprintf(aff,"%lf ",Var);
Sitkah 40:21bb685b553b 294 lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
Sitkah 38:76f886a1c8e6 295 //ligne++;
Sitkah 35:742dc6b200b0 296
Sitkah 35:742dc6b200b0 297 }
Sitkah 35:742dc6b200b0 298
Sitkah 30:a1e37af4bbde 299 void affichage_debug(int Var){
Sitkah 29:41e02746041d 300 int i;
Sitkah 29:41e02746041d 301 int conv=(int)Var;
Sitkah 29:41e02746041d 302 SUIVANT.Draw(ROUGE, 0);
Sitkah 29:41e02746041d 303 for(i=0;i<9;i++){
Sitkah 29:41e02746041d 304 strcpy(tableau_aff[i],"");
Sitkah 29:41e02746041d 305 strcpy(tableau_aff[i],tableau_aff[i+1]);
Sitkah 29:41e02746041d 306 }
Sitkah 29:41e02746041d 307 strcpy(tableau_aff[9],tableau_etat[conv]);
Sitkah 29:41e02746041d 308 for(i=0;i<10;i++){
Sitkah 34:6aa4b46b102e 309 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 310 lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
Sitkah 29:41e02746041d 311 }
Sitkah 30:a1e37af4bbde 312 /*while(!ack_bluetooth){
Sitkah 30:a1e37af4bbde 313 //liaison_bluetooth();
Sitkah 29:41e02746041d 314 }
Sitkah 30:a1e37af4bbde 315 ack_bluetooth=0;*/
Sitkah 30:a1e37af4bbde 316 /*while(SUIVANT.Touched()==0);
Sitkah 30:a1e37af4bbde 317 while(SUIVANT.Touched());*/
Sitkah 29:41e02746041d 318 }
Sitkah 29:41e02746041d 319
Sitkah 29:41e02746041d 320
Sitkah 29:41e02746041d 321 void automate_etat_ihm(void)
Sitkah 29:41e02746041d 322 {
Sitkah 29:41e02746041d 323 int j;
Sitkah 29:41e02746041d 324 if (j==0){
Sitkah 29:41e02746041d 325 ts.Init(lcd.GetXSize(), lcd.GetYSize());
Sitkah 29:41e02746041d 326 j++;
Sitkah 29:41e02746041d 327 }
Sitkah 29:41e02746041d 328 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 329 switch (etat)
Sitkah 29:41e02746041d 330 {
Sitkah 29:41e02746041d 331 case INIT :
Sitkah 29:41e02746041d 332 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 333 canProcessRx();
Sitkah 30:a1e37af4bbde 334
Sitkah 32:1c9ab15c740e 335
Sitkah 30:a1e37af4bbde 336
Sitkah 30:a1e37af4bbde 337
Sitkah 29:41e02746041d 338 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 339 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 340 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 341 wait(0.15);
Sitkah 29:41e02746041d 342 lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
Sitkah 29:41e02746041d 343 //cartes non verifiées////////////////
Sitkah 29:41e02746041d 344 lcd.SetTextColor(DIY_GREY);
Sitkah 29:41e02746041d 345 lcd.FillRect(0,400,400,150); //carte moteur
Sitkah 29:41e02746041d 346 lcd.FillRect(0,600,400,150); //Balise
Sitkah 29:41e02746041d 347
Sitkah 29:41e02746041d 348 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 349 lcd.SetBackColor(DIY_GREY);
Sitkah 29:41e02746041d 350 lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 351 lcd.DisplayStringAt(110,650 , (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 352 ////////////////////////////////////////
Sitkah 29:41e02746041d 353
Sitkah 38:76f886a1c8e6 354 FORCE_LAUNCH.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 355
Sitkah 29:41e02746041d 356 etat=ATT;
Sitkah 29:41e02746041d 357 break;
Sitkah 29:41e02746041d 358
Sitkah 29:41e02746041d 359 case ATT :
Sitkah 29:41e02746041d 360 if (flag==1){
Sitkah 29:41e02746041d 361 etat = CHOIX;
Sitkah 29:41e02746041d 362 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 363 }
Sitkah 29:41e02746041d 364 else if (FORCE_LAUNCH.Touched()){
Sitkah 29:41e02746041d 365 etat = CHOIX;
Sitkah 29:41e02746041d 366 gameEtat = ETAT_CONFIG;
Sitkah 30:a1e37af4bbde 367 while(FORCE_LAUNCH.Touched());
Sitkah 29:41e02746041d 368 }
Sitkah 29:41e02746041d 369
Sitkah 29:41e02746041d 370 break;
Sitkah 29:41e02746041d 371
Sitkah 29:41e02746041d 372
Sitkah 29:41e02746041d 373 case CHOIX :
Sitkah 29:41e02746041d 374 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 375 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 376 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 377 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
Sitkah 29:41e02746041d 378 DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
Sitkah 29:41e02746041d 379 MATCH.Draw(0xFFF01010, 0);
Sitkah 29:41e02746041d 380 while(etat == CHOIX)
Sitkah 29:41e02746041d 381 {
Sitkah 29:41e02746041d 382 canProcessRx();
Sitkah 29:41e02746041d 383 if(DEMONSTRATION.Touched())
Sitkah 29:41e02746041d 384 {
Sitkah 29:41e02746041d 385 etat = DEMO;
Sitkah 29:41e02746041d 386 while(DEMONSTRATION.Touched());
Sitkah 29:41e02746041d 387 }
Sitkah 29:41e02746041d 388
Sitkah 29:41e02746041d 389 if(MATCH.Touched())
Sitkah 29:41e02746041d 390 {
Sitkah 29:41e02746041d 391 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 392 while(MATCH.Touched());
Sitkah 29:41e02746041d 393 }
Sitkah 29:41e02746041d 394
Sitkah 29:41e02746041d 395 }
Sitkah 29:41e02746041d 396 break;
Sitkah 29:41e02746041d 397
Sitkah 29:41e02746041d 398 case DEMO :
Sitkah 29:41e02746041d 399 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 400 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 34:6aa4b46b102e 401 TEST_HERKULEX.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 402 TEST_LASER.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 403 TEST_COULEURS.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 404 TEST_TIR_BALLE.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 405 TEST_IMMEUBLE.Draw(VERT,0);
Sitkah 34:6aa4b46b102e 406 TEST_TRIEUR.Draw(VERT,0);
Sitkah 29:41e02746041d 407 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config //
Sitkah 29:41e02746041d 408 InversStrat = 0;//Pas d'inversion de la couleur // A changer , discussion avec l'ihm
Sitkah 29:41e02746041d 409 }
Sitkah 29:41e02746041d 410 while (etat == DEMO)
Sitkah 29:41e02746041d 411 {
Sitkah 29:41e02746041d 412 canProcessRx();
Sitkah 31:833fc481b002 413 if(TEST_HERKULEX.Touched())
Sitkah 29:41e02746041d 414 {
Sitkah 30:a1e37af4bbde 415 //Strat = 0x10;
Sitkah 31:833fc481b002 416 while(TEST_HERKULEX.Touched());
Sitkah 32:1c9ab15c740e 417 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 418 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 419 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 420 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 421 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 422 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 423 can2.write(trame_Tx);
Sitkah 31:833fc481b002 424 TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 425 etat = TEST_SERVO;
Sitkah 31:833fc481b002 426 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 30:a1e37af4bbde 427 ModeDemo=1;
Sitkah 29:41e02746041d 428 }
Sitkah 29:41e02746041d 429
Sitkah 31:833fc481b002 430 else if(TEST_LASER.Touched())
Sitkah 31:833fc481b002 431 {
Sitkah 31:833fc481b002 432 //Strat = 0x11;
Sitkah 31:833fc481b002 433 while(TEST_LASER.Touched());
Sitkah 31:833fc481b002 434 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 435 etat = TEST_TELEMETRE;
Sitkah 31:833fc481b002 436 }
Sitkah 31:833fc481b002 437 else if (TEST_COULEURS.Touched()){
Sitkah 31:833fc481b002 438 while(TEST_COULEURS.Touched());
Sitkah 31:833fc481b002 439 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 440 etat =TEST_CAPTEURS ;
Sitkah 31:833fc481b002 441 }
Sitkah 31:833fc481b002 442 else if (TEST_TIR_BALLE.Touched()){
Sitkah 31:833fc481b002 443 while(TEST_TIR_BALLE.Touched());
Sitkah 31:833fc481b002 444 TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 445 etat =TEST_TIR ;
Sitkah 31:833fc481b002 446 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 447 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 448 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 449 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 450 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 451 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 452 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 453 can2.write(trame_Tx);
Sitkah 31:833fc481b002 454 ModeDemo=1;
Sitkah 31:833fc481b002 455 }
Sitkah 31:833fc481b002 456 else if(TEST_IMMEUBLE.Touched()){
Sitkah 31:833fc481b002 457 while(TEST_IMMEUBLE.Touched());
Sitkah 31:833fc481b002 458 TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 459 etat =DEMO_IMMEUBLE;
Sitkah 31:833fc481b002 460 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 461 }
Sitkah 32:1c9ab15c740e 462 else if(TEST_TRIEUR.Touched()){
Sitkah 32:1c9ab15c740e 463 while(TEST_TRIEUR.Touched());
Sitkah 32:1c9ab15c740e 464 etat=DEMO_TRIEUR;
Sitkah 32:1c9ab15c740e 465 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 466 }
Sitkah 32:1c9ab15c740e 467
Sitkah 32:1c9ab15c740e 468
Sitkah 29:41e02746041d 469 if(RETOUR.Touched())
Sitkah 29:41e02746041d 470 {
Sitkah 29:41e02746041d 471 etat = CHOIX;
Sitkah 29:41e02746041d 472 while(RETOUR.Touched());
Sitkah 31:833fc481b002 473
Sitkah 29:41e02746041d 474 }
Sitkah 29:41e02746041d 475 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
Sitkah 30:a1e37af4bbde 476 /*if (Strat< 0x10){ // Si la strat est une strat de match, on desactive le mode demo
Sitkah 29:41e02746041d 477 ModeDemo = 0;
Sitkah 29:41e02746041d 478 }
Sitkah 29:41e02746041d 479 else { // sinon, on active le mode demo, utile pour la fin de la demo
Sitkah 29:41e02746041d 480 ModeDemo = 1;
Sitkah 30:a1e37af4bbde 481 }*/
Sitkah 29:41e02746041d 482 Ack_strat = 1;
Sitkah 29:41e02746041d 483 wait_ms(10);
Sitkah 30:a1e37af4bbde 484 //tactile_printf("Strat %d, Asser desactive",Strat);
Sitkah 29:41e02746041d 485 }
Sitkah 30:a1e37af4bbde 486 //SelectionStrat(Strategie);
Sitkah 29:41e02746041d 487 }
Sitkah 29:41e02746041d 488 break;
Sitkah 32:1c9ab15c740e 489 case DEMO_TRIEUR:
Sitkah 32:1c9ab15c740e 490 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 491 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 32:1c9ab15c740e 492 TRI.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 493 AIGUILLEUR_D.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 494 AIGUILLEUR_G.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 495 AIGUILLEUR_CTRE.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 496 while(etat==DEMO_TRIEUR){
Sitkah 32:1c9ab15c740e 497 if(RETOUR.Touched()){
Sitkah 32:1c9ab15c740e 498 while (RETOUR.Touched());
Sitkah 32:1c9ab15c740e 499 etat=DEMO;
Sitkah 32:1c9ab15c740e 500 }
Sitkah 32:1c9ab15c740e 501 else if(TRI.Touched()){
Sitkah 32:1c9ab15c740e 502 while (TRI.Touched());
Sitkah 32:1c9ab15c740e 503 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 504 wait(0.5);
Sitkah 32:1c9ab15c740e 505 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 506 wait(0.5);
Sitkah 32:1c9ab15c740e 507 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 508 wait(0.5);
Sitkah 32:1c9ab15c740e 509 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 510
Sitkah 32:1c9ab15c740e 511 break;
Sitkah 32:1c9ab15c740e 512 }
Sitkah 32:1c9ab15c740e 513 else if(AIGUILLEUR_D.Touched()){
Sitkah 32:1c9ab15c740e 514 while (AIGUILLEUR_D.Touched());
Sitkah 32:1c9ab15c740e 515 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 516 break;
Sitkah 32:1c9ab15c740e 517 }
Sitkah 32:1c9ab15c740e 518 else if(AIGUILLEUR_G.Touched()){
Sitkah 32:1c9ab15c740e 519 while (AIGUILLEUR_G.Touched());
Sitkah 32:1c9ab15c740e 520 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 521 break;
Sitkah 32:1c9ab15c740e 522
Sitkah 32:1c9ab15c740e 523 }
Sitkah 32:1c9ab15c740e 524 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 32:1c9ab15c740e 525 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 32:1c9ab15c740e 526 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 32:1c9ab15c740e 527 break;
Sitkah 32:1c9ab15c740e 528 }
Sitkah 32:1c9ab15c740e 529 else if(AIGUILLEUR_CTRE.Touched()){
Sitkah 32:1c9ab15c740e 530 while (AIGUILLEUR_CTRE.Touched());
Sitkah 32:1c9ab15c740e 531 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 532 break;
Sitkah 32:1c9ab15c740e 533 }
Sitkah 32:1c9ab15c740e 534
Sitkah 32:1c9ab15c740e 535 }
Sitkah 32:1c9ab15c740e 536 break;
Sitkah 31:833fc481b002 537 case DEMO_IMMEUBLE:
Sitkah 31:833fc481b002 538 int color=0;
Sitkah 31:833fc481b002 539 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 540 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"Choix du code couleur", LEFT_MODE);
Sitkah 29:41e02746041d 541
Sitkah 31:833fc481b002 542 CANMessage msgTx=CANMessage();
Sitkah 31:833fc481b002 543 msgTx.id=MONTER_IMMEUBLE; // Monter immeuble
Sitkah 31:833fc481b002 544 msgTx.len=3;
Sitkah 31:833fc481b002 545 msgTx.format=CANStandard;
Sitkah 31:833fc481b002 546 msgTx.type=CANData;
Sitkah 29:41e02746041d 547
Sitkah 29:41e02746041d 548
Sitkah 31:833fc481b002 549 while(etat==DEMO_IMMEUBLE){
Sitkah 31:833fc481b002 550 switch(color){
Sitkah 31:833fc481b002 551 case 0:
Sitkah 31:833fc481b002 552
Sitkah 31:833fc481b002 553 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 554 COLOR_NOIR.Draw(NOIR,1);
Sitkah 31:833fc481b002 555 COLOR_ORANGE.Draw(ORANGE,0);
Sitkah 31:833fc481b002 556 COLOR_JAUNE.Draw(JAUNE,0);
Sitkah 31:833fc481b002 557 COLOR_VERT.Draw(VERT,0);
Sitkah 38:76f886a1c8e6 558 COLOR_BLEU.Draw(BLEU,0);
Sitkah 31:833fc481b002 559
Sitkah 31:833fc481b002 560 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 561 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 562 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 1", LEFT_MODE);
Sitkah 31:833fc481b002 563 while(color==0){
Sitkah 31:833fc481b002 564 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 565 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 566 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 567 msgTx.data[color]=1;
Sitkah 31:833fc481b002 568 color++;
Sitkah 31:833fc481b002 569 }
Sitkah 31:833fc481b002 570 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 571 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 572 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 573 msgTx.data[color]=2;
Sitkah 31:833fc481b002 574 color++;
Sitkah 31:833fc481b002 575 }
Sitkah 31:833fc481b002 576 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 577 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 578 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 579
Sitkah 31:833fc481b002 580 msgTx.data[color]=3;
Sitkah 31:833fc481b002 581 color++;
Sitkah 31:833fc481b002 582 }
Sitkah 31:833fc481b002 583 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 584 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 585 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 586 msgTx.data[color]=4;
Sitkah 31:833fc481b002 587 color++;
Sitkah 31:833fc481b002 588 }
Sitkah 31:833fc481b002 589 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 590 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 591 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 592 msgTx.data[color]=5;
Sitkah 31:833fc481b002 593 color++;
Sitkah 31:833fc481b002 594 }
Sitkah 31:833fc481b002 595 }
Sitkah 31:833fc481b002 596 break;
Sitkah 31:833fc481b002 597
Sitkah 31:833fc481b002 598 case 1:
Sitkah 31:833fc481b002 599 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 600 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 601 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 2", LEFT_MODE);
Sitkah 31:833fc481b002 602 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 603 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 604 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 605 msgTx.data[color]=1;
Sitkah 31:833fc481b002 606 color++;
Sitkah 31:833fc481b002 607 }
Sitkah 31:833fc481b002 608 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 609 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 610 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 611 msgTx.data[color]=2;
Sitkah 31:833fc481b002 612 color++;
Sitkah 31:833fc481b002 613 }
Sitkah 31:833fc481b002 614 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 615 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 616 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 617
Sitkah 31:833fc481b002 618 msgTx.data[color]=3;
Sitkah 31:833fc481b002 619 color++;
Sitkah 31:833fc481b002 620 }
Sitkah 31:833fc481b002 621 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 622 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 623 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 624 msgTx.data[color]=4;
Sitkah 31:833fc481b002 625 color++;
Sitkah 31:833fc481b002 626 }
Sitkah 31:833fc481b002 627 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 628 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 629 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 630 msgTx.data[color]=5;
Sitkah 31:833fc481b002 631 color++;
Sitkah 31:833fc481b002 632 }
Sitkah 31:833fc481b002 633 break;
Sitkah 31:833fc481b002 634
Sitkah 31:833fc481b002 635 case 2:
Sitkah 31:833fc481b002 636 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 637 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 638 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 3", LEFT_MODE);
Sitkah 31:833fc481b002 639 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 640 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 641 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 642 msgTx.data[color]=1;
Sitkah 31:833fc481b002 643 color++;
Sitkah 31:833fc481b002 644 }
Sitkah 31:833fc481b002 645 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 646 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 647 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 648 msgTx.data[color]=2;
Sitkah 31:833fc481b002 649 color++;
Sitkah 31:833fc481b002 650 }
Sitkah 31:833fc481b002 651 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 652 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 653 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 654
Sitkah 31:833fc481b002 655 msgTx.data[color]=3;
Sitkah 31:833fc481b002 656 color++;
Sitkah 31:833fc481b002 657 }
Sitkah 31:833fc481b002 658 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 659 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 660 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 661 msgTx.data[color]=4;
Sitkah 31:833fc481b002 662 color++;
Sitkah 31:833fc481b002 663 }
Sitkah 31:833fc481b002 664 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 665 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 666 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 667 msgTx.data[color]=5;
Sitkah 31:833fc481b002 668 color++;
Sitkah 31:833fc481b002 669 }
Sitkah 31:833fc481b002 670 break;
Sitkah 31:833fc481b002 671 case 3:
Sitkah 31:833fc481b002 672 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 673 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 674 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 675
Sitkah 31:833fc481b002 676 lcd.DisplayStringAt(0, LINE(4), (uint8_t *)"Immeuble en construction", LEFT_MODE);
Sitkah 31:833fc481b002 677 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 678 can2.write(msgTx);
Sitkah 31:833fc481b002 679 color++;
Sitkah 31:833fc481b002 680 break;
Sitkah 31:833fc481b002 681
Sitkah 31:833fc481b002 682 case 4:
Sitkah 31:833fc481b002 683 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 684 while(RETOUR.Touched());
Sitkah 31:833fc481b002 685 etat=DEMO;
Sitkah 31:833fc481b002 686 }
Sitkah 31:833fc481b002 687 break;
Sitkah 29:41e02746041d 688 }
Sitkah 31:833fc481b002 689 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 690 while(RETOUR.Touched());
Sitkah 30:a1e37af4bbde 691 etat=DEMO;
Sitkah 30:a1e37af4bbde 692 }
Sitkah 31:833fc481b002 693 }
Sitkah 31:833fc481b002 694 break;
Sitkah 31:833fc481b002 695
Sitkah 31:833fc481b002 696
Sitkah 31:833fc481b002 697
Sitkah 31:833fc481b002 698
Sitkah 31:833fc481b002 699
Sitkah 31:833fc481b002 700 case TEST_SERVO:
Sitkah 31:833fc481b002 701 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 702 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 703 ABAISSE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 704 RELEVE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 705 BRAS_ABEILLE_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 706 BRAS_ABEILLE_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 707 INTERRUPTEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 708 INTERRUPTEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 709 RETOUR.Draw(0xFFFF0000,0);
Sitkah 31:833fc481b002 710 while(etat==TEST_SERVO){
Sitkah 31:833fc481b002 711 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 712 while (RETOUR.Touched());
Sitkah 31:833fc481b002 713 etat=DEMO;
Sitkah 31:833fc481b002 714 }
Sitkah 31:833fc481b002 715 else if(ABAISSE_BLOC.Touched()){
Sitkah 31:833fc481b002 716 while (ABAISSE_BLOC.Touched());
Sitkah 31:833fc481b002 717 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 718 break;
Sitkah 31:833fc481b002 719 }
Sitkah 31:833fc481b002 720 else if(RELEVE_BLOC.Touched()){
Sitkah 31:833fc481b002 721 while (RELEVE_BLOC.Touched());
Sitkah 31:833fc481b002 722 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 723 break;
Sitkah 31:833fc481b002 724 }
Sitkah 31:833fc481b002 725 else if(BRAS_ABEILLE_ON.Touched()){
Sitkah 31:833fc481b002 726 while (BRAS_ABEILLE_ON.Touched());
Sitkah 31:833fc481b002 727 SendRawId(BRAS_ABEILLE_UP);
Sitkah 31:833fc481b002 728 break;
Sitkah 31:833fc481b002 729
Sitkah 31:833fc481b002 730 }
Sitkah 31:833fc481b002 731 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 31:833fc481b002 732 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 31:833fc481b002 733 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 31:833fc481b002 734 break;
Sitkah 31:833fc481b002 735 }
Sitkah 31:833fc481b002 736 else if(INTERRUPTEUR_ON.Touched()){
Sitkah 31:833fc481b002 737 while (INTERRUPTEUR_ON.Touched());
Sitkah 31:833fc481b002 738 SendRawId(ALLUMER_PANNEAU_UP);
Sitkah 31:833fc481b002 739 break;
Sitkah 31:833fc481b002 740 }
Sitkah 31:833fc481b002 741 else if(INTERRUPTEUR_OFF.Touched()){
Sitkah 31:833fc481b002 742 while (INTERRUPTEUR_OFF.Touched());
Sitkah 31:833fc481b002 743 SendRawId(ALLUMER_PANNEAU_DOWN);
Sitkah 31:833fc481b002 744 break;
Sitkah 31:833fc481b002 745 }
Sitkah 31:833fc481b002 746 }
Sitkah 31:833fc481b002 747 break;
Sitkah 31:833fc481b002 748
Sitkah 31:833fc481b002 749 case TEST_TIR:
Sitkah 31:833fc481b002 750 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 751 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 752 TIR_CHATEAU.Draw(VERT, 0);
Sitkah 31:833fc481b002 753 EPURATION.Draw(VERT, 0);
Sitkah 31:833fc481b002 754 LANCEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 755 LANCEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 756 RETOUR.Draw(ROUGE, 0);
Sitkah 31:833fc481b002 757 while(etat==TEST_TIR){
Sitkah 31:833fc481b002 758 if(TIR_CHATEAU.Touched()){
Sitkah 31:833fc481b002 759 while (TIR_CHATEAU.Touched());
Sitkah 31:833fc481b002 760 SendRawId(INCLINAISON_CHATEAU);
Sitkah 31:833fc481b002 761 break;
Sitkah 31:833fc481b002 762 }
Sitkah 31:833fc481b002 763 else if (EPURATION.Touched()){
Sitkah 31:833fc481b002 764 while (EPURATION.Touched());
Sitkah 31:833fc481b002 765 SendRawId(INCLINAISON_EPURATION);
Sitkah 31:833fc481b002 766 break;
Sitkah 31:833fc481b002 767 }
Sitkah 31:833fc481b002 768 else if(LANCEUR_ON.Touched()){
Sitkah 31:833fc481b002 769 while (LANCEUR_ON.Touched());
Sitkah 36:6dd30780bd8e 770 CANMessage msgTx=CANMessage();
Sitkah 36:6dd30780bd8e 771 msgTx.format=CANStandard;
Sitkah 36:6dd30780bd8e 772 msgTx.type=CANData;
Sitkah 36:6dd30780bd8e 773 msgTx.id=LANCEMENT_MOTEUR_TIR_ON;
Sitkah 36:6dd30780bd8e 774
Sitkah 36:6dd30780bd8e 775 msgTx.len=1;
Sitkah 36:6dd30780bd8e 776 msgTx.data[0]=0;
Sitkah 36:6dd30780bd8e 777 can2.write(msgTx);
Sitkah 31:833fc481b002 778 break;
Sitkah 31:833fc481b002 779 }
Sitkah 31:833fc481b002 780 else if(LANCEUR_OFF.Touched()){
Sitkah 31:833fc481b002 781 while (LANCEUR_OFF.Touched());
Sitkah 31:833fc481b002 782 SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
Sitkah 31:833fc481b002 783 break;
Sitkah 31:833fc481b002 784 }
Sitkah 31:833fc481b002 785 else if (RETOUR.Touched()){
Sitkah 31:833fc481b002 786 while (RETOUR.Touched());
Sitkah 31:833fc481b002 787 etat=DEMO;
Sitkah 31:833fc481b002 788
Sitkah 31:833fc481b002 789 }
Sitkah 31:833fc481b002 790 }
Sitkah 31:833fc481b002 791 break;
Sitkah 30:a1e37af4bbde 792
Sitkah 30:a1e37af4bbde 793
Sitkah 31:833fc481b002 794
Sitkah 31:833fc481b002 795 case TEST_TELEMETRE:
Sitkah 31:833fc481b002 796 ModeDemo=1;
Sitkah 31:833fc481b002 797 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 798 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 799 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 800 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 31:833fc481b002 801 while(etat==TEST_TELEMETRE){
Sitkah 31:833fc481b002 802 SendRawId(DATA_RECALAGE);
Sitkah 31:833fc481b002 803 wait(0.1);
Sitkah 31:833fc481b002 804 canProcessRx();
Sitkah 31:833fc481b002 805 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 806 while( RETOUR.Touched());
Sitkah 31:833fc481b002 807 etat=DEMO;
Sitkah 32:1c9ab15c740e 808 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 809 }
Sitkah 29:41e02746041d 810 }
Sitkah 29:41e02746041d 811 break;
Sitkah 31:833fc481b002 812
Sitkah 31:833fc481b002 813
Sitkah 29:41e02746041d 814 case SELECT_SIDE :
Sitkah 29:41e02746041d 815 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 816 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 817 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 818
Sitkah 29:41e02746041d 819 lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
Sitkah 34:6aa4b46b102e 820 COTE_VERT.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 821 COTE_ORANGE.Draw(ORANGE, 0);
Sitkah 29:41e02746041d 822 RETOUR.Draw(LCD_COLOR_RED, 0);
Sitkah 29:41e02746041d 823
Sitkah 29:41e02746041d 824
Sitkah 29:41e02746041d 825 while (etat == SELECT_SIDE)
Sitkah 29:41e02746041d 826 {
Sitkah 29:41e02746041d 827 canProcessRx();
Sitkah 34:6aa4b46b102e 828 if(COTE_VERT.Touched())
Sitkah 29:41e02746041d 829 {
Sitkah 29:41e02746041d 830 Cote = 0x0;
Sitkah 29:41e02746041d 831 InversStrat = Cote;
Sitkah 29:41e02746041d 832 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 833 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 834 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 835 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 836 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 837 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 838 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 839 can2.write(trame_Tx);
Sitkah 34:6aa4b46b102e 840 while(COTE_VERT.Touched());
Sitkah 30:a1e37af4bbde 841
Sitkah 29:41e02746041d 842 }
Sitkah 29:41e02746041d 843
Sitkah 34:6aa4b46b102e 844 if(COTE_ORANGE.Touched())
Sitkah 29:41e02746041d 845 {
Sitkah 29:41e02746041d 846 Cote = 0x1;
Sitkah 29:41e02746041d 847 InversStrat= Cote;
Sitkah 29:41e02746041d 848 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 849 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 850 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 851 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 852 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 853 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 854 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 855 can2.write(trame_Tx);
Sitkah 34:6aa4b46b102e 856 while(COTE_ORANGE.Touched());
Sitkah 29:41e02746041d 857 }
Sitkah 29:41e02746041d 858
Sitkah 29:41e02746041d 859 if(RETOUR.Touched())
Sitkah 29:41e02746041d 860 {
Sitkah 29:41e02746041d 861 etat = CHOIX;
Sitkah 29:41e02746041d 862 while(RETOUR.Touched());
Sitkah 29:41e02746041d 863 }
Sitkah 29:41e02746041d 864 }
Sitkah 29:41e02746041d 865
Sitkah 29:41e02746041d 866 break;
Sitkah 29:41e02746041d 867
Sitkah 29:41e02746041d 868 case TACTIQUE :
Sitkah 29:41e02746041d 869 if (Cote == 0){
Sitkah 34:6aa4b46b102e 870 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 871 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 872 }
Sitkah 29:41e02746041d 873 else if (Cote == 1){
Sitkah 38:76f886a1c8e6 874 lcd.Clear(ORANGE);
Sitkah 38:76f886a1c8e6 875 lcd.SetBackColor(ORANGE);
Sitkah 29:41e02746041d 876 }
Sitkah 29:41e02746041d 877 else {
Sitkah 38:76f886a1c8e6 878 lcd.Clear(BLEU);
Sitkah 38:76f886a1c8e6 879 lcd.SetBackColor(BLEU);
Sitkah 29:41e02746041d 880 }
Sitkah 29:41e02746041d 881
Sitkah 29:41e02746041d 882 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 883
Sitkah 29:41e02746041d 884 lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
Sitkah 29:41e02746041d 885
Sitkah 29:41e02746041d 886 Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
Sitkah 29:41e02746041d 887 if (Strategie == -1)
Sitkah 29:41e02746041d 888 {
Sitkah 29:41e02746041d 889 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 890 }
Sitkah 29:41e02746041d 891 else
Sitkah 29:41e02746041d 892 {
Sitkah 29:41e02746041d 893 etat = DETAILS;
Sitkah 29:41e02746041d 894 }
Sitkah 29:41e02746041d 895 wait(0.1);
Sitkah 29:41e02746041d 896 break;
Sitkah 29:41e02746041d 897
Sitkah 29:41e02746041d 898 case DETAILS :
Sitkah 29:41e02746041d 899 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 900 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 901 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 902 CHECK.Draw(VERT);
Sitkah 29:41e02746041d 903 RETOUR.Draw(LCD_COLOR_RED);
Sitkah 29:41e02746041d 904
Sitkah 29:41e02746041d 905 SelectionStrat(Strategie);
Sitkah 29:41e02746041d 906
Sitkah 29:41e02746041d 907 while (etat == DETAILS)
Sitkah 29:41e02746041d 908 {
Sitkah 29:41e02746041d 909 canProcessRx();
Sitkah 29:41e02746041d 910 if (CHECK.Touched())
Sitkah 29:41e02746041d 911 {
Sitkah 29:41e02746041d 912 if(gameEtat == ETAT_CONFIG) {
Sitkah 29:41e02746041d 913 gameEtat = ETAT_GAME_INIT;
Sitkah 29:41e02746041d 914 etat=LECTURE;
Sitkah 29:41e02746041d 915
Sitkah 29:41e02746041d 916 }
Sitkah 29:41e02746041d 917 while(CHECK.Touched());
Sitkah 29:41e02746041d 918 }
Sitkah 29:41e02746041d 919
Sitkah 29:41e02746041d 920 if(RETOUR.Touched())
Sitkah 29:41e02746041d 921 {
Sitkah 29:41e02746041d 922 etat = TACTIQUE;
Sitkah 29:41e02746041d 923 while(RETOUR.Touched());
Sitkah 29:41e02746041d 924 }
Sitkah 29:41e02746041d 925 }
Sitkah 29:41e02746041d 926 break;
Sitkah 29:41e02746041d 927
Sitkah 29:41e02746041d 928
Sitkah 29:41e02746041d 929 case LECTURE :
Sitkah 29:41e02746041d 930 break;
Sitkah 29:41e02746041d 931 case AFF_WAIT_JACK :
Sitkah 29:41e02746041d 932 lcd.Clear(BLANC);
Sitkah 29:41e02746041d 933 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 934 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 935
Sitkah 29:41e02746041d 936 if (Cote == 0){
Sitkah 34:6aa4b46b102e 937 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 938 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 939 }
Sitkah 29:41e02746041d 940 else if (Cote == 1){
Sitkah 38:76f886a1c8e6 941 lcd.Clear(ORANGE);
Sitkah 38:76f886a1c8e6 942 lcd.SetBackColor(ORANGE);
Sitkah 29:41e02746041d 943 }
Sitkah 29:41e02746041d 944 else {
Sitkah 34:6aa4b46b102e 945 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 946 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 947 }
Sitkah 29:41e02746041d 948 canProcessRx();
Sitkah 29:41e02746041d 949 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
Sitkah 29:41e02746041d 950 etat=WAIT_JACK;
Sitkah 29:41e02746041d 951 break;
Sitkah 29:41e02746041d 952
Sitkah 29:41e02746041d 953 case WAIT_JACK:
Sitkah 29:41e02746041d 954 break;
Sitkah 29:41e02746041d 955
Sitkah 29:41e02746041d 956 case COMPTEUR:
Sitkah 38:76f886a1c8e6 957 cptf=gameTimer.read();
Sitkah 29:41e02746041d 958 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 38:76f886a1c8e6 959 cpt=(int)cptf;
Sitkah 36:6dd30780bd8e 960 if(cpt != cpt1){
Sitkah 34:6aa4b46b102e 961 lcd.Clear(VERT);
Sitkah 38:76f886a1c8e6 962 // affichage_compteur(100-cpt);
Sitkah 40:21bb685b553b 963 //affichage_compteur(SCORE_PR);
Sitkah 38:76f886a1c8e6 964 #ifdef ROBOT_BIG
Sitkah 38:76f886a1c8e6 965 affichage_var(SCORE_GR);
Sitkah 38:76f886a1c8e6 966 #else
Sitkah 38:76f886a1c8e6 967 affichage_var(SCORE_PR);
Sitkah 38:76f886a1c8e6 968 #endif
Sitkah 38:76f886a1c8e6 969 if(liaison_pr.paquet_en_attente()){
Sitkah 38:76f886a1c8e6 970 PaquetDomotique *paquet=liaison_pr.lire();
Sitkah 38:76f886a1c8e6 971 if(paquet->identifiant==PAQUET_IDENTIFIANT_AJOUTERSCORE){
Sitkah 38:76f886a1c8e6 972 SCORE_PR+=convertir_score(paquet);
Sitkah 38:76f886a1c8e6 973 }
Sitkah 38:76f886a1c8e6 974 delete paquet;
Sitkah 38:76f886a1c8e6 975 }
Sitkah 36:6dd30780bd8e 976 }
Sitkah 29:41e02746041d 977 cpt1=cpt;
Sitkah 29:41e02746041d 978 flag_timer=0;
Sitkah 29:41e02746041d 979
Sitkah 38:76f886a1c8e6 980 //affichage_debug(gameEtat);
Sitkah 34:6aa4b46b102e 981 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 38:76f886a1c8e6 982
Sitkah 29:41e02746041d 983 break;
Sitkah 29:41e02746041d 984
Sitkah 29:41e02746041d 985 case FIN :
Sitkah 29:41e02746041d 986 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 987 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 38:76f886a1c8e6 988 #ifdef ROBOT_BIG
Sitkah 40:21bb685b553b 989 // affichage_compteur(SCORE_GR);
Sitkah 40:21bb685b553b 990 affichage_var(SCORE_GR);
Sitkah 40:21bb685b553b 991 //liaison_Tx.envoyer_short(PAQUET_IDENTIFIANT_FINMATCH,SCORE_GLOBAL);
Sitkah 38:76f886a1c8e6 992 #else
Sitkah 40:21bb685b553b 993 //affichage_compteur(SCORE_PR);
Sitkah 40:21bb685b553b 994 affichage_var(SCORE_PR);
Sitkah 38:76f886a1c8e6 995 #endif
Sitkah 29:41e02746041d 996 while(1); // force le redemarage du robot
Sitkah 29:41e02746041d 997 //break;
Sitkah 29:41e02746041d 998
Sitkah 29:41e02746041d 999 }
Sitkah 29:41e02746041d 1000 }
Sitkah 29:41e02746041d 1001
Sitkah 29:41e02746041d 1002
Sitkah 29:41e02746041d 1003
Sitkah 29:41e02746041d 1004 /****************************************************************************************/
antbig 4:88431b537477 1005 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 1006 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 1007 /****************************************************************************************/
Sitkah 29:41e02746041d 1008 void automate_process(void){
antbig 1:116040d14164 1009 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 1010 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 1011 signed char localData1 = 0;
antbig 0:ad97421fb1fb 1012 signed short localData2 = 0;
antbig 0:ad97421fb1fb 1013 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 1014 //signed short localData4 = 0;
antbig 1:116040d14164 1015 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 1016
Sitkah 34:6aa4b46b102e 1017 if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 1018 gameTimer.stop();
antbig 0:ad97421fb1fb 1019 gameTimer.reset();
antbig 0:ad97421fb1fb 1020 gameEtat = ETAT_END;//Fin du temps
Sitkah 29:41e02746041d 1021 etat=FIN;
antbig 0:ad97421fb1fb 1022 }
antbig 0:ad97421fb1fb 1023
antbig 0:ad97421fb1fb 1024 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 1025 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 1026 debugetatTimer.reset();
antbig 11:ed13a480ddca 1027 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 1028 }
antbig 0:ad97421fb1fb 1029
antbig 0:ad97421fb1fb 1030 switch(gameEtat)
antbig 0:ad97421fb1fb 1031 {
Sitkah 30:a1e37af4bbde 1032
Sitkah 29:41e02746041d 1033 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 1034 /*
antbig 0:ad97421fb1fb 1035 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 1036 */
antbig 0:ad97421fb1fb 1037 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 1038 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 1039
antbig 0:ad97421fb1fb 1040 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1041 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1042 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 1043 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
Sitkah 29:41e02746041d 1044 break;
ClementBreteau 14:c8fc06c4887f 1045
antbig 0:ad97421fb1fb 1046 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 1047 /*
antbig 0:ad97421fb1fb 1048 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 1049 */
antbig 0:ad97421fb1fb 1050 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 1051 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 1052 cartesCheker.stop();
antbig 0:ad97421fb1fb 1053 screenChecktry = 0;
antbig 0:ad97421fb1fb 1054 countAliveCard++;
antbig 11:ed13a480ddca 1055 checkCurrent++;
antbig 0:ad97421fb1fb 1056 if(checkCurrent >= NOMBRE_CARTES) {
Sitkah 29:41e02746041d 1057 printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 1058 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 1059 gameEtat = ETAT_CONFIG;
Sitkah 38:76f886a1c8e6 1060 SendRawId(ECRAN_ALL_CHECK);
Sitkah 29:41e02746041d 1061 flag=1;
Sitkah 38:76f886a1c8e6 1062
Sitkah 30:a1e37af4bbde 1063 //tactile_printf("Selection couleur et strategie");
Sitkah 29:41e02746041d 1064 }
Sitkah 29:41e02746041d 1065 else {
antbig 0:ad97421fb1fb 1066 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 1067 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1068 }
Sitkah 29:41e02746041d 1069 }
Sitkah 29:41e02746041d 1070 else
antbig 0:ad97421fb1fb 1071 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1072 }
Sitkah 29:41e02746041d 1073 else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 1074 cartesCheker.stop();
antbig 0:ad97421fb1fb 1075 if(screenChecktry >=3) {
antbig 12:14729d584500 1076 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 1077 screenChecktry = 0;
antbig 11:ed13a480ddca 1078 checkCurrent++;
antbig 12:14729d584500 1079
Sitkah 29:41e02746041d 1080 if(checkCurrent >= NOMBRE_CARTES){
Sitkah 29:41e02746041d 1081 if(countAliveCard == NOMBRE_CARTES){
antbig 0:ad97421fb1fb 1082 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 1083 flag=1;
Sitkah 29:41e02746041d 1084 }
Sitkah 29:41e02746041d 1085 else{
Sitkah 29:41e02746041d 1086 gameEtat = ETAT_WAIT_FORCE;
antbig 0:ad97421fb1fb 1087 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1088 }
Sitkah 29:41e02746041d 1089 }
Sitkah 29:41e02746041d 1090 else
antbig 0:ad97421fb1fb 1091 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1092
Sitkah 29:41e02746041d 1093 }
Sitkah 29:41e02746041d 1094 else
antbig 0:ad97421fb1fb 1095 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1096
antbig 0:ad97421fb1fb 1097 }
Sitkah 29:41e02746041d 1098 break;
antbig 0:ad97421fb1fb 1099 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 1100 /*
antbig 0:ad97421fb1fb 1101 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 1102 */
antbig 0:ad97421fb1fb 1103 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 1104 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 1105 }
Sitkah 29:41e02746041d 1106 break;
antbig 0:ad97421fb1fb 1107 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 1108 /*
antbig 0:ad97421fb1fb 1109 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 1110 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 1111 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 1112 */
ClementBreteau 14:c8fc06c4887f 1113 modeTelemetre = 0;
Sitkah 29:41e02746041d 1114 break;
antbig 1:116040d14164 1115 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 1116 //On charge la liste des instructions
Sitkah 29:41e02746041d 1117
Sitkah 29:41e02746041d 1118 loadAllInstruction(Strategie);//Mise en cache de toute les instructions
Sitkah 29:41e02746041d 1119 led3=1;
ClementBreteau 14:c8fc06c4887f 1120
Sitkah 37:fca332b64b42 1121 SendRawId(GLOBAL_START);
Sitkah 37:fca332b64b42 1122
antbig 0:ad97421fb1fb 1123 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
Sitkah 31:833fc481b002 1124 if (etat == TEST_TELEMETRE|| etat ==TEST_CAPTEURS || etat == TEST_SERVO || etat ==TEST_TIR || etat == DEMO_IMMEUBLE)
Sitkah 29:41e02746041d 1125 {
Sitkah 29:41e02746041d 1126 SendRawId(DEBUG_FAKE_JAKE);
Sitkah 29:41e02746041d 1127 }
Sitkah 29:41e02746041d 1128 else
Sitkah 29:41e02746041d 1129 {
Sitkah 29:41e02746041d 1130 etat = AFF_WAIT_JACK;
Sitkah 29:41e02746041d 1131 }
Sitkah 30:a1e37af4bbde 1132 //tactile_printf("Attente du JACK.");
antbig 12:14729d584500 1133 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 1134 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 1135 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 1136
clementlignie 22:a466d08ac42b 1137 localData2 = POSITION_DEBUT_T;
clementlignie 22:a466d08ac42b 1138 localData3 = POSITION_DEBUT_Y;
clementlignie 22:a466d08ac42b 1139 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 1140 localData2 = -localData2;//Inversion theta
clementlignie 22:a466d08ac42b 1141 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
clementlignie 22:a466d08ac42b 1142 }
Sitkah 38:76f886a1c8e6 1143 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
Sitkah 38:76f886a1c8e6 1144
Sitkah 38:76f886a1c8e6 1145 instruction = strat_instructions[actual_instruction];
Sitkah 38:76f886a1c8e6 1146 //On effectue le traitement de l'instruction
Sitkah 38:76f886a1c8e6 1147
antbig 0:ad97421fb1fb 1148 break;
antbig 0:ad97421fb1fb 1149 case ETAT_GAME_WAIT_FOR_JACK:
Sitkah 38:76f886a1c8e6 1150 if(instruction.order==POSITION_DEBUT){
Sitkah 38:76f886a1c8e6 1151 switch(etat_pos){
Sitkah 38:76f886a1c8e6 1152 case RECALAGE_1:
Sitkah 38:76f886a1c8e6 1153 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1154 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1155 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1156 GoStraight(3000, 1,MOITIEE_ROBOT-5, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
Sitkah 38:76f886a1c8e6 1157 #else
Sitkah 40:21bb685b553b 1158 GoStraight(-3000, 1,MOITIEE_ROBOT-5, 0);
Sitkah 38:76f886a1c8e6 1159 #endif
Sitkah 38:76f886a1c8e6 1160 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1161 canProcessRx();
Sitkah 38:76f886a1c8e6 1162 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1163 waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1164 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1165 canProcessRx();
Sitkah 38:76f886a1c8e6 1166 etat_pos=RECULER_1;
Sitkah 38:76f886a1c8e6 1167 break;
Sitkah 38:76f886a1c8e6 1168
Sitkah 38:76f886a1c8e6 1169 case RECULER_1:
Sitkah 38:76f886a1c8e6 1170 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1171 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1172 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1173 GoStraight(-450, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1174 #else
Sitkah 38:76f886a1c8e6 1175 GoStraight(75, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1176 #endif
Sitkah 38:76f886a1c8e6 1177 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1178 canProcessRx();
Sitkah 38:76f886a1c8e6 1179 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1180 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1181 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1182 canProcessRx();
Sitkah 38:76f886a1c8e6 1183 etat_pos=TOURNER;
Sitkah 38:76f886a1c8e6 1184 break;
Sitkah 38:76f886a1c8e6 1185
Sitkah 38:76f886a1c8e6 1186 case TOURNER:
Sitkah 38:76f886a1c8e6 1187 waitingAckID = ASSERVISSEMENT_ROTATION;
Sitkah 38:76f886a1c8e6 1188 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1189 if(Cote==0){
Sitkah 38:76f886a1c8e6 1190 localData2 = 900;
Sitkah 38:76f886a1c8e6 1191 }
Sitkah 38:76f886a1c8e6 1192 else{
Sitkah 38:76f886a1c8e6 1193 localData2=-900;
Sitkah 38:76f886a1c8e6 1194 }
Sitkah 38:76f886a1c8e6 1195 Rotate(localData2);
Sitkah 38:76f886a1c8e6 1196 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1197 canProcessRx();
Sitkah 38:76f886a1c8e6 1198 waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
Sitkah 38:76f886a1c8e6 1199 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1200 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1201 canProcessRx();
Sitkah 38:76f886a1c8e6 1202 etat_pos=RECALAGE_2;
Sitkah 38:76f886a1c8e6 1203 break;
Sitkah 38:76f886a1c8e6 1204
Sitkah 38:76f886a1c8e6 1205 case RECALAGE_2:
Sitkah 38:76f886a1c8e6 1206 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1207 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1208 if(Cote==1)
Sitkah 40:21bb685b553b 1209 localData3=3000-(MOITIEE_ROBOT-5);
Sitkah 38:76f886a1c8e6 1210 else
Sitkah 38:76f886a1c8e6 1211 localData3=MOITIEE_ROBOT;
Sitkah 38:76f886a1c8e6 1212 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1213 GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
Sitkah 38:76f886a1c8e6 1214 #else
Sitkah 38:76f886a1c8e6 1215 GoStraight(-3000, 2,localData3, 0);
Sitkah 38:76f886a1c8e6 1216 #endif
Sitkah 38:76f886a1c8e6 1217 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1218 canProcessRx();
Sitkah 38:76f886a1c8e6 1219 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1220 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1221 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1222 canProcessRx();
Sitkah 38:76f886a1c8e6 1223 etat_pos=RECULER_2;
Sitkah 38:76f886a1c8e6 1224 break;
Sitkah 38:76f886a1c8e6 1225
Sitkah 38:76f886a1c8e6 1226 case RECULER_2:
Sitkah 38:76f886a1c8e6 1227 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1228 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1229 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1230 GoStraight(-200, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1231 #else
Sitkah 38:76f886a1c8e6 1232 GoStraight(200, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1233 #endif
Sitkah 38:76f886a1c8e6 1234 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1235 canProcessRx();
Sitkah 38:76f886a1c8e6 1236 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1237 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1238 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1239 canProcessRx();
Sitkah 38:76f886a1c8e6 1240 etat_pos=GOTOPOS;
Sitkah 38:76f886a1c8e6 1241 break;
Sitkah 38:76f886a1c8e6 1242
Sitkah 38:76f886a1c8e6 1243 case GOTOPOS:
Sitkah 38:76f886a1c8e6 1244 localData1 = -1;
Sitkah 38:76f886a1c8e6 1245
Sitkah 38:76f886a1c8e6 1246 if(InversStrat == 1 && ingnorInversionOnce == 0) {
Sitkah 38:76f886a1c8e6 1247 localData2 = -instruction.arg3;
Sitkah 38:76f886a1c8e6 1248 localData3 = 3000 - instruction.arg2;//Inversion du Y
Sitkah 38:76f886a1c8e6 1249 } else {
Sitkah 38:76f886a1c8e6 1250 localData3 = instruction.arg2;
Sitkah 38:76f886a1c8e6 1251 localData2 = instruction.arg3;
Sitkah 38:76f886a1c8e6 1252 }
Sitkah 38:76f886a1c8e6 1253
Sitkah 38:76f886a1c8e6 1254 GoToPosition(instruction.arg1,localData3,localData2,localData1);
Sitkah 38:76f886a1c8e6 1255 waitingAckID = ASSERVISSEMENT_XYT;
Sitkah 38:76f886a1c8e6 1256 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1257
Sitkah 38:76f886a1c8e6 1258 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1259 canProcessRx();
Sitkah 38:76f886a1c8e6 1260 waitingAckID_FIN=ASSERVISSEMENT_XYT;
Sitkah 38:76f886a1c8e6 1261 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1262 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1263 canProcessRx();
Sitkah 38:76f886a1c8e6 1264 etat_pos=FIN_POS;
Sitkah 38:76f886a1c8e6 1265 break;
Sitkah 38:76f886a1c8e6 1266 case FIN_POS:
Sitkah 38:76f886a1c8e6 1267 actual_instruction = instruction.nextLineOK;
Sitkah 38:76f886a1c8e6 1268 break;
Sitkah 38:76f886a1c8e6 1269 }
Sitkah 38:76f886a1c8e6 1270 }
Sitkah 38:76f886a1c8e6 1271
Sitkah 38:76f886a1c8e6 1272
antbig 1:116040d14164 1273 break;
antbig 1:116040d14164 1274 case ETAT_GAME_START:
Sitkah 29:41e02746041d 1275
antbig 1:116040d14164 1276 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 1277
ClementBreteau 14:c8fc06c4887f 1278 if (ModeDemo == 0){
Sitkah 34:6aa4b46b102e 1279 chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 1280 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 1281 }
antbig 1:116040d14164 1282 gameTimer.reset();
antbig 12:14729d584500 1283 jack.fall(NULL);//On désactive l'interruption du jack
Sitkah 34:6aa4b46b102e 1284 //SendRawId(GLOBAL_START);
Sitkah 29:41e02746041d 1285 Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
Sitkah 30:a1e37af4bbde 1286 //tactile_printf("Start");//Pas vraiment utile mais bon
antbig 0:ad97421fb1fb 1287 break;
antbig 0:ad97421fb1fb 1288 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 1289 /*
antbig 0:ad97421fb1fb 1290 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 1291 */
antbig 0:ad97421fb1fb 1292 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 1293
antbig 0:ad97421fb1fb 1294 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 1295 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 1296 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 1297 } else {
antbig 0:ad97421fb1fb 1298 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 1299 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 1300 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 1301 }
antbig 0:ad97421fb1fb 1302 screenChecktry = 0;
antbig 28:acd18776ed2d 1303 ingnorInversionOnce = 0;
antbig 0:ad97421fb1fb 1304 break;
antbig 0:ad97421fb1fb 1305 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 1306 /*
antbig 0:ad97421fb1fb 1307 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 1308 */
antbig 0:ad97421fb1fb 1309 //debug_Instruction(instruction);
Sitkah 38:76f886a1c8e6 1310 //affichage_debug(gameEtat);
ClementBreteau 25:f140c93a8666 1311 actionPrecedente = instruction.order;
antbig 0:ad97421fb1fb 1312 switch(instruction.order)
antbig 0:ad97421fb1fb 1313 {
antbig 12:14729d584500 1314 case MV_COURBURE://C'est un rayon de courbure
ClementBreteau 26:2f4fcc2354f3 1315 actionPrecedente = MV_COURBURE;
antbig 6:eddfa414fd11 1316 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 1317 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 30:a1e37af4bbde 1318 if(instruction.nextActionType == ENCHAINEMENT){
antbig 6:eddfa414fd11 1319 MV_enchainement++;
antbig 6:eddfa414fd11 1320 localData5 = 1;
antbig 6:eddfa414fd11 1321 } else {
antbig 6:eddfa414fd11 1322 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 1323 localData5 = 2;
antbig 6:eddfa414fd11 1324 MV_enchainement = 0;
antbig 6:eddfa414fd11 1325 } else {
antbig 6:eddfa414fd11 1326 localData5 = 0;
antbig 6:eddfa414fd11 1327 }
antbig 0:ad97421fb1fb 1328 }
antbig 11:ed13a480ddca 1329 localData1 = ((instruction.direction == LEFT)?1:-1);
ClementBreteau 23:ab87d308eaf9 1330 localData2 = instruction.arg3;
antbig 28:acd18776ed2d 1331 if(InversStrat == 1 && ingnorInversionOnce == 0)
antbig 12:14729d584500 1332 {
antbig 12:14729d584500 1333 localData1 = -localData1;//Inversion de la direction
antbig 12:14729d584500 1334 }
ClementBreteau 25:f140c93a8666 1335 BendRadius(instruction.arg1, localData2, localData1, localData5);
ClementBreteau 18:cc5fec34ed9c 1336
antbig 28:acd18776ed2d 1337
antbig 28:acd18776ed2d 1338 target_theta_robot = localData2 - theta_robot;
antbig 28:acd18776ed2d 1339 /*
ClementBreteau 26:2f4fcc2354f3 1340 if(instruction.direction == LEFT){
antbig 28:acd18776ed2d 1341
ClementBreteau 26:2f4fcc2354f3 1342 }else{
antbig 28:acd18776ed2d 1343 target_theta_robot = theta_robot + localData2;
antbig 28:acd18776ed2d 1344 }*/
ClementBreteau 26:2f4fcc2354f3 1345
antbig 0:ad97421fb1fb 1346 break;
antbig 12:14729d584500 1347 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 1348 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 1349 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 1350 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 1351 MV_enchainement++;
antbig 1:116040d14164 1352 localData5 = 1;
antbig 1:116040d14164 1353 } else {
antbig 12:14729d584500 1354 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 1355 localData5 = 2;
antbig 1:116040d14164 1356 MV_enchainement = 0;
antbig 1:116040d14164 1357 } else {
antbig 1:116040d14164 1358 localData5 = 0;
antbig 1:116040d14164 1359 }
Sitkah 38:76f886a1c8e6 1360 }
antbig 1:116040d14164 1361 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 1362 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 1363
ClementBreteau 26:2f4fcc2354f3 1364 target_x_robot = x_robot + localData2*cos((double)theta_robot*M_PI/1800);
ClementBreteau 26:2f4fcc2354f3 1365 target_y_robot = y_robot + localData2*sin((double)theta_robot*M_PI/1800);
ClementBreteau 25:f140c93a8666 1366 target_theta_robot = theta_robot;
ClementBreteau 25:f140c93a8666 1367
antbig 0:ad97421fb1fb 1368 break;
antbig 12:14729d584500 1369 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 1370 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 1371 localData2 = instruction.arg3;
antbig 12:14729d584500 1372 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 1373 localData2 = instruction.arg3;
antbig 12:14729d584500 1374
antbig 12:14729d584500 1375 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 1376 if(localData2 > 1800) {
antbig 12:14729d584500 1377 localData2 = localData2-3600;
antbig 12:14729d584500 1378 }
antbig 12:14729d584500 1379
antbig 0:ad97421fb1fb 1380 }
antbig 28:acd18776ed2d 1381 if(InversStrat == 1 && ingnorInversionOnce == 0) {
clementlignie 22:a466d08ac42b 1382 localData2 = -localData2;
Sitkah 38:76f886a1c8e6 1383 }
antbig 0:ad97421fb1fb 1384 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 1385 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 34:6aa4b46b102e 1386 Rotate(localData2);
Sitkah 34:6aa4b46b102e 1387
antbig 28:acd18776ed2d 1388
antbig 0:ad97421fb1fb 1389 break;
antbig 0:ad97421fb1fb 1390 case MV_XYT:
antbig 0:ad97421fb1fb 1391 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 1392 localData1 = -1;
antbig 0:ad97421fb1fb 1393 } else {
antbig 0:ad97421fb1fb 1394 localData1 = 1;
antbig 0:ad97421fb1fb 1395 }
antbig 2:8d8e2cf798a3 1396
antbig 28:acd18776ed2d 1397 if(InversStrat == 1 && ingnorInversionOnce == 0) {
antbig 12:14729d584500 1398 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 1399 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 1400 } else {
antbig 2:8d8e2cf798a3 1401 localData3 = instruction.arg2;
antbig 12:14729d584500 1402 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 1403 }
ClementBreteau 23:ab87d308eaf9 1404
antbig 12:14729d584500 1405 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 1406 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 1407 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 25:f140c93a8666 1408
ClementBreteau 25:f140c93a8666 1409 target_x_robot = instruction.arg1;
ClementBreteau 25:f140c93a8666 1410 target_y_robot = localData3;
ClementBreteau 25:f140c93a8666 1411 target_theta_robot = localData2;
ClementBreteau 25:f140c93a8666 1412
antbig 0:ad97421fb1fb 1413 break;
antbig 0:ad97421fb1fb 1414 case MV_RECALAGE:
Sitkah 34:6aa4b46b102e 1415 if(instruction.nextActionType == MECANIQUE)
Sitkah 34:6aa4b46b102e 1416 {
Sitkah 34:6aa4b46b102e 1417 instruction.nextActionType = WAIT;
Sitkah 34:6aa4b46b102e 1418
Sitkah 34:6aa4b46b102e 1419 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1420 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 34:6aa4b46b102e 1421
Sitkah 34:6aa4b46b102e 1422 localData2 = (((instruction.direction == FORWARD)?1:-1)*3000);//On indique une distance de 3000 pour etre sur que le robot va ce recaler
Sitkah 34:6aa4b46b102e 1423
Sitkah 34:6aa4b46b102e 1424 if(instruction.precision == RECALAGE_Y) {
Sitkah 34:6aa4b46b102e 1425 localData5 = 2;
Sitkah 34:6aa4b46b102e 1426 if(InversStrat == 1 && ingnorInversionOnce == 0) {
Sitkah 34:6aa4b46b102e 1427 localData3 = 3000 - instruction.arg1;//Inversion du Y
Sitkah 34:6aa4b46b102e 1428 } else {
Sitkah 34:6aa4b46b102e 1429 localData3 = instruction.arg1;
Sitkah 34:6aa4b46b102e 1430 }
antbig 11:ed13a480ddca 1431 } else {
Sitkah 34:6aa4b46b102e 1432 localData5 = 1;
antbig 11:ed13a480ddca 1433 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 1434 }
Sitkah 34:6aa4b46b102e 1435 GoStraight(localData2, localData5, localData3, 0);
antbig 11:ed13a480ddca 1436 }
Sitkah 34:6aa4b46b102e 1437 else //CAPTEUR
Sitkah 36:6dd30780bd8e 1438 {
Sitkah 34:6aa4b46b102e 1439 SendRawId(DATA_RECALAGE);
Sitkah 34:6aa4b46b102e 1440 waitingAckID = RECEPTION_RECALAGE;
Sitkah 34:6aa4b46b102e 1441 waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
Sitkah 34:6aa4b46b102e 1442
Sitkah 34:6aa4b46b102e 1443 // On attend que les variables soient actualisé
Sitkah 34:6aa4b46b102e 1444 while(!(waitingAckID == 0 && waitingAckFrom == 0))
Sitkah 34:6aa4b46b102e 1445 canProcessRx();
Sitkah 35:742dc6b200b0 1446 while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
Sitkah 35:742dc6b200b0 1447 canProcessRx();
Sitkah 36:6dd30780bd8e 1448
Sitkah 34:6aa4b46b102e 1449 if(instruction.precision == RECALAGE_Y) // ((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600)) (theta_robot < 900 && theta_robot > -900)
Sitkah 34:6aa4b46b102e 1450 {
Sitkah 36:6dd30780bd8e 1451 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
Sitkah 34:6aa4b46b102e 1452 }
Sitkah 34:6aa4b46b102e 1453 else if(instruction.precision == RECALAGE_X)
Sitkah 34:6aa4b46b102e 1454 {
Sitkah 36:6dd30780bd8e 1455 SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
Sitkah 34:6aa4b46b102e 1456 }
Sitkah 35:742dc6b200b0 1457 else if(instruction.precision == RECALAGE_T)
Sitkah 34:6aa4b46b102e 1458 {
Sitkah 36:6dd30780bd8e 1459 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
Sitkah 35:742dc6b200b0 1460 }
Sitkah 34:6aa4b46b102e 1461 }
antbig 0:ad97421fb1fb 1462 break;
Sitkah 34:6aa4b46b102e 1463
antbig 0:ad97421fb1fb 1464 case ACTION:
ClementBreteau 18:cc5fec34ed9c 1465 int tempo = 0;
Sitkah 30:a1e37af4bbde 1466 waitingAckID= ACK_ACTION; //On veut un ack de type action
Sitkah 30:a1e37af4bbde 1467 waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
ClementBreteau 18:cc5fec34ed9c 1468 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 1469 if(tempo == 1){
antbig 0:ad97421fb1fb 1470 //L'action est spécifique
Sitkah 34:6aa4b46b102e 1471 if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
antbig 11:ed13a480ddca 1472 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 1473 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1474 }
Sitkah 30:a1e37af4bbde 1475 else {
ClementBreteau 15:c2fc239e85df 1476 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 1477 }
ClementBreteau 18:cc5fec34ed9c 1478 #ifdef ROBOT_SMALL
Sitkah 34:6aa4b46b102e 1479 /*actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
Sitkah 34:6aa4b46b102e 1480 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;*/
ClementBreteau 18:cc5fec34ed9c 1481 #endif
antbig 11:ed13a480ddca 1482 return;
ClementBreteau 18:cc5fec34ed9c 1483 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 1484 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 1485 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 1486 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 1487 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1488
ClementBreteau 18:cc5fec34ed9c 1489 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 1490 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 1491 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 1492 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 1493 #endif
ClementBreteau 18:cc5fec34ed9c 1494 }else{
antbig 0:ad97421fb1fb 1495 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 1496 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 1497 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 1498
antbig 0:ad97421fb1fb 1499 }
antbig 0:ad97421fb1fb 1500 break;
antbig 0:ad97421fb1fb 1501 default:
antbig 0:ad97421fb1fb 1502 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 1503 break;
antbig 0:ad97421fb1fb 1504 }
antbig 0:ad97421fb1fb 1505
antbig 0:ad97421fb1fb 1506
antbig 0:ad97421fb1fb 1507
antbig 0:ad97421fb1fb 1508 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 1509 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 1510 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1511 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1512 cartesCheker.start();
antbig 1:116040d14164 1513 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 1514 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 1515 //AX12_enchainement = 0;
antbig 1:116040d14164 1516 }
Sitkah 36:6dd30780bd8e 1517 }
Sitkah 36:6dd30780bd8e 1518 else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 1519 if(instruction.order == MV_LINE){
Sitkah 30:a1e37af4bbde 1520 gameEtat = ETAT_GAME_WAIT_ACK;
Sitkah 30:a1e37af4bbde 1521 }
Sitkah 30:a1e37af4bbde 1522 else{
ClementBreteau 15:c2fc239e85df 1523 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1524 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 1525 }
antbig 0:ad97421fb1fb 1526 }
antbig 0:ad97421fb1fb 1527
antbig 0:ad97421fb1fb 1528 break;
antbig 0:ad97421fb1fb 1529 case ETAT_GAME_WAIT_ACK:
Sitkah 36:6dd30780bd8e 1530 canProcessRx();
Sitkah 34:6aa4b46b102e 1531
Sitkah 30:a1e37af4bbde 1532 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
antbig 0:ad97421fb1fb 1533 //if(true) {
antbig 0:ad97421fb1fb 1534 cartesCheker.stop();
antbig 0:ad97421fb1fb 1535 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 1536 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 1537 gameEtat = ETAT_GAME_JUMP_POSITION;
Sitkah 30:a1e37af4bbde 1538 }
Sitkah 30:a1e37af4bbde 1539 else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 1540 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 1541 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 1542 cartesCheker.start();
antbig 0:ad97421fb1fb 1543 }
Sitkah 30:a1e37af4bbde 1544 }
Sitkah 30:a1e37af4bbde 1545 else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
Sitkah 40:21bb685b553b 1546 wait_ms(200);
Sitkah 40:21bb685b553b 1547 #ifdef ROBOT_BIG
Sitkah 40:21bb685b553b 1548 SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1549 #else
Sitkah 40:21bb685b553b 1550 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1551 #endif
Sitkah 40:21bb685b553b 1552 wait_ms(200);
Sitkah 40:21bb685b553b 1553
Sitkah 40:21bb685b553b 1554 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
Sitkah 40:21bb685b553b 1555 switch(instruction.order)
antbig 0:ad97421fb1fb 1556 {
antbig 0:ad97421fb1fb 1557 case MV_COURBURE:
Sitkah 34:6aa4b46b102e 1558 waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
Sitkah 34:6aa4b46b102e 1559 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1560 break;
antbig 0:ad97421fb1fb 1561 case MV_LINE:
Sitkah 34:6aa4b46b102e 1562 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1563 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1564 break;
antbig 0:ad97421fb1fb 1565 case MV_TURN:
Sitkah 34:6aa4b46b102e 1566 waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
Sitkah 34:6aa4b46b102e 1567 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1568 break;
antbig 0:ad97421fb1fb 1569 case MV_XYT:
Sitkah 34:6aa4b46b102e 1570 waitingAckID_FIN = ASSERVISSEMENT_XYT;
Sitkah 34:6aa4b46b102e 1571 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1572 break;
antbig 0:ad97421fb1fb 1573 case MV_RECALAGE:
Sitkah 34:6aa4b46b102e 1574 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1575 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1576 break;
antbig 0:ad97421fb1fb 1577 case ACTION:
ClementBreteau 15:c2fc239e85df 1578
ClementBreteau 15:c2fc239e85df 1579 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 1580 if (telemetreDistance == 0){
Sitkah 34:6aa4b46b102e 1581 waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
Sitkah 34:6aa4b46b102e 1582 waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
ClementBreteau 18:cc5fec34ed9c 1583 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 1584 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
Sitkah 34:6aa4b46b102e 1585 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1586 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1587 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 1588 }
ClementBreteau 15:c2fc239e85df 1589 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 1590 //modeTelemetre = 1;
Sitkah 34:6aa4b46b102e 1591 waitingAckID_FIN = OBJET_SUR_TABLE;
Sitkah 34:6aa4b46b102e 1592 waitingAckFrom_FIN = 0;
ClementBreteau 15:c2fc239e85df 1593 }
antbig 0:ad97421fb1fb 1594 break;
antbig 0:ad97421fb1fb 1595 default:
antbig 0:ad97421fb1fb 1596 break;
antbig 0:ad97421fb1fb 1597 }
Sitkah 30:a1e37af4bbde 1598 }
Sitkah 30:a1e37af4bbde 1599 else {
antbig 0:ad97421fb1fb 1600 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 1601 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1602 }
Sitkah 30:a1e37af4bbde 1603 }
Sitkah 36:6dd30780bd8e 1604 else if(cartesCheker.read_ms () > 1000){
antbig 0:ad97421fb1fb 1605 cartesCheker.stop();
antbig 0:ad97421fb1fb 1606 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 1607 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 1608 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1609 }
Sitkah 30:a1e37af4bbde 1610 else {
Sitkah 34:6aa4b46b102e 1611 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 1612 }
antbig 0:ad97421fb1fb 1613 }
antbig 0:ad97421fb1fb 1614 break;
antbig 0:ad97421fb1fb 1615
antbig 0:ad97421fb1fb 1616 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 1617 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 1618 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 1619 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1620 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1621 }
antbig 0:ad97421fb1fb 1622 break;
ClementBreteau 15:c2fc239e85df 1623
ClementBreteau 15:c2fc239e85df 1624 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 1625 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 1626 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 1627 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 1628 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 1629 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 1630 depasX = 0;
ClementBreteau 15:c2fc239e85df 1631 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 1632 depasX = -1;
ClementBreteau 15:c2fc239e85df 1633 }
ClementBreteau 15:c2fc239e85df 1634
ClementBreteau 15:c2fc239e85df 1635 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 1636 depasY = 0;
ClementBreteau 15:c2fc239e85df 1637 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 1638 depasY = -1;
ClementBreteau 15:c2fc239e85df 1639 }
ClementBreteau 15:c2fc239e85df 1640
ClementBreteau 15:c2fc239e85df 1641 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 1642 break;
antbig 0:ad97421fb1fb 1643 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 1644 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 1645
ClementBreteau 15:c2fc239e85df 1646 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 1647 Xok = true;
ClementBreteau 15:c2fc239e85df 1648 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 1649 Xok = true;
ClementBreteau 15:c2fc239e85df 1650 }
ClementBreteau 15:c2fc239e85df 1651
ClementBreteau 15:c2fc239e85df 1652 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 1653 Yok = true;
ClementBreteau 15:c2fc239e85df 1654 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 1655 Yok = true;
ClementBreteau 15:c2fc239e85df 1656 }
ClementBreteau 15:c2fc239e85df 1657
ClementBreteau 15:c2fc239e85df 1658 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 1659 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 1660 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1661 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 1662 }
ClementBreteau 15:c2fc239e85df 1663
antbig 0:ad97421fb1fb 1664 break;
antbig 0:ad97421fb1fb 1665 case ETAT_GAME_WAIT_END_INSTRUCTION:
Sitkah 36:6dd30780bd8e 1666 canProcessRx();
Sitkah 35:742dc6b200b0 1667 if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 1668 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1669 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1670 }
Sitkah 34:6aa4b46b102e 1671
antbig 0:ad97421fb1fb 1672 break;
antbig 0:ad97421fb1fb 1673
antbig 0:ad97421fb1fb 1674
antbig 5:dcd817534b57 1675 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 1676 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 1677 {
Sitkah 40:21bb685b553b 1678 if(instruction.nextLineOK != instruction.nextLineError)
Sitkah 38:76f886a1c8e6 1679 {
Sitkah 38:76f886a1c8e6 1680 actual_instruction = instruction.nextLineError;
Sitkah 38:76f886a1c8e6 1681 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 38:76f886a1c8e6 1682 }
antbig 5:dcd817534b57 1683 }
antbig 5:dcd817534b57 1684 break;
antbig 5:dcd817534b57 1685 case ETAT_WARING_END_BALISE_WAIT://Attente d'une seconde apres la fin d'un End Balise pour etre sur que c'est bon
antbig 12:14729d584500 1686 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 1687 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1688 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 1689 }
antbig 5:dcd817534b57 1690 break;
antbig 5:dcd817534b57 1691 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
ClementBreteau 25:f140c93a8666 1692 /*
antbig 12:14729d584500 1693 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 1694 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 1695 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1696 #else
antbig 12:14729d584500 1697 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1698 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1699 #endif
ClementBreteau 25:f140c93a8666 1700 gameEtat = ETAT_END;*/
ClementBreteau 21:590cdacb6a35 1701
Sitkah 40:21bb685b553b 1702 wait_ms(200);
Sitkah 40:21bb685b553b 1703 #ifdef ROBOT_BIG
Sitkah 40:21bb685b553b 1704 SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1705 #else
Sitkah 40:21bb685b553b 1706 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1707 #endif
Sitkah 40:21bb685b553b 1708 wait_ms(200);
Sitkah 40:21bb685b553b 1709
ClementBreteau 25:f140c93a8666 1710 switch(actionPrecedente){
ClementBreteau 25:f140c93a8666 1711 case MV_LINE:
antbig 27:76ead555a63d 1712
ClementBreteau 25:f140c93a8666 1713 if(instruction.direction == BACKWARD) {
ClementBreteau 25:f140c93a8666 1714 localData1 = -1;
ClementBreteau 25:f140c93a8666 1715 } else {
ClementBreteau 25:f140c93a8666 1716 localData1 = 1;
ClementBreteau 25:f140c93a8666 1717 }
antbig 27:76ead555a63d 1718
ClementBreteau 25:f140c93a8666 1719 GoToPosition(target_x_robot,target_y_robot,target_theta_robot,localData1);
antbig 27:76ead555a63d 1720 debugXYTTarget(target_x_robot,target_y_robot,target_theta_robot);
antbig 27:76ead555a63d 1721 waitingAckID = ASSERVISSEMENT_XYT;
antbig 27:76ead555a63d 1722 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 27:76ead555a63d 1723 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 27:76ead555a63d 1724 instruction.order = MV_XYT;
antbig 28:acd18776ed2d 1725 instruction.arg1 = target_x_robot;
antbig 28:acd18776ed2d 1726 instruction.arg2 = target_y_robot;
antbig 28:acd18776ed2d 1727 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1728 instruction.direction = (localData1)?FORWARD:BACKWARD;
antbig 28:acd18776ed2d 1729 ingnorInversionOnce = 1;//Pour éviter que l'ago recalcul l'inversion
antbig 27:76ead555a63d 1730 return;
ClementBreteau 25:f140c93a8666 1731
ClementBreteau 25:f140c93a8666 1732 case MV_XYT:
antbig 27:76ead555a63d 1733 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
Sitkah 33:388aa0bf6af4 1734 ///////cv
ClementBreteau 25:f140c93a8666 1735 break;
ClementBreteau 25:f140c93a8666 1736
ClementBreteau 26:2f4fcc2354f3 1737 case MV_COURBURE:
antbig 28:acd18776ed2d 1738 //target_theta_robot = theta_robot - target_theta_robot;
antbig 28:acd18776ed2d 1739 //instruction.arg3 = instruction.arg3 - target_theta_robot;
ClementBreteau 26:2f4fcc2354f3 1740 if(instruction.direction == LEFT){
ClementBreteau 26:2f4fcc2354f3 1741 target_theta_robot = target_theta_robot - theta_robot;
ClementBreteau 26:2f4fcc2354f3 1742 }else{
antbig 28:acd18776ed2d 1743 target_theta_robot = theta_robot + target_theta_robot;
antbig 28:acd18776ed2d 1744 }
antbig 28:acd18776ed2d 1745
antbig 28:acd18776ed2d 1746
antbig 28:acd18776ed2d 1747 target_theta_robot = (target_theta_robot)%3600;
antbig 28:acd18776ed2d 1748 if(target_theta_robot > 1800) {
antbig 28:acd18776ed2d 1749 target_theta_robot = target_theta_robot-3600;
antbig 28:acd18776ed2d 1750 }
antbig 28:acd18776ed2d 1751 if(InversStrat == 1) {
antbig 28:acd18776ed2d 1752 target_theta_robot = -target_theta_robot;
antbig 28:acd18776ed2d 1753 }
antbig 28:acd18776ed2d 1754 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1755
antbig 28:acd18776ed2d 1756
antbig 28:acd18776ed2d 1757 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 28:acd18776ed2d 1758
ClementBreteau 25:f140c93a8666 1759 break;
antbig 27:76ead555a63d 1760 default:
antbig 27:76ead555a63d 1761 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1762 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 27:76ead555a63d 1763 break;
ClementBreteau 25:f140c93a8666 1764 }
ClementBreteau 25:f140c93a8666 1765
antbig 27:76ead555a63d 1766 //actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1767 //gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 5:dcd817534b57 1768 break;
antbig 5:dcd817534b57 1769 case ETAT_WARNING_SWITCH_STRATEGIE://Si à la fin du timeout il y a toujours un robot, passer à l'instruction d'erreur
antbig 5:dcd817534b57 1770 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 1771 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 1772 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 1773 break;
Sitkah 37:fca332b64b42 1774
Sitkah 37:fca332b64b42 1775 case ETAT_EVITEMENT :
Sitkah 37:fca332b64b42 1776 E_Evitement EvitEtat= ETAT_INIT_EVITEMENT;
Sitkah 37:fca332b64b42 1777 while(1)
Sitkah 37:fca332b64b42 1778 {
Sitkah 37:fca332b64b42 1779 canProcessRx();
Sitkah 37:fca332b64b42 1780
Sitkah 37:fca332b64b42 1781 switch(EvitEtat)
Sitkah 37:fca332b64b42 1782 {
Sitkah 37:fca332b64b42 1783 case ETAT_INIT_EVITEMENT:
Sitkah 37:fca332b64b42 1784 EvitEtat = ETAT_ESTIMATION_POSITION;
Sitkah 37:fca332b64b42 1785 break;
Sitkah 37:fca332b64b42 1786
Sitkah 37:fca332b64b42 1787 case ETAT_ESTIMATION_POSITION :
Sitkah 38:76f886a1c8e6 1788 /*wait_ms(100);
Sitkah 37:fca332b64b42 1789 Rotate(3600);
Sitkah 37:fca332b64b42 1790 EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK;
Sitkah 37:fca332b64b42 1791 waitingAckID = ASSERVISSEMENT_ROTATION;
Sitkah 38:76f886a1c8e6 1792 waitingAckFrom = ACKNOWLEDGE_MOTEUR;*/
Sitkah 38:76f886a1c8e6 1793 GoToPosition(1400,300,0,1);
Sitkah 38:76f886a1c8e6 1794 waitingAckID = ASSERVISSEMENT_XYT;
Sitkah 37:fca332b64b42 1795 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 37:fca332b64b42 1796 break;
Sitkah 37:fca332b64b42 1797
Sitkah 37:fca332b64b42 1798 case ETAT_ESTIMATION_POSITION_ROTATION_ACK:
Sitkah 37:fca332b64b42 1799 if(waitingAckID == 0 && waitingAckFrom == 0)
Sitkah 38:76f886a1c8e6 1800 {
Sitkah 37:fca332b64b42 1801 EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK_END;
Sitkah 38:76f886a1c8e6 1802 waitingAckID_FIN = ASSERVISSEMENT_XYT;
Sitkah 38:76f886a1c8e6 1803 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1804 }
Sitkah 37:fca332b64b42 1805 break;
Sitkah 37:fca332b64b42 1806
Sitkah 37:fca332b64b42 1807 case ETAT_ESTIMATION_POSITION_ROTATION_ACK_END:
Sitkah 38:76f886a1c8e6 1808 if(waitingAckID == 0 && waitingAckFrom == 0)
Sitkah 38:76f886a1c8e6 1809 EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK_END;
Sitkah 37:fca332b64b42 1810 break;
Sitkah 37:fca332b64b42 1811
Sitkah 37:fca332b64b42 1812 case ETAT_FIN_EVITEMENT:
Sitkah 38:76f886a1c8e6 1813 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
Sitkah 37:fca332b64b42 1814 break;
Sitkah 37:fca332b64b42 1815 }
Sitkah 37:fca332b64b42 1816 }
Sitkah 37:fca332b64b42 1817
Sitkah 37:fca332b64b42 1818
Sitkah 37:fca332b64b42 1819 break;
ClementBreteau 20:de595e4ff01d 1820
ClementBreteau 20:de595e4ff01d 1821
ClementBreteau 20:de595e4ff01d 1822
ClementBreteau 14:c8fc06c4887f 1823 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 1824 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 1825 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 1826 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 1827 } else {
ClementBreteau 14:c8fc06c4887f 1828 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 1829 }
antbig 0:ad97421fb1fb 1830 break;
antbig 0:ad97421fb1fb 1831 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 1832 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 1833
antbig 0:ad97421fb1fb 1834 break;
antbig 0:ad97421fb1fb 1835 default:
ClementBreteau 20:de595e4ff01d 1836
antbig 0:ad97421fb1fb 1837 break;
ClementBreteau 20:de595e4ff01d 1838 }
Sitkah 29:41e02746041d 1839 }
Sitkah 29:41e02746041d 1840
Sitkah 29:41e02746041d 1841
Sitkah 29:41e02746041d 1842
Sitkah 29:41e02746041d 1843
Sitkah 29:41e02746041d 1844
antbig 4:88431b537477 1845 /****************************************************************************************/
antbig 4:88431b537477 1846 /* FUNCTION NAME: canProcessRx */
Sitkah 29:41e02746041d 1847 /* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
antbig 4:88431b537477 1848 /****************************************************************************************/
antbig 0:ad97421fb1fb 1849 void canProcessRx(void)
Sitkah 29:41e02746041d 1850 {
antbig 0:ad97421fb1fb 1851 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Sitkah 31:833fc481b002 1852 char message[10]="toto";
Sitkah 31:833fc481b002 1853 char message1[10]="toto";
Sitkah 31:833fc481b002 1854 char message2[10]="toto";
Sitkah 31:833fc481b002 1855 char message3[10]="toto";
antbig 0:ad97421fb1fb 1856 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 1857 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 1858 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 1859 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 1860 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 1861 if(FIFO_occupation!=0) {
Sitkah 29:41e02746041d 1862 int identifiant=msgRxBuffer[FIFO_lecture].id;
Sitkah 29:41e02746041d 1863 switch(identifiant) {
Sitkah 29:41e02746041d 1864
Sitkah 29:41e02746041d 1865 case ALIVE_MOTEUR:
Sitkah 29:41e02746041d 1866 if (etat == ATT) {
Sitkah 29:41e02746041d 1867
Sitkah 29:41e02746041d 1868 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1869 lcd.FillRect(0,400,400,150);
Sitkah 29:41e02746041d 1870 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1871 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1872 lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 1873 }
Sitkah 29:41e02746041d 1874 break;
Sitkah 29:41e02746041d 1875
Sitkah 29:41e02746041d 1876 case ALIVE_BALISE:
Sitkah 29:41e02746041d 1877 if (etat == ATT) {
Sitkah 29:41e02746041d 1878
Sitkah 29:41e02746041d 1879 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1880 lcd.FillRect(0,600,400,150); //carte AX12
Sitkah 29:41e02746041d 1881 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1882 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1883 lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 1884 }
Sitkah 29:41e02746041d 1885 break;
Sitkah 29:41e02746041d 1886
Sitkah 29:41e02746041d 1887 case RESET_IHM:
Sitkah 29:41e02746041d 1888 etat = CHOIX;
Sitkah 29:41e02746041d 1889 break;
Sitkah 29:41e02746041d 1890
antbig 4:88431b537477 1891 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
ClementBreteau 23:ab87d308eaf9 1892 case GLOBAL_JACK:
antbig 1:116040d14164 1893 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 1894 gameEtat = ETAT_GAME_START;
ClementBreteau 23:ab87d308eaf9 1895 SendRawId(ACKNOWLEDGE_JACK);
antbig 1:116040d14164 1896 }
antbig 1:116040d14164 1897 break;
antbig 1:116040d14164 1898
Sitkah 30:a1e37af4bbde 1899 case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
ClementBreteau 23:ab87d308eaf9 1900 case ALIVE_ACTIONNEURS_ARRIERE:
Sitkah 30:a1e37af4bbde 1901 case ALIVE_HERKULEX:
antbig 0:ad97421fb1fb 1902 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 1903 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 1904 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 1905 }
Sitkah 38:76f886a1c8e6 1906 flag=1;
ClementBreteau 15:c2fc239e85df 1907 break;
antbig 0:ad97421fb1fb 1908
Sitkah 30:a1e37af4bbde 1909
Sitkah 30:a1e37af4bbde 1910
Sitkah 30:a1e37af4bbde 1911
Sitkah 30:a1e37af4bbde 1912 /////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
Sitkah 30:a1e37af4bbde 1913 case ACKNOWLEDGE_HERKULEX:
Sitkah 30:a1e37af4bbde 1914 case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans INSTRUCTION_END_AX12 mais conserve l'ident initial
Sitkah 34:6aa4b46b102e 1915
Sitkah 30:a1e37af4bbde 1916 case ACKNOWLEDGE_TELEMETRE:
Sitkah 30:a1e37af4bbde 1917 /////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
Sitkah 34:6aa4b46b102e 1918 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 1919 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 1920 case INSTRUCTION_END_MOTEUR:
Sitkah 31:833fc481b002 1921 case ACK_FIN_ACTION:
antbig 11:ed13a480ddca 1922 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
antbig 0:ad97421fb1fb 1923 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1924 waitingAckID = 0;
antbig 0:ad97421fb1fb 1925 }
Sitkah 34:6aa4b46b102e 1926 if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN)) {
Sitkah 34:6aa4b46b102e 1927 waitingAckFrom_FIN = 0;
Sitkah 34:6aa4b46b102e 1928 waitingAckID_FIN = 0;
Sitkah 34:6aa4b46b102e 1929 }
Sitkah 30:a1e37af4bbde 1930
antbig 0:ad97421fb1fb 1931 break;
antbig 1:116040d14164 1932 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 1933 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 1934 #else
antbig 0:ad97421fb1fb 1935 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 1936 #endif
antbig 0:ad97421fb1fb 1937 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 1938 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 1939 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 1940 break;
Sitkah 29:41e02746041d 1941
Sitkah 30:a1e37af4bbde 1942 case ACK_ACTION:
Sitkah 30:a1e37af4bbde 1943 if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
Sitkah 30:a1e37af4bbde 1944 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1945 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 1946 }
Sitkah 30:a1e37af4bbde 1947 break;
Sitkah 30:a1e37af4bbde 1948
ClementBreteau 16:7321fb3bb396 1949 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 1950 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 1951 break;
ClementBreteau 16:7321fb3bb396 1952
antbig 5:dcd817534b57 1953 case BALISE_STOP:
antbig 5:dcd817534b57 1954 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
Sitkah 37:fca332b64b42 1955
Sitkah 37:fca332b64b42 1956 signed char fin_angle_detection = msgRxBuffer[FIFO_lecture].data[0] & 0x0F;
Sitkah 37:fca332b64b42 1957 signed char debut_angle_detection = (msgRxBuffer[FIFO_lecture].data[0] & 0xF0) >> 4;
Sitkah 37:fca332b64b42 1958
Sitkah 37:fca332b64b42 1959 if(debut_angle_detection > fin_angle_detection)
Sitkah 37:fca332b64b42 1960 {
Sitkah 38:76f886a1c8e6 1961 angle_moyen_balise_IR = (float)debut_angle_detection + ((15.0f-(float)debut_angle_detection)+(float)fin_angle_detection)/2.0f;
Sitkah 38:76f886a1c8e6 1962 if(angle_moyen_balise_IR > 15.0f)
Sitkah 38:76f886a1c8e6 1963 angle_moyen_balise_IR-=15.0f;
Sitkah 37:fca332b64b42 1964 }
Sitkah 37:fca332b64b42 1965 else
Sitkah 37:fca332b64b42 1966 angle_moyen_balise_IR = debut_angle_detection + (fin_angle_detection-debut_angle_detection)/2;
Sitkah 37:fca332b64b42 1967
Sitkah 38:76f886a1c8e6 1968 #ifdef ROBOT_BIG
Sitkah 38:76f886a1c8e6 1969 float seuil_bas_avant = 12.0; // >=
Sitkah 38:76f886a1c8e6 1970 float seuil_haut_avant = 0.0; // <=
Sitkah 38:76f886a1c8e6 1971 float seuil_bas_arriere = 4.0;
Sitkah 38:76f886a1c8e6 1972 float seuil_haut_arriere = 8.0;
Sitkah 38:76f886a1c8e6 1973 #else
Sitkah 38:76f886a1c8e6 1974 float seuil_bas_avant = 13.0;
Sitkah 38:76f886a1c8e6 1975 float seuil_haut_avant = 15.0;
Sitkah 38:76f886a1c8e6 1976 float seuil_bas_arriere = 5.0;
Sitkah 38:76f886a1c8e6 1977 float seuil_haut_arriere = 7.0;
Sitkah 38:76f886a1c8e6 1978 #endif
Sitkah 37:fca332b64b42 1979
Sitkah 38:76f886a1c8e6 1980 if (instruction.order == MV_LINE && instruction.direction == FORWARD && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
Sitkah 38:76f886a1c8e6 1981 || instruction.order == MV_LINE && instruction.direction == BACKWARD && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= 7
Sitkah 38:76f886a1c8e6 1982 || instruction.order == MV_COURBURE && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
Sitkah 38:76f886a1c8e6 1983 || instruction.order == MV_COURBURE && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= seuil_haut_arriere
Sitkah 38:76f886a1c8e6 1984 || instruction.order == MV_XYT && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
Sitkah 38:76f886a1c8e6 1985 || instruction.order == MV_XYT && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= seuil_haut_arriere ){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
ClementBreteau 16:7321fb3bb396 1986 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 1987 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 1988 {
ClementBreteau 16:7321fb3bb396 1989 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 26:2f4fcc2354f3 1990 //while(1); // ligne à décommenter si on est en homologation
ClementBreteau 16:7321fb3bb396 1991 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 1992 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 1993 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 1994 }
antbig 27:76ead555a63d 1995 gameEtat = ETAT_WARNING_TIMEOUT;
antbig 12:14729d584500 1996 }
antbig 12:14729d584500 1997 }
Sitkah 38:76f886a1c8e6 1998
antbig 28:acd18776ed2d 1999 }
Sitkah 38:76f886a1c8e6 2000
Sitkah 38:76f886a1c8e6 2001
Sitkah 38:76f886a1c8e6 2002
antbig 12:14729d584500 2003 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 2004 break;
ClementBreteau 16:7321fb3bb396 2005
antbig 5:dcd817534b57 2006 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 2007 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 2008 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 2009 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 2010 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 2011 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 2012 }
antbig 5:dcd817534b57 2013 break;
antbig 12:14729d584500 2014
ClementBreteau 14:c8fc06c4887f 2015 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 2016 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 2017
ClementBreteau 15:c2fc239e85df 2018 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 2019 }
ClementBreteau 15:c2fc239e85df 2020 else{
ClementBreteau 15:c2fc239e85df 2021
ClementBreteau 15:c2fc239e85df 2022 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 2023 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 2024
ClementBreteau 15:c2fc239e85df 2025 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 2026 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 2027 }
ClementBreteau 15:c2fc239e85df 2028 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 2029 break;
Sitkah 29:41e02746041d 2030
Sitkah 30:a1e37af4bbde 2031 case RECEPTION_DATA:
Sitkah 30:a1e37af4bbde 2032 telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
Sitkah 38:76f886a1c8e6 2033 telemetreDistance= (float)telemetreDistance*100.0f*35.5f+50.0f;
Sitkah 30:a1e37af4bbde 2034 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 2035 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 2036 break;
Sitkah 30:a1e37af4bbde 2037
Sitkah 31:833fc481b002 2038 case RECEPTION_RECALAGE:
Sitkah 34:6aa4b46b102e 2039 telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]); //
Sitkah 34:6aa4b46b102e 2040 telemetreDistance_avant_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
Sitkah 34:6aa4b46b102e 2041 telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
Sitkah 34:6aa4b46b102e 2042 telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
Sitkah 34:6aa4b46b102e 2043
Sitkah 34:6aa4b46b102e 2044
Sitkah 34:6aa4b46b102e 2045
Sitkah 34:6aa4b46b102e 2046 if(ModeDemo==1)
Sitkah 34:6aa4b46b102e 2047 {
Sitkah 34:6aa4b46b102e 2048 sprintf(message,"%04d mm",telemetreDistance_arriere_droite);
Sitkah 31:833fc481b002 2049 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2050 lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER ARD : ",LEFT_MODE);
Sitkah 31:833fc481b002 2051 lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message, LEFT_MODE);
Sitkah 31:833fc481b002 2052
Sitkah 34:6aa4b46b102e 2053 sprintf(message1,"%04d mm",telemetreDistance_avant_droite);
Sitkah 31:833fc481b002 2054 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2055 lcd.DisplayStringAt(0, LINE(12),(unsigned char *)"LASER AVD : ",LEFT_MODE);
Sitkah 31:833fc481b002 2056 lcd.DisplayStringAt(200, LINE(12),(unsigned char *)message1, LEFT_MODE);
Sitkah 31:833fc481b002 2057
Sitkah 34:6aa4b46b102e 2058 sprintf(message2,"%04d mm",telemetreDistance_arriere_gauche);
Sitkah 31:833fc481b002 2059 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2060 lcd.DisplayStringAt(0, LINE(14),(unsigned char *)"LASER ARG : ",LEFT_MODE);
Sitkah 31:833fc481b002 2061 lcd.DisplayStringAt(200, LINE(14),(unsigned char *)message2, LEFT_MODE);
Sitkah 31:833fc481b002 2062
Sitkah 34:6aa4b46b102e 2063 sprintf(message3,"%04d mm",telemetreDistance_avant_gauche);
Sitkah 31:833fc481b002 2064 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2065 lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER AVG : ",LEFT_MODE);
Sitkah 34:6aa4b46b102e 2066 lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message3, LEFT_MODE);
Sitkah 31:833fc481b002 2067 }
Sitkah 30:a1e37af4bbde 2068 break;
Sitkah 29:41e02746041d 2069
Sitkah 30:a1e37af4bbde 2070 case RECEPTION_COULEUR:
Sitkah 30:a1e37af4bbde 2071 couleur1=msgRxBuffer[FIFO_lecture].data[0];
Sitkah 30:a1e37af4bbde 2072 couleur2=msgRxBuffer[FIFO_lecture].data[1];
Sitkah 30:a1e37af4bbde 2073 couleur3=msgRxBuffer[FIFO_lecture].data[2];
Sitkah 30:a1e37af4bbde 2074 break;
Sitkah 30:a1e37af4bbde 2075
Sitkah 35:742dc6b200b0 2076 case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
Sitkah 35:742dc6b200b0 2077 actual_instruction = instruction.nextLineError;
Sitkah 35:742dc6b200b0 2078 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 35:742dc6b200b0 2079 /*waitingAckID_FIN=0;
Sitkah 35:742dc6b200b0 2080 waitingAckFrom_FIN=0;*/
Sitkah 35:742dc6b200b0 2081 SendRawId(0x40);
Sitkah 35:742dc6b200b0 2082 break;
Sitkah 29:41e02746041d 2083 }
antbig 0:ad97421fb1fb 2084 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 2085 }
antbig 0:ad97421fb1fb 2086 }
Sitkah 29:41e02746041d 2087
Sitkah 29:41e02746041d 2088
Sitkah 29:41e02746041d 2089
Sitkah 29:41e02746041d 2090
Sitkah 29:41e02746041d 2091
Sitkah 29:41e02746041d 2092 /****************************************************************************************/
Sitkah 29:41e02746041d 2093 /* FUNCTION NAME: Bouton_Strat */
Sitkah 29:41e02746041d 2094 /* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
Sitkah 29:41e02746041d 2095 /****************************************************************************************/
Sitkah 29:41e02746041d 2096 signed char Bouton_Strat (void)
Sitkah 29:41e02746041d 2097 {
Sitkah 29:41e02746041d 2098 Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
Sitkah 29:41e02746041d 2099 Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
Sitkah 29:41e02746041d 2100 Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
Sitkah 29:41e02746041d 2101 Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
Sitkah 29:41e02746041d 2102 Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
Sitkah 29:41e02746041d 2103 Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
Sitkah 29:41e02746041d 2104 Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
Sitkah 29:41e02746041d 2105 Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
Sitkah 29:41e02746041d 2106 Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
Sitkah 29:41e02746041d 2107 Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
Sitkah 29:41e02746041d 2108 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 2109 //Definition des boutons
Sitkah 29:41e02746041d 2110
Sitkah 29:41e02746041d 2111 Ack_strat = 0;
Sitkah 29:41e02746041d 2112 Strat = 0;
Sitkah 29:41e02746041d 2113 STRAT_1.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2114 STRAT_2.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2115 STRAT_3.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2116 STRAT_4.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2117 STRAT_5.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2118 STRAT_6.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2119 STRAT_7.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2120 STRAT_8.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2121 STRAT_9.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2122 STRAT_10.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2123 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 2124
Sitkah 29:41e02746041d 2125 while(Ack_strat == 0)
Sitkah 29:41e02746041d 2126 {
Sitkah 29:41e02746041d 2127 canProcessRx();
Sitkah 29:41e02746041d 2128 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 2129 //msgTx.id=ECRAN_CHOICE_STRAT;
Sitkah 29:41e02746041d 2130 if (RETOUR.Touched())
Sitkah 29:41e02746041d 2131 return -1;
Sitkah 29:41e02746041d 2132 while(RETOUR.Touched());
Sitkah 29:41e02746041d 2133 //////////////////////////////STRATEGIE N°1
Sitkah 29:41e02746041d 2134 if (STRAT_1.Touched()){
Sitkah 29:41e02746041d 2135 Strat = 0;
Sitkah 30:a1e37af4bbde 2136 //msgTx.data[0] = 0x1;
Sitkah 30:a1e37af4bbde 2137 //can2.write(msgTx);
Sitkah 29:41e02746041d 2138 while(STRAT_1.Touched());
Sitkah 29:41e02746041d 2139 Ack_strat =1;
Sitkah 29:41e02746041d 2140 }
Sitkah 29:41e02746041d 2141 /////////////////////////////STRATEGIE N°2
Sitkah 29:41e02746041d 2142 if (STRAT_2.Touched()){
Sitkah 29:41e02746041d 2143 Strat = 1;
Sitkah 30:a1e37af4bbde 2144 //msgTx.data[0] = 0x2;
Sitkah 30:a1e37af4bbde 2145 //can2.write(msgTx);
Sitkah 29:41e02746041d 2146 while(STRAT_2.Touched());
Sitkah 29:41e02746041d 2147 Ack_strat =1;
Sitkah 29:41e02746041d 2148 }
Sitkah 29:41e02746041d 2149 //////////////////////////////STRATEGIE N°3
Sitkah 29:41e02746041d 2150 if (STRAT_3.Touched()){
Sitkah 29:41e02746041d 2151 Strat = 2;
Sitkah 30:a1e37af4bbde 2152 //msgTx.data[0] = 0x3;
Sitkah 30:a1e37af4bbde 2153 //can2.write(msgTx);
Sitkah 29:41e02746041d 2154 while(STRAT_3.Touched());
Sitkah 29:41e02746041d 2155 Ack_strat =1;
Sitkah 29:41e02746041d 2156 }
Sitkah 29:41e02746041d 2157 /////////////////////////////STRATEGIE N°4
Sitkah 29:41e02746041d 2158 if (STRAT_4.Touched()){
Sitkah 29:41e02746041d 2159 Strat = 3;
Sitkah 30:a1e37af4bbde 2160 //msgTx.data[0] = 0x4;
Sitkah 30:a1e37af4bbde 2161 //can2.write(msgTx);
Sitkah 29:41e02746041d 2162 while(STRAT_4.Touched());
Sitkah 29:41e02746041d 2163 Ack_strat =1;
Sitkah 29:41e02746041d 2164 }
Sitkah 29:41e02746041d 2165 ///////////////////////////////STRATEGIE N°5
Sitkah 29:41e02746041d 2166 if (STRAT_5.Touched()){
Sitkah 29:41e02746041d 2167 Strat = 4;
Sitkah 30:a1e37af4bbde 2168 //msgTx.data[0] = 0x5;
Sitkah 30:a1e37af4bbde 2169 //can2.write(msgTx);
Sitkah 29:41e02746041d 2170 while(STRAT_5.Touched());
Sitkah 29:41e02746041d 2171 Ack_strat =1;
Sitkah 29:41e02746041d 2172 }
Sitkah 29:41e02746041d 2173 ////////////////////////////////STRATEGIE N°6
Sitkah 29:41e02746041d 2174 if (STRAT_6.Touched()){
Sitkah 29:41e02746041d 2175 Strat = 5;
Sitkah 30:a1e37af4bbde 2176 //msgTx.data[0] = 0x6;
Sitkah 30:a1e37af4bbde 2177 //can2.write(msgTx);
Sitkah 29:41e02746041d 2178 while(STRAT_6.Touched());
Sitkah 29:41e02746041d 2179 Ack_strat =1;
Sitkah 29:41e02746041d 2180 }
Sitkah 29:41e02746041d 2181 /////////////////////////////////STRATEGIE N°7
Sitkah 29:41e02746041d 2182 if (STRAT_7.Touched()){
Sitkah 29:41e02746041d 2183 Strat = 6;
Sitkah 30:a1e37af4bbde 2184 //msgTx.data[0] = 0x7;
Sitkah 30:a1e37af4bbde 2185 //can2.write(msgTx);
Sitkah 29:41e02746041d 2186 while(STRAT_7.Touched());
Sitkah 29:41e02746041d 2187 Ack_strat =1;
Sitkah 29:41e02746041d 2188 }
Sitkah 29:41e02746041d 2189 /////////////////////////////////STRATEGIE N°8
Sitkah 29:41e02746041d 2190 if (STRAT_8.Touched()){
Sitkah 29:41e02746041d 2191 Strat = 7;
Sitkah 30:a1e37af4bbde 2192 //msgTx.data[0] = 0x8;
Sitkah 30:a1e37af4bbde 2193 //can2.write(msgTx);
Sitkah 29:41e02746041d 2194 while(STRAT_8.Touched());
Sitkah 29:41e02746041d 2195 Ack_strat =1;
Sitkah 29:41e02746041d 2196 }
Sitkah 29:41e02746041d 2197 /////////////////////////////////STRATEGIE N°9
Sitkah 29:41e02746041d 2198 if (STRAT_9.Touched()){
Sitkah 29:41e02746041d 2199 Strat = 8;
Sitkah 30:a1e37af4bbde 2200 //msgTx.data[0] = 0x9;
Sitkah 30:a1e37af4bbde 2201 //can2.write(msgTx);
Sitkah 29:41e02746041d 2202 while(STRAT_9.Touched());
Sitkah 29:41e02746041d 2203 Ack_strat =1;
Sitkah 29:41e02746041d 2204 }
Sitkah 29:41e02746041d 2205 ///////////////////////////////////STRATEGIE N°10
Sitkah 29:41e02746041d 2206 if (STRAT_10.Touched()){
Sitkah 29:41e02746041d 2207 Strat = 9;
Sitkah 30:a1e37af4bbde 2208 //msgTx.data[0] = 0xA;
Sitkah 30:a1e37af4bbde 2209 //can2.write(msgTx);
Sitkah 29:41e02746041d 2210 while(STRAT_10.Touched());
Sitkah 29:41e02746041d 2211 Ack_strat =1;
Sitkah 29:41e02746041d 2212 }
Sitkah 29:41e02746041d 2213
Sitkah 29:41e02746041d 2214 }
Sitkah 29:41e02746041d 2215 return Strat;
Sitkah 29:41e02746041d 2216
Sitkah 29:41e02746041d 2217 }
Sitkah 29:41e02746041d 2218
Sitkah 29:41e02746041d 2219 void affichage_compteur (int nombre)
Sitkah 29:41e02746041d 2220 {
Sitkah 38:76f886a1c8e6 2221 int dizaine=0,unite=0,centaine=0;
Sitkah 38:76f886a1c8e6 2222 centaine=nombre/100;
Sitkah 29:41e02746041d 2223 dizaine = nombre/10;
Sitkah 29:41e02746041d 2224 unite = nombre-(10*dizaine);
Sitkah 38:76f886a1c8e6 2225 print_segment(unite,-50);
Sitkah 40:21bb685b553b 2226 print_segment(dizaine,100);
Sitkah 38:76f886a1c8e6 2227 if(centaine!=0){
Sitkah 38:76f886a1c8e6 2228 print_segment(centaine,350);
Sitkah 38:76f886a1c8e6 2229 }
Sitkah 29:41e02746041d 2230
Sitkah 29:41e02746041d 2231 }
Sitkah 29:41e02746041d 2232
Sitkah 29:41e02746041d 2233
Sitkah 29:41e02746041d 2234 //****print_segment***
Sitkah 29:41e02746041d 2235 //Dessine en 7 segment le nombre en parametre
Sitkah 29:41e02746041d 2236 // A
Sitkah 29:41e02746041d 2237 // =====
Sitkah 29:41e02746041d 2238 // | |
Sitkah 29:41e02746041d 2239 // B | G | E
Sitkah 29:41e02746041d 2240 // |=====|
Sitkah 29:41e02746041d 2241 // C | | F
Sitkah 29:41e02746041d 2242 // | |
Sitkah 29:41e02746041d 2243 // =====
Sitkah 29:41e02746041d 2244 // D
Sitkah 29:41e02746041d 2245 /*
Sitkah 29:41e02746041d 2246 position pour le chiffre des unites
Sitkah 29:41e02746041d 2247 lcd.FillRect(460,75,120,25);// A
Sitkah 29:41e02746041d 2248 lcd.FillRect(435,100,25,120);// B
Sitkah 29:41e02746041d 2249 lcd.FillRect(435,245,25,120);// C
Sitkah 29:41e02746041d 2250 lcd.FillRect(460,365,120,25);// D
Sitkah 29:41e02746041d 2251 lcd.FillRect(580,100,25,120);// E
Sitkah 29:41e02746041d 2252 lcd.FillRect(580,245,25,120);// F
Sitkah 29:41e02746041d 2253 lcd.FillRect(460,220,120,25);// G
Sitkah 29:41e02746041d 2254
Sitkah 29:41e02746041d 2255 position pour le chiffre des dizaines
Sitkah 29:41e02746041d 2256 lcd.FillRect(260,75,120,25);// A
Sitkah 29:41e02746041d 2257 lcd.FillRect(235,100,25,120);// B
Sitkah 29:41e02746041d 2258 lcd.FillRect(235,245,25,120);// C
Sitkah 29:41e02746041d 2259 lcd.FillRect(260,365,120,25);// D
Sitkah 29:41e02746041d 2260 lcd.FillRect(380,100,25,120);// E
Sitkah 29:41e02746041d 2261 lcd.FillRect(380,245,25,120);// F
Sitkah 29:41e02746041d 2262 lcd.FillRect(260,220,120,25);// G
Sitkah 29:41e02746041d 2263 */
Sitkah 29:41e02746041d 2264
Sitkah 29:41e02746041d 2265 void print_segment(int nombre, int decalage)
Sitkah 29:41e02746041d 2266 {
Sitkah 38:76f886a1c8e6 2267
Sitkah 29:41e02746041d 2268 switch(nombre)
Sitkah 29:41e02746041d 2269 {
Sitkah 29:41e02746041d 2270 case 0:
Sitkah 29:41e02746041d 2271 lcd.FillRect(240-decalage,75,120,25);
Sitkah 29:41e02746041d 2272 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2273 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2274 lcd.FillRect(360-decalage,245,25,120);
Sitkah 29:41e02746041d 2275 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2276 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2277 break;
Sitkah 29:41e02746041d 2278
Sitkah 29:41e02746041d 2279 case 1:
Sitkah 29:41e02746041d 2280 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2281 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2282 break;
Sitkah 29:41e02746041d 2283
Sitkah 29:41e02746041d 2284 case 2:
Sitkah 29:41e02746041d 2285 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2286 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2287 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2288 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2289 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2290 break;
Sitkah 29:41e02746041d 2291
Sitkah 29:41e02746041d 2292 case 3:
Sitkah 29:41e02746041d 2293 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2294 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2295 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2296 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2297 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2298 break;
Sitkah 29:41e02746041d 2299
Sitkah 29:41e02746041d 2300 case 4:
Sitkah 29:41e02746041d 2301 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2302 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2303 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2304 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2305 break;
Sitkah 29:41e02746041d 2306
Sitkah 29:41e02746041d 2307 case 5:
Sitkah 29:41e02746041d 2308 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2309 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2310 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2311 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2312 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2313 break;
Sitkah 29:41e02746041d 2314
Sitkah 29:41e02746041d 2315 case 6:
Sitkah 29:41e02746041d 2316 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2317 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2318 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2319 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2320 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2321 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2322 break;
Sitkah 29:41e02746041d 2323
Sitkah 29:41e02746041d 2324 case 7:
Sitkah 29:41e02746041d 2325 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2326 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2327 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2328 break;
Sitkah 29:41e02746041d 2329
Sitkah 29:41e02746041d 2330 case 8:
Sitkah 29:41e02746041d 2331 lcd.FillRect(240-decalage,75,120,25); // A
Sitkah 29:41e02746041d 2332 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2333 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2334 lcd.FillRect(360-decalage,245,25,120);//...
Sitkah 29:41e02746041d 2335 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2336 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2337 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2338 break;
Sitkah 29:41e02746041d 2339
Sitkah 29:41e02746041d 2340 case 9:
Sitkah 29:41e02746041d 2341 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2342 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2343 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2344 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2345 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2346 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2347 break;
Sitkah 29:41e02746041d 2348 }
Sitkah 29:41e02746041d 2349 }
Sitkah 29:41e02746041d 2350
Sitkah 29:41e02746041d 2351 void effacer_segment(long couleur)
Sitkah 29:41e02746041d 2352 {
Sitkah 29:41e02746041d 2353 lcd.SetTextColor(couleur);
Sitkah 29:41e02746041d 2354 lcd.FillRect(240-200,75,120,25); // A
Sitkah 29:41e02746041d 2355 lcd.FillRect(215-200,100,25,120);
Sitkah 29:41e02746041d 2356 lcd.FillRect(215-200,245,25,120);
Sitkah 29:41e02746041d 2357 lcd.FillRect(360-200,245,25,120);//...
Sitkah 29:41e02746041d 2358 lcd.FillRect(360-200,100,25,120);
Sitkah 29:41e02746041d 2359 lcd.FillRect(240-200,365,120,25);
Sitkah 29:41e02746041d 2360 lcd.FillRect(240-200,220,120,25);// G
Sitkah 29:41e02746041d 2361
Sitkah 29:41e02746041d 2362 lcd.FillRect(240,75,120,25); // A
Sitkah 29:41e02746041d 2363 lcd.FillRect(215,100,25,120);
Sitkah 29:41e02746041d 2364 lcd.FillRect(215,245,25,120);
Sitkah 29:41e02746041d 2365 lcd.FillRect(360,245,25,120);//...
Sitkah 29:41e02746041d 2366 lcd.FillRect(360,100,25,120);
Sitkah 29:41e02746041d 2367 lcd.FillRect(240,365,120,25);
Sitkah 29:41e02746041d 2368 lcd.FillRect(240,220,120,25);// G
Sitkah 29:41e02746041d 2369 }
Sitkah 36:6dd30780bd8e 2370
Sitkah 36:6dd30780bd8e 2371 short recalageAngulaireCapteur(void)
Sitkah 36:6dd30780bd8e 2372 {
Sitkah 36:6dd30780bd8e 2373 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2374 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2375 unsigned short angleAvant = 0;
Sitkah 36:6dd30780bd8e 2376 unsigned short angleArriere = 0;
Sitkah 36:6dd30780bd8e 2377 unsigned short orientationArrondie = 0;
Sitkah 36:6dd30780bd8e 2378
Sitkah 36:6dd30780bd8e 2379 unsigned short position_avant_gauche=0;
Sitkah 36:6dd30780bd8e 2380 unsigned short position_avant_droite=0;
Sitkah 36:6dd30780bd8e 2381 unsigned short position_arriere_gauche=0;
Sitkah 36:6dd30780bd8e 2382 unsigned short position_arriere_droite=0;
Sitkah 36:6dd30780bd8e 2383
Sitkah 36:6dd30780bd8e 2384 if(theta_robot >= 450 && theta_robot <= 1350)
Sitkah 36:6dd30780bd8e 2385 orientationArrondie = 90;
Sitkah 36:6dd30780bd8e 2386 else if(theta_robot <= -450 && theta_robot >= -1350)
Sitkah 36:6dd30780bd8e 2387 orientationArrondie = 270;
Sitkah 36:6dd30780bd8e 2388 else if(theta_robot <= 450 && theta_robot >= -450)
Sitkah 36:6dd30780bd8e 2389 orientationArrondie = 0;
Sitkah 36:6dd30780bd8e 2390 else if(theta_robot >= 1350 && theta_robot <= -1350)
Sitkah 36:6dd30780bd8e 2391 orientationArrondie = 180;
Sitkah 36:6dd30780bd8e 2392
Sitkah 36:6dd30780bd8e 2393 // Calcul de position pour faire la vérification de cohérence
Sitkah 36:6dd30780bd8e 2394 if(orientationArrondie == 90 || orientationArrondie == 270)
Sitkah 36:6dd30780bd8e 2395 {
Sitkah 36:6dd30780bd8e 2396 position_avant_gauche = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2397 position_avant_droite = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2398 position_arriere_gauche = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2399 position_arriere_droite = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2400
Sitkah 36:6dd30780bd8e 2401 }
Sitkah 36:6dd30780bd8e 2402 else if(orientationArrondie == 0 || orientationArrondie == 180)
Sitkah 36:6dd30780bd8e 2403 {
Sitkah 36:6dd30780bd8e 2404 position_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2405 position_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2406 position_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2407 position_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2408 }
Sitkah 36:6dd30780bd8e 2409
Sitkah 36:6dd30780bd8e 2410
Sitkah 36:6dd30780bd8e 2411 if(orientationArrondie == 90 || orientationArrondie == 270) // Si il est en axe Y
Sitkah 36:6dd30780bd8e 2412 {
Sitkah 36:6dd30780bd8e 2413 if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2414 {
Sitkah 36:6dd30780bd8e 2415 if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2416 {
Sitkah 36:6dd30780bd8e 2417 if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
Sitkah 36:6dd30780bd8e 2418 angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche) , (double)ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2419 else
Sitkah 36:6dd30780bd8e 2420 angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
Sitkah 36:6dd30780bd8e 2421
Sitkah 36:6dd30780bd8e 2422 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2423 moyennageTelemetre += angleArriere;
Sitkah 36:6dd30780bd8e 2424 }
Sitkah 36:6dd30780bd8e 2425 }
Sitkah 36:6dd30780bd8e 2426 }
Sitkah 36:6dd30780bd8e 2427 else if(orientationArrondie == 0 || orientationArrondie == 180) // Si il est en axe X
Sitkah 36:6dd30780bd8e 2428 {
Sitkah 36:6dd30780bd8e 2429 if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2430 {
Sitkah 36:6dd30780bd8e 2431 if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2432 {
Sitkah 36:6dd30780bd8e 2433 if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
Sitkah 36:6dd30780bd8e 2434 angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche) , (double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2435 else
Sitkah 36:6dd30780bd8e 2436 angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
Sitkah 36:6dd30780bd8e 2437
Sitkah 36:6dd30780bd8e 2438 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2439 moyennageTelemetre += angleArriere;
Sitkah 36:6dd30780bd8e 2440 }
Sitkah 36:6dd30780bd8e 2441 }
Sitkah 36:6dd30780bd8e 2442 }
Sitkah 36:6dd30780bd8e 2443
Sitkah 36:6dd30780bd8e 2444 if(orientationArrondie == 90 || orientationArrondie == 270) // Si il est en axe Y
Sitkah 36:6dd30780bd8e 2445 {
Sitkah 36:6dd30780bd8e 2446 if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2447 {
Sitkah 36:6dd30780bd8e 2448 if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2449 {
Sitkah 36:6dd30780bd8e 2450 if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2451 angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
Sitkah 36:6dd30780bd8e 2452 else
Sitkah 36:6dd30780bd8e 2453 angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite) ,(double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2454
Sitkah 36:6dd30780bd8e 2455 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2456 moyennageTelemetre += angleAvant;
Sitkah 36:6dd30780bd8e 2457 }
Sitkah 36:6dd30780bd8e 2458 }
Sitkah 36:6dd30780bd8e 2459 }
Sitkah 36:6dd30780bd8e 2460 else if(orientationArrondie == 0 || orientationArrondie == 180) // Si il est en axe X
Sitkah 36:6dd30780bd8e 2461 {
Sitkah 36:6dd30780bd8e 2462 if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2463 {
Sitkah 36:6dd30780bd8e 2464 if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2465 {
Sitkah 36:6dd30780bd8e 2466 if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2467 angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
Sitkah 36:6dd30780bd8e 2468 else
Sitkah 36:6dd30780bd8e 2469 angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite) ,(double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2470
Sitkah 36:6dd30780bd8e 2471 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2472 moyennageTelemetre += angleAvant;
Sitkah 36:6dd30780bd8e 2473 }
Sitkah 36:6dd30780bd8e 2474 }
Sitkah 36:6dd30780bd8e 2475 }
Sitkah 36:6dd30780bd8e 2476
Sitkah 36:6dd30780bd8e 2477 angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2478
Sitkah 36:6dd30780bd8e 2479
Sitkah 36:6dd30780bd8e 2480
Sitkah 36:6dd30780bd8e 2481 if(nombresDeMesuresAuxTelemetresQuiSontCoherentes)
Sitkah 36:6dd30780bd8e 2482 {
Sitkah 36:6dd30780bd8e 2483 if(orientationArrondie == 0)
Sitkah 36:6dd30780bd8e 2484 {
Sitkah 36:6dd30780bd8e 2485 angleRecalage -= 900;
Sitkah 36:6dd30780bd8e 2486
Sitkah 36:6dd30780bd8e 2487 /*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2488 distanceRecalage = *);
Sitkah 36:6dd30780bd8e 2489 else
Sitkah 36:6dd30780bd8e 2490 distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
Sitkah 36:6dd30780bd8e 2491 }
Sitkah 36:6dd30780bd8e 2492 else if(orientationArrondie == 90)
Sitkah 36:6dd30780bd8e 2493 {
Sitkah 36:6dd30780bd8e 2494 angleRecalage += 0;
Sitkah 36:6dd30780bd8e 2495 }
Sitkah 36:6dd30780bd8e 2496 else if(orientationArrondie == 180)
Sitkah 36:6dd30780bd8e 2497 {
Sitkah 36:6dd30780bd8e 2498 angleRecalage += 900;
Sitkah 36:6dd30780bd8e 2499 }
Sitkah 36:6dd30780bd8e 2500 else if(orientationArrondie == 270)
Sitkah 36:6dd30780bd8e 2501 {
Sitkah 36:6dd30780bd8e 2502 angleRecalage += 1800;
Sitkah 36:6dd30780bd8e 2503 }
Sitkah 36:6dd30780bd8e 2504 }
Sitkah 36:6dd30780bd8e 2505
Sitkah 36:6dd30780bd8e 2506 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
Sitkah 36:6dd30780bd8e 2507 }
Sitkah 36:6dd30780bd8e 2508
Sitkah 36:6dd30780bd8e 2509 short recalageDistanceX(void)
Sitkah 36:6dd30780bd8e 2510 {
Sitkah 36:6dd30780bd8e 2511 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2512 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2513
Sitkah 36:6dd30780bd8e 2514 telemetreDistance_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2515 telemetreDistance_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2516 telemetreDistance_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2517 telemetreDistance_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2518
Sitkah 36:6dd30780bd8e 2519 if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2520 {
Sitkah 36:6dd30780bd8e 2521 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2522 moyennageTelemetre += telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2523 }
Sitkah 36:6dd30780bd8e 2524 if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2525 {
Sitkah 36:6dd30780bd8e 2526 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2527 moyennageTelemetre += telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2528 }
Sitkah 36:6dd30780bd8e 2529 if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2530 {
Sitkah 36:6dd30780bd8e 2531 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2532 moyennageTelemetre += telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2533 }
Sitkah 36:6dd30780bd8e 2534 if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2535 {
Sitkah 36:6dd30780bd8e 2536 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2537 moyennageTelemetre += telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2538 }
Sitkah 36:6dd30780bd8e 2539
Sitkah 36:6dd30780bd8e 2540 moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2541
Sitkah 36:6dd30780bd8e 2542 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
Sitkah 36:6dd30780bd8e 2543 }
Sitkah 36:6dd30780bd8e 2544
Sitkah 36:6dd30780bd8e 2545 short recalageDistanceY(void)
Sitkah 36:6dd30780bd8e 2546 {
Sitkah 36:6dd30780bd8e 2547 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2548 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2549
Sitkah 36:6dd30780bd8e 2550 telemetreDistance_avant_gauche = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2551 telemetreDistance_avant_droite = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2552 telemetreDistance_arriere_gauche = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2553 telemetreDistance_arriere_droite = (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2554
Sitkah 36:6dd30780bd8e 2555 if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2556 {
Sitkah 36:6dd30780bd8e 2557 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2558 moyennageTelemetre += telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2559 }
Sitkah 36:6dd30780bd8e 2560 if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2561 {
Sitkah 36:6dd30780bd8e 2562 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2563 moyennageTelemetre += telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2564 }
Sitkah 36:6dd30780bd8e 2565 if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2566 {
Sitkah 36:6dd30780bd8e 2567 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2568 moyennageTelemetre += telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2569 }
Sitkah 36:6dd30780bd8e 2570 if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2571 {
Sitkah 36:6dd30780bd8e 2572 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2573 moyennageTelemetre += telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2574 }
Sitkah 36:6dd30780bd8e 2575
Sitkah 36:6dd30780bd8e 2576 moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2577
Sitkah 36:6dd30780bd8e 2578 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
Sitkah 36:6dd30780bd8e 2579 }
Sitkah 36:6dd30780bd8e 2580