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@26:2f4fcc2354f3, 2017-05-26 (annotated)

Committer:
ClementBreteau
Date:
Fri May 26 04:58:47 2017 +0000
Revision:
26:2f4fcc2354f3
Parent:
25:f140c93a8666
Child:
27:76ead555a63d
code avant  le troisieme match : stop balise puis redemarage sauf rayon courbure, inversion strat?gie OK

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 14:c8fc06c4887f 1 #include "Strategie.h"
ClementBreteau 26:2f4fcc2354f3 2 #define M_PI 3.14159265358979323846
antbig 0:ad97421fb1fb 3
antbig 5:dcd817534b57 4 E_stratGameEtat gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 5 E_stratGameEtat lastEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 6 unsigned char screenChecktry = 0;
antbig 0:ad97421fb1fb 7 Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
antbig 0:ad97421fb1fb 8 Timer fakeJack;
antbig 0:ad97421fb1fb 9 Timer gameTimer;
antbig 0:ad97421fb1fb 10 Timer debugetatTimer;
antbig 5:dcd817534b57 11 Timer timeoutWarning;
antbig 5:dcd817534b57 12 Timer timeoutWarningWaitEnd;
antbig 0:ad97421fb1fb 13 Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
antbig 0:ad97421fb1fb 14
antbig 0:ad97421fb1fb 15 unsigned short waitingAckID = 0;//L'id du ack attendu
antbig 0:ad97421fb1fb 16 unsigned short waitingAckFrom = 0;//La provenance du ack attendu
ClementBreteau 14:c8fc06c4887f 17 char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre
ClementBreteau 21:590cdacb6a35 18 unsigned short telemetreDistance = 0;
antbig 0:ad97421fb1fb 19 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 20
antbig 0:ad97421fb1fb 21 signed short x_robot,y_robot,theta_robot;//La position du robot
ClementBreteau 25:f140c93a8666 22 signed short target_x_robot, target_y_robot, target_theta_robot;
ClementBreteau 25:f140c93a8666 23 E_InstructionType actionPrecedente;
antbig 12:14729d584500 24 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
antbig 12:14729d584500 25
antbig 5:dcd817534b57 26 #ifdef ROBOT_BIG
ClementBreteau 14:c8fc06c4887f 27 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS,CHECK_AX12,CHECK_POMPES};
ClementBreteau 14:c8fc06c4887f 28 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS,ALIVE_AX12,ALIVE_POMPES};
ClementBreteau 14:c8fc06c4887f 29
ClementBreteau 23:ab87d308eaf9 30 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE,CHECK_ACTIONNEURS_AVANT,CHECK_ACTIONNEURS_ARRIERE};
ClementBreteau 23:ab87d308eaf9 31 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE,ALIVE_ACTIONNEURS_AVANT,ALIVE_ACTIONNEURS_ARRIERE};
ClementBreteau 15:c2fc239e85df 32
ClementBreteau 15:c2fc239e85df 33 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
ClementBreteau 15:c2fc239e85df 34 #else
ClementBreteau 15:c2fc239e85df 35 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 36 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 37
ClementBreteau 14:c8fc06c4887f 38 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR};
ClementBreteau 14:c8fc06c4887f 39 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR};
ClementBreteau 14:c8fc06c4887f 40
ClementBreteau 18:cc5fec34ed9c 41 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
antbig 5:dcd817534b57 42 #endif
antbig 0:ad97421fb1fb 43 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 44 unsigned char countAliveCard = 0;
antbig 0:ad97421fb1fb 45
antbig 2:8d8e2cf798a3 46 unsigned char InversStrat = 1;//Si à 1, indique que l'on part de l'autre cote de la table(inversion des Y)
antbig 1:116040d14164 47
ClementBreteau 14:c8fc06c4887f 48 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 49
antbig 5:dcd817534b57 50 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 51
antbig 12:14729d584500 52 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 53
ClementBreteau 14:c8fc06c4887f 54
antbig 4:88431b537477 55 /****************************************************************************************/
antbig 4:88431b537477 56 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 57 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 58 /****************************************************************************************/
antbig 0:ad97421fb1fb 59 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 60 {
antbig 0:ad97421fb1fb 61 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 62 SendRawId(GLOBAL_GAME_END);//Indication fin de match
antbig 0:ad97421fb1fb 63 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 64
antbig 1:116040d14164 65 #ifdef ROBOT_BIG
antbig 12:14729d584500 66 wait_ms(2000);
antbig 0:ad97421fb1fb 67 doFunnyAction();
antbig 0:ad97421fb1fb 68 #endif
antbig 0:ad97421fb1fb 69
antbig 1:116040d14164 70 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 71 }
antbig 0:ad97421fb1fb 72
antbig 4:88431b537477 73 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 74 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 75 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 76 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 77 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 78 {
antbig 8:0edc7dfb7f7e 79 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 80 led4=1;
antbig 8:0edc7dfb7f7e 81 gameEtat = ETAT_GAME_START;//On débute le match
antbig 8:0edc7dfb7f7e 82 }
antbig 8:0edc7dfb7f7e 83 }
antbig 8:0edc7dfb7f7e 84
antbig 8:0edc7dfb7f7e 85 /****************************************************************************************/
antbig 4:88431b537477 86 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 87 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 88 /****************************************************************************************/
antbig 0:ad97421fb1fb 89 void automate_process(void)
antbig 0:ad97421fb1fb 90 {
antbig 0:ad97421fb1fb 91 static struct S_Instruction instruction;
antbig 1:116040d14164 92 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 93 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 94 signed char localData1 = 0;
antbig 0:ad97421fb1fb 95 signed short localData2 = 0;
antbig 0:ad97421fb1fb 96 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 97 //signed short localData4 = 0;
antbig 1:116040d14164 98 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 99
antbig 12:14729d584500 100 if(gameTimer.read_ms() >= 89000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 101 gameTimer.stop();
antbig 0:ad97421fb1fb 102 gameTimer.reset();
antbig 0:ad97421fb1fb 103 gameEtat = ETAT_END;//Fin du temps
antbig 0:ad97421fb1fb 104 }
antbig 0:ad97421fb1fb 105
antbig 0:ad97421fb1fb 106 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 107 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 108 debugetatTimer.reset();
antbig 11:ed13a480ddca 109 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 110 }
antbig 0:ad97421fb1fb 111
antbig 0:ad97421fb1fb 112 switch(gameEtat)
antbig 0:ad97421fb1fb 113 {
antbig 0:ad97421fb1fb 114 case ETAT_CHECK_CARTE_SCREEN:
antbig 0:ad97421fb1fb 115 /*
antbig 0:ad97421fb1fb 116 Verification de l'état de la carte ecran
antbig 0:ad97421fb1fb 117 */
antbig 0:ad97421fb1fb 118 waitingAckFrom = ALIVE_IHM;//On indique que l'on attend un ack de la carte IHM
antbig 0:ad97421fb1fb 119 SendRawId(CHECK_IHM);//On demande à la carte IHM d'insiquer ça présence
antbig 0:ad97421fb1fb 120
antbig 0:ad97421fb1fb 121 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 122 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 123 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 124 gameEtat = ETAT_CHECK_CARTE_SCREEN_WAIT_ACK;
antbig 0:ad97421fb1fb 125
ClementBreteau 14:c8fc06c4887f 126 //gameEtat = ETAT_GAME_START;
ClementBreteau 14:c8fc06c4887f 127
antbig 0:ad97421fb1fb 128 break;
antbig 0:ad97421fb1fb 129 case ETAT_CHECK_CARTE_SCREEN_WAIT_ACK:
antbig 0:ad97421fb1fb 130 /*
antbig 0:ad97421fb1fb 131 Attente du ALIVE de la carte écran.
antbig 0:ad97421fb1fb 132
antbig 0:ad97421fb1fb 133 Si la carte ne répond pas apres 10ms, on retoune dans l'etat ETAT_CHECK_CARTE_SCREEN
antbig 0:ad97421fb1fb 134 maximum 3 tentatives
antbig 0:ad97421fb1fb 135 Si pas de réponse, clignotement de toutes les leds possible
antbig 0:ad97421fb1fb 136 */
antbig 0:ad97421fb1fb 137 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 138 cartesCheker.stop();
antbig 0:ad97421fb1fb 139 screenChecktry = 0;
antbig 0:ad97421fb1fb 140 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 141 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 142 cartesCheker.stop();
antbig 0:ad97421fb1fb 143 if(screenChecktry >=3) {
antbig 0:ad97421fb1fb 144 errorLoop();//Erreur La carte IHM n'est pas en ligne
antbig 0:ad97421fb1fb 145 } else {
antbig 0:ad97421fb1fb 146 gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 147 }
antbig 0:ad97421fb1fb 148 }
antbig 0:ad97421fb1fb 149 break;
antbig 0:ad97421fb1fb 150 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 151 /*
antbig 0:ad97421fb1fb 152 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 153 */
antbig 0:ad97421fb1fb 154 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 155 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 156
antbig 0:ad97421fb1fb 157 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 158 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 159 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 160 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
ClementBreteau 14:c8fc06c4887f 161
ClementBreteau 14:c8fc06c4887f 162
ClementBreteau 14:c8fc06c4887f 163
ClementBreteau 14:c8fc06c4887f 164
antbig 0:ad97421fb1fb 165 break;
antbig 0:ad97421fb1fb 166 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 167 /*
antbig 0:ad97421fb1fb 168 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 169 */
antbig 0:ad97421fb1fb 170 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 171 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 172 cartesCheker.stop();
antbig 0:ad97421fb1fb 173 screenChecktry = 0;
antbig 0:ad97421fb1fb 174 countAliveCard++;
antbig 11:ed13a480ddca 175 checkCurrent++;
antbig 0:ad97421fb1fb 176 if(checkCurrent >= NOMBRE_CARTES) {
antbig 12:14729d584500 177 //printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 178 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 179 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 180 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 5:dcd817534b57 181 tactile_printf("Selection couleur et strategie");
antbig 0:ad97421fb1fb 182 } else {
antbig 0:ad97421fb1fb 183 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 184 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 185 }
antbig 0:ad97421fb1fb 186 } else {
antbig 0:ad97421fb1fb 187 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 188 }
antbig 0:ad97421fb1fb 189 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 190 cartesCheker.stop();
antbig 0:ad97421fb1fb 191 if(screenChecktry >=3) {
antbig 12:14729d584500 192 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 193 screenChecktry = 0;
antbig 11:ed13a480ddca 194 checkCurrent++;
antbig 12:14729d584500 195
antbig 0:ad97421fb1fb 196 if(checkCurrent >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 197 if(countAliveCard == NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 198 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 199 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 0:ad97421fb1fb 200 } else {
antbig 0:ad97421fb1fb 201 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 202 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 203 }
antbig 0:ad97421fb1fb 204 } else {
antbig 0:ad97421fb1fb 205 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 206 }
antbig 0:ad97421fb1fb 207 } else {
antbig 0:ad97421fb1fb 208 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 209 }
antbig 0:ad97421fb1fb 210 }
antbig 0:ad97421fb1fb 211 break;
antbig 0:ad97421fb1fb 212 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 213 /*
antbig 0:ad97421fb1fb 214 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 215 */
antbig 0:ad97421fb1fb 216 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 217 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 218 }
antbig 0:ad97421fb1fb 219 break;
antbig 0:ad97421fb1fb 220 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 221 /*
antbig 0:ad97421fb1fb 222 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 223 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 224 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 225 */
ClementBreteau 14:c8fc06c4887f 226 modeTelemetre = 0;
antbig 0:ad97421fb1fb 227 break;
antbig 1:116040d14164 228 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 229 //On charge la liste des instructions
antbig 0:ad97421fb1fb 230 loadAllInstruction();//Mise en cache de toute les instructions
ClementBreteau 14:c8fc06c4887f 231
antbig 0:ad97421fb1fb 232 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
antbig 0:ad97421fb1fb 233 SendRawId(ECRAN_ACK_START_MATCH);
antbig 0:ad97421fb1fb 234 tactile_printf("Attente du JACK.");
antbig 12:14729d584500 235 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 236 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 237 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 238
antbig 12:14729d584500 239 #ifdef ROBOT_BIG //le gros robot n'a pas de recalage bordure pour ce placer au début, on lui envoit donc ça position
antbig 12:14729d584500 240 localData2 = POSITION_DEBUT_T;
antbig 12:14729d584500 241 localData3 = POSITION_DEBUT_Y;
antbig 12:14729d584500 242 if(InversStrat == 1) {
antbig 12:14729d584500 243 localData2 = -localData2;//Inversion theta
antbig 12:14729d584500 244 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
antbig 12:14729d584500 245 }
antbig 12:14729d584500 246 SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 247 #endif
ClementBreteau 18:cc5fec34ed9c 248 #ifdef ROBOT_SMALL
clementlignie 22:a466d08ac42b 249 localData2 = POSITION_DEBUT_T;
clementlignie 22:a466d08ac42b 250 localData3 = POSITION_DEBUT_Y;
clementlignie 22:a466d08ac42b 251 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 252 localData2 = -localData2;//Inversion theta
clementlignie 22:a466d08ac42b 253 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
clementlignie 22:a466d08ac42b 254 }
clementlignie 22:a466d08ac42b 255 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 256 #endif
antbig 0:ad97421fb1fb 257 break;
antbig 0:ad97421fb1fb 258 case ETAT_GAME_WAIT_FOR_JACK:
antbig 12:14729d584500 259 //On attend le jack
antbig 1:116040d14164 260 break;
antbig 1:116040d14164 261 case ETAT_GAME_START:
antbig 1:116040d14164 262 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 263
ClementBreteau 14:c8fc06c4887f 264 if (ModeDemo == 0){
ClementBreteau 14:c8fc06c4887f 265 chronoEnd.attach(&chronometre_ISR,90);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 266 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 267 }
antbig 1:116040d14164 268 gameTimer.reset();
antbig 12:14729d584500 269 jack.fall(NULL);//On désactive l'interruption du jack
antbig 10:a788d9cf60f2 270 SendRawId(GLOBAL_START);
antbig 12:14729d584500 271 tactile_printf("Start");//Pas vraiment util mais bon
antbig 0:ad97421fb1fb 272 break;
antbig 0:ad97421fb1fb 273 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 274 /*
antbig 0:ad97421fb1fb 275 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 276 */
antbig 0:ad97421fb1fb 277 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 278
antbig 0:ad97421fb1fb 279 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 280 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 281 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 282 } else {
antbig 0:ad97421fb1fb 283 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 284 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 285 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 286 }
antbig 0:ad97421fb1fb 287 screenChecktry = 0;
antbig 0:ad97421fb1fb 288 break;
antbig 0:ad97421fb1fb 289 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 290 /*
antbig 0:ad97421fb1fb 291 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 292 */
antbig 0:ad97421fb1fb 293 //debug_Instruction(instruction);
ClementBreteau 25:f140c93a8666 294
ClementBreteau 25:f140c93a8666 295 actionPrecedente = instruction.order;
ClementBreteau 25:f140c93a8666 296
antbig 0:ad97421fb1fb 297 switch(instruction.order)
antbig 0:ad97421fb1fb 298 {
antbig 12:14729d584500 299 case MV_COURBURE://C'est un rayon de courbure
ClementBreteau 26:2f4fcc2354f3 300 actionPrecedente = MV_COURBURE;
antbig 6:eddfa414fd11 301 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 302 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 303 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 6:eddfa414fd11 304 MV_enchainement++;
antbig 6:eddfa414fd11 305 localData5 = 1;
antbig 6:eddfa414fd11 306 } else {
antbig 6:eddfa414fd11 307 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 308 localData5 = 2;
antbig 6:eddfa414fd11 309 MV_enchainement = 0;
antbig 6:eddfa414fd11 310 } else {
antbig 6:eddfa414fd11 311 localData5 = 0;
antbig 6:eddfa414fd11 312 }
antbig 0:ad97421fb1fb 313 }
antbig 11:ed13a480ddca 314 localData1 = ((instruction.direction == LEFT)?1:-1);
ClementBreteau 23:ab87d308eaf9 315 localData2 = instruction.arg3;
antbig 12:14729d584500 316 if(InversStrat == 1)
antbig 12:14729d584500 317 {
antbig 12:14729d584500 318 localData1 = -localData1;//Inversion de la direction
ClementBreteau 23:ab87d308eaf9 319 #ifdef ROBOT_BIG
ClementBreteau 25:f140c93a8666 320 localData2 = -localData2;
ClementBreteau 26:2f4fcc2354f3 321 localData1 = -localData1;//Inversion de la direction
ClementBreteau 23:ab87d308eaf9 322 #endif
antbig 12:14729d584500 323 }
ClementBreteau 25:f140c93a8666 324 BendRadius(instruction.arg1, localData2, localData1, localData5);
ClementBreteau 18:cc5fec34ed9c 325
ClementBreteau 26:2f4fcc2354f3 326 if(instruction.direction == LEFT){
ClementBreteau 26:2f4fcc2354f3 327 target_theta_robot = theta_robot + localData2;
ClementBreteau 26:2f4fcc2354f3 328 }else{
ClementBreteau 26:2f4fcc2354f3 329 target_theta_robot = theta_robot - localData2;
ClementBreteau 26:2f4fcc2354f3 330 }
ClementBreteau 26:2f4fcc2354f3 331
antbig 0:ad97421fb1fb 332 break;
antbig 12:14729d584500 333 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 334 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 335 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 336 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 337 MV_enchainement++;
antbig 1:116040d14164 338 localData5 = 1;
antbig 1:116040d14164 339 } else {
antbig 12:14729d584500 340 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 341 localData5 = 2;
antbig 1:116040d14164 342 MV_enchainement = 0;
antbig 1:116040d14164 343 } else {
antbig 1:116040d14164 344 localData5 = 0;
antbig 1:116040d14164 345 }
antbig 0:ad97421fb1fb 346 }
ClementBreteau 16:7321fb3bb396 347 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 348 if(InversStrat == 1) {
ClementBreteau 15:c2fc239e85df 349 /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
ClementBreteau 15:c2fc239e85df 350 else instruction.direction = FORWARD;*/
ClementBreteau 15:c2fc239e85df 351 instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
ClementBreteau 15:c2fc239e85df 352 }
ClementBreteau 16:7321fb3bb396 353 #endif
antbig 1:116040d14164 354 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 355 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 356
ClementBreteau 26:2f4fcc2354f3 357 target_x_robot = x_robot + localData2*cos((double)theta_robot*M_PI/1800);
ClementBreteau 26:2f4fcc2354f3 358 target_y_robot = y_robot + localData2*sin((double)theta_robot*M_PI/1800);
ClementBreteau 25:f140c93a8666 359 target_theta_robot = theta_robot;
ClementBreteau 25:f140c93a8666 360
antbig 0:ad97421fb1fb 361 break;
antbig 12:14729d584500 362 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 363 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 364 localData2 = instruction.arg3;
antbig 12:14729d584500 365 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 366 localData2 = instruction.arg3;
antbig 12:14729d584500 367
antbig 12:14729d584500 368 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 369 if(localData2 > 1800) {
antbig 12:14729d584500 370 localData2 = localData2-3600;
antbig 12:14729d584500 371 }
antbig 12:14729d584500 372
antbig 0:ad97421fb1fb 373 }
ClementBreteau 23:ab87d308eaf9 374 #ifdef ROBOT_SMALL
clementlignie 22:a466d08ac42b 375 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 376 localData2 = -localData2;
clementlignie 22:a466d08ac42b 377 }
ClementBreteau 23:ab87d308eaf9 378 #endif
antbig 0:ad97421fb1fb 379 Rotate(localData2);
antbig 0:ad97421fb1fb 380 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 381 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 26:2f4fcc2354f3 382
antbig 0:ad97421fb1fb 383 break;
antbig 0:ad97421fb1fb 384 case MV_XYT:
antbig 0:ad97421fb1fb 385 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 386 localData1 = -1;
antbig 0:ad97421fb1fb 387 } else {
antbig 0:ad97421fb1fb 388 localData1 = 1;
antbig 0:ad97421fb1fb 389 }
antbig 2:8d8e2cf798a3 390
antbig 2:8d8e2cf798a3 391 if(InversStrat == 1) {
antbig 12:14729d584500 392 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 393 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 394 } else {
antbig 2:8d8e2cf798a3 395 localData3 = instruction.arg2;
antbig 12:14729d584500 396 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 397 }
ClementBreteau 23:ab87d308eaf9 398
ClementBreteau 23:ab87d308eaf9 399 #ifdef ROBOT_BIG
ClementBreteau 23:ab87d308eaf9 400 if(InversStrat == 1) {
ClementBreteau 23:ab87d308eaf9 401 localData1 = -localData1;
ClementBreteau 23:ab87d308eaf9 402 localData3 = -localData3;
ClementBreteau 23:ab87d308eaf9 403 }
ClementBreteau 23:ab87d308eaf9 404 #endif
ClementBreteau 23:ab87d308eaf9 405
antbig 12:14729d584500 406 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 407 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 408 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 25:f140c93a8666 409
ClementBreteau 25:f140c93a8666 410 target_x_robot = instruction.arg1;
ClementBreteau 25:f140c93a8666 411 target_y_robot = localData3;
ClementBreteau 25:f140c93a8666 412 target_theta_robot = localData2;
ClementBreteau 25:f140c93a8666 413
antbig 0:ad97421fb1fb 414 break;
antbig 0:ad97421fb1fb 415 case MV_RECALAGE:
antbig 0:ad97421fb1fb 416 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 417 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 11:ed13a480ddca 418 instruction.nextActionType = WAIT;
antbig 12:14729d584500 419 localData2 = (((instruction.direction == FORWARD)?1:-1)*3000);//On indique une distance de 3000 pour etre sur que le robot va ce recaler
antbig 11:ed13a480ddca 420
antbig 11:ed13a480ddca 421 if(instruction.precision == RECALAGE_Y) {
antbig 11:ed13a480ddca 422 localData5 = 2;
antbig 11:ed13a480ddca 423 if(InversStrat == 1) {
antbig 11:ed13a480ddca 424 localData3 = 3000 - instruction.arg1;//Inversion du Y
antbig 11:ed13a480ddca 425 } else {
antbig 11:ed13a480ddca 426 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 427 }
antbig 11:ed13a480ddca 428 } else {
antbig 11:ed13a480ddca 429 localData5 = 1;
antbig 11:ed13a480ddca 430 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 431 }
antbig 11:ed13a480ddca 432
antbig 11:ed13a480ddca 433 GoStraight(localData2, localData5, localData3, 0);
antbig 0:ad97421fb1fb 434 break;
antbig 0:ad97421fb1fb 435 case ACTION:
ClementBreteau 18:cc5fec34ed9c 436 int tempo = 0;
ClementBreteau 18:cc5fec34ed9c 437 waitingAckID= SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 438 waitingAckFrom = ACKNOWLEDGE_AX12;
ClementBreteau 18:cc5fec34ed9c 439 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 440 if(tempo == 1){
antbig 0:ad97421fb1fb 441 //L'action est spécifique
antbig 11:ed13a480ddca 442 if((waitingAckFrom == 0 && waitingAckID == 0) || instruction.nextActionType == ENCHAINEMENT) {
ClementBreteau 18:cc5fec34ed9c 443
antbig 11:ed13a480ddca 444 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 445 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 11:ed13a480ddca 446 } else {
ClementBreteau 15:c2fc239e85df 447 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 448 }
ClementBreteau 18:cc5fec34ed9c 449 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 450 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 18:cc5fec34ed9c 451 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 18:cc5fec34ed9c 452 #endif
antbig 11:ed13a480ddca 453 return;
ClementBreteau 18:cc5fec34ed9c 454 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 455 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 456 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 457 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 458 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 459
ClementBreteau 18:cc5fec34ed9c 460 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 461 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 462 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 463 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 464 #endif
ClementBreteau 18:cc5fec34ed9c 465 }else{
antbig 0:ad97421fb1fb 466 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 467 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 468 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 469
antbig 0:ad97421fb1fb 470 }
antbig 0:ad97421fb1fb 471 break;
antbig 0:ad97421fb1fb 472 default:
antbig 0:ad97421fb1fb 473 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 474 break;
antbig 0:ad97421fb1fb 475 }
antbig 0:ad97421fb1fb 476
antbig 0:ad97421fb1fb 477
antbig 0:ad97421fb1fb 478
antbig 0:ad97421fb1fb 479 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 480 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 481 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 482 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 483 cartesCheker.start();
antbig 1:116040d14164 484 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 485 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 486 //AX12_enchainement = 0;
antbig 1:116040d14164 487 }
antbig 0:ad97421fb1fb 488 } else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 489 if(instruction.order == MV_LINE){
ClementBreteau 15:c2fc239e85df 490 gameEtat = ETAT_GAME_WAIT_ACK;
ClementBreteau 15:c2fc239e85df 491
ClementBreteau 15:c2fc239e85df 492 }else{
ClementBreteau 15:c2fc239e85df 493 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 494 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 495 }
antbig 0:ad97421fb1fb 496 }
antbig 0:ad97421fb1fb 497
antbig 0:ad97421fb1fb 498 break;
antbig 0:ad97421fb1fb 499 case ETAT_GAME_WAIT_ACK:
antbig 0:ad97421fb1fb 500 /*
antbig 0:ad97421fb1fb 501 Attente de l'ack de l'instruction
antbig 0:ad97421fb1fb 502 */
ClementBreteau 14:c8fc06c4887f 503 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continu
antbig 0:ad97421fb1fb 504 //if(true) {
antbig 0:ad97421fb1fb 505 cartesCheker.stop();
antbig 0:ad97421fb1fb 506 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 507 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 508 gameEtat = ETAT_GAME_JUMP_POSITION;
antbig 11:ed13a480ddca 509 } else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 510 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 511 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 512 cartesCheker.start();
antbig 0:ad97421fb1fb 513 }
antbig 0:ad97421fb1fb 514 } else if(instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 515 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 516 switch(instruction.order)
antbig 0:ad97421fb1fb 517 {
antbig 0:ad97421fb1fb 518 case MV_COURBURE:
antbig 0:ad97421fb1fb 519 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 0:ad97421fb1fb 520 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 521 break;
antbig 0:ad97421fb1fb 522 case MV_LINE:
antbig 0:ad97421fb1fb 523 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 524 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 525 break;
antbig 0:ad97421fb1fb 526 case MV_TURN:
antbig 0:ad97421fb1fb 527 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 528 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 529 break;
antbig 0:ad97421fb1fb 530 case MV_XYT:
antbig 0:ad97421fb1fb 531 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 532 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 533 break;
antbig 0:ad97421fb1fb 534 case MV_RECALAGE:
antbig 0:ad97421fb1fb 535 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 536 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 537 break;
antbig 0:ad97421fb1fb 538 case ACTION:
ClementBreteau 15:c2fc239e85df 539
ClementBreteau 15:c2fc239e85df 540 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 541 if (telemetreDistance == 0){
ClementBreteau 18:cc5fec34ed9c 542 waitingAckID = SERVO_AX12_ACTION;// instruction.arg1;
ClementBreteau 18:cc5fec34ed9c 543 waitingAckFrom = INSTRUCTION_END_AX12; //SERVO_AX12_DONE;
ClementBreteau 18:cc5fec34ed9c 544 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 545 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
ClementBreteau 18:cc5fec34ed9c 546 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 547 waitingAckFrom = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 548 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 549 }
ClementBreteau 15:c2fc239e85df 550 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 551 //modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 552 waitingAckID = OBJET_SUR_TABLE;
ClementBreteau 15:c2fc239e85df 553 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 554 }
antbig 0:ad97421fb1fb 555 break;
antbig 0:ad97421fb1fb 556 default:
antbig 0:ad97421fb1fb 557 break;
antbig 0:ad97421fb1fb 558 }
antbig 0:ad97421fb1fb 559 } else {
antbig 0:ad97421fb1fb 560 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 561 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 562 }
antbig 0:ad97421fb1fb 563 } else if(cartesCheker.read_ms () > 50){
antbig 0:ad97421fb1fb 564 cartesCheker.stop();
antbig 0:ad97421fb1fb 565 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 566 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 567 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 568 } else {
antbig 0:ad97421fb1fb 569 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 570 }
antbig 0:ad97421fb1fb 571 }
antbig 0:ad97421fb1fb 572 break;
antbig 0:ad97421fb1fb 573
antbig 0:ad97421fb1fb 574 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 575 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 576 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 577 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 578 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 579 }
antbig 0:ad97421fb1fb 580 break;
ClementBreteau 15:c2fc239e85df 581
ClementBreteau 15:c2fc239e85df 582 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 583 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 584 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 585 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 586 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 587 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 588 depasX = 0;
ClementBreteau 15:c2fc239e85df 589 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 590 depasX = -1;
ClementBreteau 15:c2fc239e85df 591 }
ClementBreteau 15:c2fc239e85df 592
ClementBreteau 15:c2fc239e85df 593 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 594 depasY = 0;
ClementBreteau 15:c2fc239e85df 595 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 596 depasY = -1;
ClementBreteau 15:c2fc239e85df 597 }
ClementBreteau 15:c2fc239e85df 598
ClementBreteau 15:c2fc239e85df 599 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 600 break;
antbig 0:ad97421fb1fb 601 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 602 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 603
ClementBreteau 15:c2fc239e85df 604 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 605 Xok = true;
ClementBreteau 15:c2fc239e85df 606 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 607 Xok = true;
ClementBreteau 15:c2fc239e85df 608 }
ClementBreteau 15:c2fc239e85df 609
ClementBreteau 15:c2fc239e85df 610 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 611 Yok = true;
ClementBreteau 15:c2fc239e85df 612 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 613 Yok = true;
ClementBreteau 15:c2fc239e85df 614 }
ClementBreteau 15:c2fc239e85df 615
ClementBreteau 15:c2fc239e85df 616 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 617 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 618 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 619 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 620 }
ClementBreteau 15:c2fc239e85df 621
antbig 0:ad97421fb1fb 622 break;
antbig 0:ad97421fb1fb 623 case ETAT_GAME_WAIT_END_INSTRUCTION:
antbig 0:ad97421fb1fb 624 if(waitingAckID == 0 && waitingAckFrom ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 625 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 626 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 627 }
antbig 0:ad97421fb1fb 628 break;
antbig 0:ad97421fb1fb 629
antbig 0:ad97421fb1fb 630
antbig 5:dcd817534b57 631 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 632 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 633 {
antbig 5:dcd817534b57 634 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 635 }
antbig 5:dcd817534b57 636 break;
antbig 5:dcd817534b57 637 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 638 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 639 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 640 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 641 }
antbig 5:dcd817534b57 642 break;
antbig 5:dcd817534b57 643 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
ClementBreteau 25:f140c93a8666 644 /*
antbig 12:14729d584500 645 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 646 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 647 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 648 #else
antbig 12:14729d584500 649 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 650 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 651 #endif
ClementBreteau 25:f140c93a8666 652 gameEtat = ETAT_END;*/
ClementBreteau 21:590cdacb6a35 653
ClementBreteau 25:f140c93a8666 654 switch(actionPrecedente){
ClementBreteau 25:f140c93a8666 655 case MV_LINE:
ClementBreteau 25:f140c93a8666 656 if(instruction.direction == BACKWARD) {
ClementBreteau 25:f140c93a8666 657 localData1 = -1;
ClementBreteau 25:f140c93a8666 658 } else {
ClementBreteau 25:f140c93a8666 659 localData1 = 1;
ClementBreteau 25:f140c93a8666 660 }
ClementBreteau 25:f140c93a8666 661 GoToPosition(target_x_robot,target_y_robot,target_theta_robot,localData1);
ClementBreteau 25:f140c93a8666 662 break;
ClementBreteau 25:f140c93a8666 663
ClementBreteau 25:f140c93a8666 664 case MV_XYT:
ClementBreteau 25:f140c93a8666 665 GoToPosition(target_x_robot,target_y_robot,target_theta_robot,localData1);
ClementBreteau 25:f140c93a8666 666 break;
ClementBreteau 25:f140c93a8666 667
ClementBreteau 26:2f4fcc2354f3 668 case MV_COURBURE:
ClementBreteau 26:2f4fcc2354f3 669 if(instruction.direction == LEFT){
ClementBreteau 26:2f4fcc2354f3 670 target_theta_robot = target_theta_robot - theta_robot;
ClementBreteau 26:2f4fcc2354f3 671 }else{
ClementBreteau 26:2f4fcc2354f3 672 target_theta_robot = target_theta_robot + theta_robot;
ClementBreteau 26:2f4fcc2354f3 673 }
ClementBreteau 26:2f4fcc2354f3 674 BendRadius(target_theta_robot, localData2, localData1, localData5);
ClementBreteau 25:f140c93a8666 675 break;
ClementBreteau 25:f140c93a8666 676 }
ClementBreteau 25:f140c93a8666 677
ClementBreteau 25:f140c93a8666 678 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 25:f140c93a8666 679 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 5:dcd817534b57 680 break;
antbig 5:dcd817534b57 681 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 682 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 683 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 684 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 685 break;
ClementBreteau 20:de595e4ff01d 686
ClementBreteau 20:de595e4ff01d 687
ClementBreteau 20:de595e4ff01d 688
ClementBreteau 14:c8fc06c4887f 689 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 690 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 691 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 692 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 693 } else {
ClementBreteau 14:c8fc06c4887f 694 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 695 }
antbig 0:ad97421fb1fb 696 break;
antbig 0:ad97421fb1fb 697 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 698 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 699
antbig 0:ad97421fb1fb 700 break;
antbig 0:ad97421fb1fb 701 default:
ClementBreteau 20:de595e4ff01d 702
antbig 0:ad97421fb1fb 703 break;
ClementBreteau 20:de595e4ff01d 704 }
ClementBreteau 20:de595e4ff01d 705 }
ClementBreteau 20:de595e4ff01d 706
antbig 4:88431b537477 707 /****************************************************************************************/
antbig 4:88431b537477 708 /* FUNCTION NAME: canProcessRx */
antbig 4:88431b537477 709 /* DESCRIPTION : Fonction de traitement des messages CAN */
antbig 4:88431b537477 710 /****************************************************************************************/
antbig 0:ad97421fb1fb 711 void canProcessRx(void)
ClementBreteau 20:de595e4ff01d 712 {
antbig 0:ad97421fb1fb 713 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
antbig 4:88431b537477 714 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 715 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 716 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 717 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 718 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 719 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 720 if(FIFO_occupation!=0) {
antbig 0:ad97421fb1fb 721
antbig 0:ad97421fb1fb 722 switch(msgRxBuffer[FIFO_lecture].id) {
antbig 4:88431b537477 723 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
ClementBreteau 23:ab87d308eaf9 724 case GLOBAL_JACK:
antbig 1:116040d14164 725 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 726 gameEtat = ETAT_GAME_START;
ClementBreteau 23:ab87d308eaf9 727 SendRawId(ACKNOWLEDGE_JACK);
antbig 1:116040d14164 728 }
antbig 1:116040d14164 729 break;
antbig 1:116040d14164 730
antbig 0:ad97421fb1fb 731 case ALIVE_BALISE:
antbig 0:ad97421fb1fb 732 case ALIVE_MOTEUR:
antbig 0:ad97421fb1fb 733 case ALIVE_IHM:
ClementBreteau 23:ab87d308eaf9 734 case ALIVE_ACTIONNEURS_AVANT:
ClementBreteau 23:ab87d308eaf9 735 case ALIVE_ACTIONNEURS_ARRIERE:
antbig 12:14729d584500 736 case ALIVE_AX12:
antbig 0:ad97421fb1fb 737 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 738 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 739 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 740 }
ClementBreteau 15:c2fc239e85df 741 break;
antbig 0:ad97421fb1fb 742
antbig 0:ad97421fb1fb 743 case ACKNOWLEDGE_BALISE:
antbig 0:ad97421fb1fb 744 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 745 case ACKNOWLEDGE_IHM:
ClementBreteau 14:c8fc06c4887f 746 case ACKNOWLEDGE_TELEMETRE:
ClementBreteau 15:c2fc239e85df 747 case ACKNOWLEDGE_AX12:
antbig 0:ad97421fb1fb 748 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 749 case INSTRUCTION_END_MOTEUR:
antbig 0:ad97421fb1fb 750 case INSTRUCTION_END_IHM:
ClementBreteau 15:c2fc239e85df 751 case INSTRUCTION_END_AX12:
ClementBreteau 18:cc5fec34ed9c 752
antbig 11:ed13a480ddca 753 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 754 waitingAckFrom = 0;
antbig 0:ad97421fb1fb 755 waitingAckID = 0;
antbig 0:ad97421fb1fb 756 }
antbig 0:ad97421fb1fb 757 break;
antbig 1:116040d14164 758 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 759 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 760 #else
antbig 0:ad97421fb1fb 761 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 762 #endif
antbig 0:ad97421fb1fb 763 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 764 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 765 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 766 break;
antbig 0:ad97421fb1fb 767
antbig 0:ad97421fb1fb 768 case ECRAN_START_MATCH:
antbig 0:ad97421fb1fb 769 if(gameEtat == ETAT_CONFIG) {
antbig 1:116040d14164 770 gameEtat = ETAT_GAME_INIT;
antbig 0:ad97421fb1fb 771 }
antbig 0:ad97421fb1fb 772 break;
antbig 0:ad97421fb1fb 773 case SERVO_AX12_SETGOAL:
antbig 9:d0042422d95a 774 //SendAck(0x114, SERVO_AX12_SETGOAL);
ClementBreteau 14:c8fc06c4887f 775 //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
ClementBreteau 14:c8fc06c4887f 776 //AX12_setGoal(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[2])<<8), msgRxBuffer[FIFO_lecture].data[3]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[4])<<8));
antbig 5:dcd817534b57 777
antbig 0:ad97421fb1fb 778 break;
ClementBreteau 14:c8fc06c4887f 779
antbig 0:ad97421fb1fb 780 case SERVO_AX12_PROCESS:
ClementBreteau 14:c8fc06c4887f 781 SendAck(0x114, SERVO_AX12_PROCESS);
ClementBreteau 14:c8fc06c4887f 782 //AX12_processChange(1);
antbig 0:ad97421fb1fb 783 break;
ClementBreteau 14:c8fc06c4887f 784
antbig 1:116040d14164 785 case SERVO_AX12_DONE:
ClementBreteau 15:c2fc239e85df 786 SendRawId(POMPE_PWM);
ClementBreteau 14:c8fc06c4887f 787 /*//SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 788 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
ClementBreteau 14:c8fc06c4887f 789
ClementBreteau 15:c2fc239e85df 790 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 791 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 792 waitingAckID = 0;*/
ClementBreteau 14:c8fc06c4887f 793
antbig 1:116040d14164 794 break;
antbig 2:8d8e2cf798a3 795 case ECRAN_CHOICE_COLOR://Choix de la couleur
antbig 4:88431b537477 796 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 2:8d8e2cf798a3 797 if(msgRxBuffer[FIFO_lecture].data[0] == 0)
antbig 2:8d8e2cf798a3 798 InversStrat = 0;//Pas d'inversion de la couleur
antbig 2:8d8e2cf798a3 799 else
antbig 2:8d8e2cf798a3 800 InversStrat = 1;//Inversion de la couleur
antbig 4:88431b537477 801
antbig 4:88431b537477 802 msgTx.id=ECRAN_ACK_COLOR; // tx ack de la couleur
antbig 4:88431b537477 803 msgTx.len=1;
antbig 4:88431b537477 804 msgTx.format=CANStandard;
antbig 4:88431b537477 805 msgTx.type=CANData;
antbig 4:88431b537477 806 // couleur sur 1 octet
antbig 4:88431b537477 807 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 808 can1.write(msgTx);
antbig 9:d0042422d95a 809
antbig 2:8d8e2cf798a3 810 }
antbig 2:8d8e2cf798a3 811 break;
ClementBreteau 14:c8fc06c4887f 812
antbig 2:8d8e2cf798a3 813 case ECRAN_CHOICE_STRAT://Choix du fichier de stratégie à utiliser
antbig 4:88431b537477 814 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 4:88431b537477 815 msgTx.id=ECRAN_ACK_STRAT; // tx ack de la couleur
antbig 4:88431b537477 816 msgTx.len=1;
antbig 4:88431b537477 817 msgTx.format=CANStandard;
antbig 4:88431b537477 818 msgTx.type=CANData;
antbig 4:88431b537477 819 if(SelectStrategy(msgRxBuffer[FIFO_lecture].data[0])) {
antbig 4:88431b537477 820 // id de la stratégie sur 1 octet
ClementBreteau 16:7321fb3bb396 821 if (msgRxBuffer[FIFO_lecture].data[0] < 0x10){ // Si la strat est une strat de match, on desactive le mode demo
ClementBreteau 14:c8fc06c4887f 822 ModeDemo = 0;
ClementBreteau 16:7321fb3bb396 823 } else { // sinon, on active le mode demo, utile pour la fin de la demo
ClementBreteau 14:c8fc06c4887f 824 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 825 }
ClementBreteau 14:c8fc06c4887f 826
antbig 4:88431b537477 827 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 828 } else {
antbig 4:88431b537477 829 //erreur sur 1 octet
antbig 4:88431b537477 830 msgTx.data[0]=0;
antbig 4:88431b537477 831 }
antbig 4:88431b537477 832 can1.write(msgTx);
antbig 9:d0042422d95a 833 wait_ms(10);
antbig 12:14729d584500 834 setAsservissementEtat(0);//Désactivation de l'asservissement pour repositionner le robot dans le zone de départ
antbig 12:14729d584500 835 tactile_printf("Strat %d, Asser desactive",msgTx.data[0]);
antbig 2:8d8e2cf798a3 836 }
antbig 2:8d8e2cf798a3 837 break;
ClementBreteau 16:7321fb3bb396 838 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 839 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 840 break;
ClementBreteau 16:7321fb3bb396 841
antbig 5:dcd817534b57 842 case BALISE_STOP:
antbig 5:dcd817534b57 843 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
ClementBreteau 18:cc5fec34ed9c 844 //if (instruction[actual_instruction].order != MV_TURN){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
ClementBreteau 16:7321fb3bb396 845 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 846 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 847 {
ClementBreteau 16:7321fb3bb396 848 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 26:2f4fcc2354f3 849 //while(1); // ligne à décommenter si on est en homologation
ClementBreteau 16:7321fb3bb396 850 gameEtat = ETAT_WARNING_TIMEOUT;
ClementBreteau 16:7321fb3bb396 851 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 852 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 853 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 854 }
antbig 12:14729d584500 855 }
antbig 12:14729d584500 856 }
ClementBreteau 18:cc5fec34ed9c 857 //}
antbig 12:14729d584500 858 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 859 break;
ClementBreteau 16:7321fb3bb396 860
antbig 5:dcd817534b57 861 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 862 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 863 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 864 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 865 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 866 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 867 }
antbig 5:dcd817534b57 868 break;
antbig 12:14729d584500 869
antbig 12:14729d584500 870 case ECRAN_CHOICE_START_ACTION:
antbig 12:14729d584500 871 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 12:14729d584500 872 if(msgRxBuffer[FIFO_lecture].data[0] == 1) {
antbig 12:14729d584500 873 runRobotTest();
antbig 12:14729d584500 874 } else {
antbig 12:14729d584500 875 initRobotActionneur();
antbig 12:14729d584500 876 }
antbig 12:14729d584500 877 wait_ms(500);
antbig 12:14729d584500 878 SendRawId(ECRAN_ACK_CHOICE_START_ACTION);
antbig 12:14729d584500 879 }
antbig 12:14729d584500 880 break;
ClementBreteau 14:c8fc06c4887f 881
ClementBreteau 14:c8fc06c4887f 882 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 883 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 884
ClementBreteau 15:c2fc239e85df 885 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 886 }
ClementBreteau 15:c2fc239e85df 887 else{
ClementBreteau 15:c2fc239e85df 888
ClementBreteau 15:c2fc239e85df 889 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 890 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 891
ClementBreteau 15:c2fc239e85df 892 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 893 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 894 }
ClementBreteau 15:c2fc239e85df 895 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 896 break;
antbig 0:ad97421fb1fb 897 }
antbig 0:ad97421fb1fb 898
antbig 0:ad97421fb1fb 899 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 900 }
antbig 0:ad97421fb1fb 901 }