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@36:6dd30780bd8e, 2018-05-02 (annotated)

Committer:
Sitkah
Date:
Wed May 02 20:40:57 2018 +0000
Revision:
36:6dd30780bd8e
Parent:
35:742dc6b200b0
Child:
37:fca332b64b42
Recalage en une fois

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 29:41e02746041d 70
Sitkah 29:41e02746041d 71 int flag = 0, flag_strat = 0, flag_timer;
Sitkah 29:41e02746041d 72 char Ack_strat = 0;
Sitkah 29:41e02746041d 73 signed char Strat = 0;
antbig 0:ad97421fb1fb 74 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 75
antbig 0:ad97421fb1fb 76 signed short x_robot,y_robot,theta_robot;//La position du robot
ClementBreteau 25:f140c93a8666 77 signed short target_x_robot, target_y_robot, target_theta_robot;
ClementBreteau 25:f140c93a8666 78 E_InstructionType actionPrecedente;
antbig 12:14729d584500 79 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 80 //unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Sitkah 29:41e02746041d 81 int flagSendCan=1;
Sitkah 34:6aa4b46b102e 82 unsigned char Cote = 0; //0 -> VERT | 1 -> jaune
Sitkah 35:742dc6b200b0 83 unsigned short angleRecalage = 0;
antbig 0:ad97421fb1fb 84 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 85 unsigned char countAliveCard = 0;
Sitkah 35:742dc6b200b0 86 unsigned char ligne=0;
antbig 0:ad97421fb1fb 87
Sitkah 29:41e02746041d 88 signed char Strategie = 0; //N° de la strategie (1-10)
antbig 1:116040d14164 89
ClementBreteau 14:c8fc06c4887f 90 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 91
antbig 5:dcd817534b57 92 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 93
antbig 12:14729d584500 94 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 95
antbig 28:acd18776ed2d 96 unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
antbig 28:acd18776ed2d 97
antbig 28:acd18776ed2d 98 struct S_Instruction instruction;
antbig 28:acd18776ed2d 99
Sitkah 30:a1e37af4bbde 100 char couleur1, couleur2, couleur3;
Sitkah 29:41e02746041d 101 float cptf;
Sitkah 29:41e02746041d 102 int cpt,cpt1;
Sitkah 29:41e02746041d 103
Sitkah 32:1c9ab15c740e 104 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 105 T_etat etat = INIT;
Sitkah 29:41e02746041d 106 E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 107 E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 108
Sitkah 29:41e02746041d 109
Sitkah 29:41e02746041d 110 /////////////////DEFINITION DES BOUTONS////////////////////
Sitkah 34:6aa4b46b102e 111 Button COTE_VERT(0, 25, 400, 300, "VERT");
Sitkah 34:6aa4b46b102e 112 Button COTE_ORANGE(0, 350, 400, 300, "ORANGE");
Sitkah 29:41e02746041d 113 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 114 Button LANCER (0, 200, 400, 200, "--LANCER--");
Sitkah 29:41e02746041d 115 Button CHECK (0, 420, 400, 200, "Valider");
Sitkah 29:41e02746041d 116 Button MATCH (0, 50, 400, 320, "Match");
Sitkah 29:41e02746041d 117 Button DEMONSTRATION (0, 400, 400, 320, "Demo");
Sitkah 31:833fc481b002 118 Button TEST_HERKULEX(0, 25, 400, 100, "Test servos");
Sitkah 32:1c9ab15c740e 119 Button TEST_LASER(0, 135, 400, 100, "Test telemetre");
Sitkah 32:1c9ab15c740e 120 Button TEST_COULEURS(0,245,400,100,"Test capteurs");
Sitkah 32:1c9ab15c740e 121 Button TEST_TIR_BALLE(0,355,400,100,"Test Lanceur");
Sitkah 32:1c9ab15c740e 122 Button TEST_IMMEUBLE(0,465,400,100,"Test immeuble");
Sitkah 32:1c9ab15c740e 123 Button TEST_TRIEUR(0,575,400,100,"Test aiguilleur");
Sitkah 31:833fc481b002 124 Button TIR_CHATEAU(0, 25, 400, 100, "Tir chateau");
Sitkah 31:833fc481b002 125 Button EPURATION(0, 150, 400, 100, "epuration");
Sitkah 31:833fc481b002 126 Button LANCEUR_ON(0,275,400,100,"allumer le lanceur");
Sitkah 31:833fc481b002 127 Button LANCEUR_OFF(0,400,400,100,"eteindre le lanceur");
Sitkah 31:833fc481b002 128 Button ABAISSE_BLOC(0, 25, 400, 100, "Ramasser blocs");
Sitkah 31:833fc481b002 129 Button RELEVE_BLOC(0, 135, 400, 100, "lacher blocs");
Sitkah 31:833fc481b002 130 Button BRAS_ABEILLE_ON(0,245,400,100,"bras abeille");
Sitkah 32:1c9ab15c740e 131 Button BRAS_ABEILLE_OFF(0,355,400,100,"baisser bras abeille");
Sitkah 31:833fc481b002 132 Button INTERRUPTEUR_ON(0,465,400,100,"baisser bras interrupt");
Sitkah 31:833fc481b002 133 Button INTERRUPTEUR_OFF(0,575,400,100,"baisser bras interrupt");
Sitkah 29:41e02746041d 134 Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
Sitkah 32:1c9ab15c740e 135 Button TRI(0, 25, 400, 100, "Test tri");
Sitkah 32:1c9ab15c740e 136 Button AIGUILLEUR_D(0, 150, 400, 100, "aiguilleur droite");
Sitkah 32:1c9ab15c740e 137 Button AIGUILLEUR_G(0,275,400,100,"aiguilleur gauche");
Sitkah 32:1c9ab15c740e 138 Button AIGUILLEUR_CTRE(0,400,400,100,"aiguilleur centre");
Sitkah 29:41e02746041d 139 Button SUIVANT(0,380,200,100,"Suivant");
Sitkah 31:833fc481b002 140 Button COLOR_ORANGE (0, 230, 190, 110,"");
Sitkah 31:833fc481b002 141 Button COLOR_JAUNE (210, 230, 190, 110,"");
Sitkah 34:6aa4b46b102e 142 Button COLOR_VERT (0, 350, 190, 110,"");
Sitkah 34:6aa4b46b102e 143 Button COLOR_BLEU (210, 350, 190, 110,"");
Sitkah 31:833fc481b002 144 Button COLOR_NOIR (105, 470, 190, 110,"");
Sitkah 29:41e02746041d 145 ////////////////////////////////////////////////////////////
Sitkah 29:41e02746041d 146
Sitkah 29:41e02746041d 147 void SendRawId (unsigned short id);
Sitkah 29:41e02746041d 148 void SelectionStrat (unsigned char numeroStrat);
Sitkah 29:41e02746041d 149 void Setflag(void);
Sitkah 29:41e02746041d 150 void can2Rx_ISR(void);
Sitkah 29:41e02746041d 151 signed char Bouton_Strat (void);
Sitkah 29:41e02746041d 152
Sitkah 29:41e02746041d 153 void print_segment(int nombre, int decalage);
Sitkah 29:41e02746041d 154 void affichage_compteur (int nombre);
Sitkah 29:41e02746041d 155 void effacer_segment(long couleur);
Sitkah 29:41e02746041d 156
Sitkah 30:a1e37af4bbde 157 unsigned short telemetreDistance=0;
Sitkah 34:6aa4b46b102e 158 unsigned short telemetreDistance_avant_gauche=0;
Sitkah 34:6aa4b46b102e 159 unsigned short telemetreDistance_avant_droite=0;
Sitkah 34:6aa4b46b102e 160 unsigned short telemetreDistance_arriere_gauche=0;
Sitkah 34:6aa4b46b102e 161 unsigned short telemetreDistance_arriere_droite=0;
Sitkah 29:41e02746041d 162
Sitkah 29:41e02746041d 163 #ifdef ROBOT_BIG
Sitkah 29:41e02746041d 164
Sitkah 29:41e02746041d 165
Sitkah 29:41e02746041d 166 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE,CHECK_ACTIONNEURS_AVANT,CHECK_ACTIONNEURS_ARRIERE};
Sitkah 29:41e02746041d 167 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE,ALIVE_ACTIONNEURS_AVANT,ALIVE_ACTIONNEURS_ARRIERE};
Sitkah 29:41e02746041d 168
Sitkah 31:833fc481b002 169 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 170 #else
Sitkah 29:41e02746041d 171
Sitkah 29:41e02746041d 172
Sitkah 29:41e02746041d 173 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR};
Sitkah 29:41e02746041d 174 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR};
Sitkah 31:833fc481b002 175 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 176
Sitkah 29:41e02746041d 177
Sitkah 29:41e02746041d 178 #endif
Sitkah 29:41e02746041d 179
Sitkah 29:41e02746041d 180
Sitkah 29:41e02746041d 181
Sitkah 29:41e02746041d 182
Sitkah 29:41e02746041d 183
ClementBreteau 14:c8fc06c4887f 184
antbig 4:88431b537477 185 /****************************************************************************************/
antbig 4:88431b537477 186 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 187 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 188 /****************************************************************************************/
antbig 0:ad97421fb1fb 189 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 190 {
antbig 0:ad97421fb1fb 191 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 192 SendRawId(GLOBAL_GAME_END);//Indication fin de match
Sitkah 29:41e02746041d 193 etat=FIN;
antbig 0:ad97421fb1fb 194 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 195
antbig 1:116040d14164 196 #ifdef ROBOT_BIG
antbig 12:14729d584500 197 wait_ms(2000);
antbig 0:ad97421fb1fb 198 doFunnyAction();
antbig 0:ad97421fb1fb 199 #endif
antbig 0:ad97421fb1fb 200
antbig 1:116040d14164 201 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 202 }
antbig 0:ad97421fb1fb 203
Sitkah 29:41e02746041d 204
Sitkah 29:41e02746041d 205
antbig 4:88431b537477 206 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 207 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 208 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 209 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 210 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 211 {
antbig 8:0edc7dfb7f7e 212 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 213 gameEtat = ETAT_GAME_START;//On débute le match
Sitkah 29:41e02746041d 214 etat=COMPTEUR;
antbig 8:0edc7dfb7f7e 215 }
antbig 8:0edc7dfb7f7e 216 }
antbig 8:0edc7dfb7f7e 217
antbig 8:0edc7dfb7f7e 218 /****************************************************************************************/
Sitkah 29:41e02746041d 219 /* FUNCTION NAME: SelectionStrat */
Sitkah 29:41e02746041d 220 /* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
Sitkah 29:41e02746041d 221 /****************************************************************************************/
Sitkah 29:41e02746041d 222
Sitkah 29:41e02746041d 223
Sitkah 29:41e02746041d 224 void SelectionStrat (unsigned char Strategie)
Sitkah 29:41e02746041d 225 {
Sitkah 29:41e02746041d 226 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 227 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 228
Sitkah 29:41e02746041d 229 switch (Strategie+1)
Sitkah 29:41e02746041d 230 {
Sitkah 29:41e02746041d 231 case 0x1 :
Sitkah 29:41e02746041d 232 //description de Strategie n°1
Sitkah 29:41e02746041d 233 lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 234 break;
Sitkah 29:41e02746041d 235
Sitkah 29:41e02746041d 236 case 0x2 :
Sitkah 29:41e02746041d 237 //description de Strategie n°2
Sitkah 29:41e02746041d 238 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 239 break;
Sitkah 29:41e02746041d 240
Sitkah 29:41e02746041d 241 case 0x3 :
Sitkah 29:41e02746041d 242 //description de Strategie n°3
Sitkah 29:41e02746041d 243 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 244 break;
Sitkah 29:41e02746041d 245
Sitkah 29:41e02746041d 246 case 0x4 :
Sitkah 29:41e02746041d 247 //description de Strategie n°4
Sitkah 29:41e02746041d 248 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 249 break;
Sitkah 29:41e02746041d 250
Sitkah 29:41e02746041d 251 case 0x5 :
Sitkah 29:41e02746041d 252 //description de Strategie n°5
Sitkah 29:41e02746041d 253 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 254 break;
Sitkah 29:41e02746041d 255
Sitkah 29:41e02746041d 256 case 0x6 :
Sitkah 29:41e02746041d 257 //description de Strategie n°5
Sitkah 29:41e02746041d 258 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 259 break;
Sitkah 29:41e02746041d 260
Sitkah 29:41e02746041d 261 case 0x7 :
Sitkah 29:41e02746041d 262 //description de Strategie n°5
Sitkah 29:41e02746041d 263 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 264 break;
Sitkah 29:41e02746041d 265
Sitkah 29:41e02746041d 266 case 0x8 :
Sitkah 29:41e02746041d 267 //description de Strategie n°5
Sitkah 29:41e02746041d 268 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 269 break;
Sitkah 29:41e02746041d 270
Sitkah 29:41e02746041d 271 case 0x9 :
Sitkah 29:41e02746041d 272 //description de Strategie n°5
Sitkah 29:41e02746041d 273 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 274 break;
Sitkah 29:41e02746041d 275
Sitkah 29:41e02746041d 276 case 0xA :
Sitkah 29:41e02746041d 277 //description de Strategie n°5
Sitkah 29:41e02746041d 278 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 279 break;
Sitkah 29:41e02746041d 280 }
Sitkah 29:41e02746041d 281 }
Sitkah 29:41e02746041d 282
Sitkah 29:41e02746041d 283 void Setflag(void)
Sitkah 29:41e02746041d 284 {
Sitkah 29:41e02746041d 285 flagSendCan = 1;
Sitkah 29:41e02746041d 286 }
Sitkah 29:41e02746041d 287
Sitkah 35:742dc6b200b0 288 void affichage_var(double Var){
Sitkah 35:742dc6b200b0 289 if(ligne==7)
Sitkah 35:742dc6b200b0 290 ligne=0;
Sitkah 35:742dc6b200b0 291 char aff[10]="toto";
Sitkah 35:742dc6b200b0 292 sprintf(aff,"%lf ",Var);
Sitkah 35:742dc6b200b0 293 lcd.DisplayStringAt(120, LINE(5+(ligne)), (uint8_t *)aff, LEFT_MODE);
Sitkah 35:742dc6b200b0 294 ligne++;
Sitkah 35:742dc6b200b0 295
Sitkah 35:742dc6b200b0 296 }
Sitkah 35:742dc6b200b0 297
Sitkah 30:a1e37af4bbde 298 void affichage_debug(int Var){
Sitkah 29:41e02746041d 299 int i;
Sitkah 29:41e02746041d 300 int conv=(int)Var;
Sitkah 29:41e02746041d 301 SUIVANT.Draw(ROUGE, 0);
Sitkah 29:41e02746041d 302 for(i=0;i<9;i++){
Sitkah 29:41e02746041d 303 strcpy(tableau_aff[i],"");
Sitkah 29:41e02746041d 304 strcpy(tableau_aff[i],tableau_aff[i+1]);
Sitkah 29:41e02746041d 305 }
Sitkah 29:41e02746041d 306 strcpy(tableau_aff[9],tableau_etat[conv]);
Sitkah 29:41e02746041d 307 for(i=0;i<10;i++){
Sitkah 34:6aa4b46b102e 308 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 309 lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
Sitkah 29:41e02746041d 310 }
Sitkah 30:a1e37af4bbde 311 /*while(!ack_bluetooth){
Sitkah 30:a1e37af4bbde 312 //liaison_bluetooth();
Sitkah 29:41e02746041d 313 }
Sitkah 30:a1e37af4bbde 314 ack_bluetooth=0;*/
Sitkah 30:a1e37af4bbde 315 /*while(SUIVANT.Touched()==0);
Sitkah 30:a1e37af4bbde 316 while(SUIVANT.Touched());*/
Sitkah 29:41e02746041d 317 }
Sitkah 29:41e02746041d 318
Sitkah 29:41e02746041d 319
Sitkah 29:41e02746041d 320 void automate_etat_ihm(void)
Sitkah 29:41e02746041d 321 {
Sitkah 29:41e02746041d 322 int j;
Sitkah 29:41e02746041d 323 if (j==0){
Sitkah 29:41e02746041d 324 ts.Init(lcd.GetXSize(), lcd.GetYSize());
Sitkah 29:41e02746041d 325 j++;
Sitkah 29:41e02746041d 326 }
Sitkah 29:41e02746041d 327 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 328 switch (etat)
Sitkah 29:41e02746041d 329 {
Sitkah 29:41e02746041d 330 case INIT :
Sitkah 29:41e02746041d 331 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 332 canProcessRx();
Sitkah 30:a1e37af4bbde 333
Sitkah 32:1c9ab15c740e 334
Sitkah 30:a1e37af4bbde 335
Sitkah 30:a1e37af4bbde 336
Sitkah 29:41e02746041d 337 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 338 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 339 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 340 wait(0.15);
Sitkah 29:41e02746041d 341 lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
Sitkah 29:41e02746041d 342 //cartes non verifiées////////////////
Sitkah 29:41e02746041d 343 lcd.SetTextColor(DIY_GREY);
Sitkah 29:41e02746041d 344 lcd.FillRect(0,400,400,150); //carte moteur
Sitkah 29:41e02746041d 345 lcd.FillRect(0,600,400,150); //Balise
Sitkah 29:41e02746041d 346
Sitkah 29:41e02746041d 347 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 348 lcd.SetBackColor(DIY_GREY);
Sitkah 29:41e02746041d 349 lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 350 lcd.DisplayStringAt(110,650 , (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 351 ////////////////////////////////////////
Sitkah 29:41e02746041d 352
Sitkah 29:41e02746041d 353 FORCE_LAUNCH.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 354
Sitkah 29:41e02746041d 355 /*while(flag == 0)
Sitkah 29:41e02746041d 356 {
Sitkah 29:41e02746041d 357 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 358 canProcessRx();
Sitkah 29:41e02746041d 359 if (FORCE_LAUNCH.Touched())
Sitkah 29:41e02746041d 360 {
Sitkah 29:41e02746041d 361 etat = CHOIX;
Sitkah 29:41e02746041d 362 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 363 flag = 1;
Sitkah 29:41e02746041d 364 while(FORCE_LAUNCH.Touched());
Sitkah 29:41e02746041d 365 }
Sitkah 29:41e02746041d 366 }*/
Sitkah 29:41e02746041d 367
Sitkah 29:41e02746041d 368 etat=ATT;
Sitkah 29:41e02746041d 369 break;
Sitkah 29:41e02746041d 370
Sitkah 29:41e02746041d 371 case ATT :
Sitkah 29:41e02746041d 372 if (flag==1){
Sitkah 29:41e02746041d 373 etat = CHOIX;
Sitkah 29:41e02746041d 374 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 375 }
Sitkah 29:41e02746041d 376 else if (FORCE_LAUNCH.Touched()){
Sitkah 29:41e02746041d 377 etat = CHOIX;
Sitkah 29:41e02746041d 378 gameEtat = ETAT_CONFIG;
Sitkah 30:a1e37af4bbde 379 while(FORCE_LAUNCH.Touched());
Sitkah 29:41e02746041d 380 }
Sitkah 29:41e02746041d 381
Sitkah 29:41e02746041d 382 break;
Sitkah 29:41e02746041d 383
Sitkah 29:41e02746041d 384
Sitkah 29:41e02746041d 385 case CHOIX :
Sitkah 29:41e02746041d 386 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 387 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 388 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 389 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
Sitkah 29:41e02746041d 390 DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
Sitkah 29:41e02746041d 391 MATCH.Draw(0xFFF01010, 0);
Sitkah 29:41e02746041d 392 while(etat == CHOIX)
Sitkah 29:41e02746041d 393 {
Sitkah 29:41e02746041d 394 canProcessRx();
Sitkah 29:41e02746041d 395 if(DEMONSTRATION.Touched())
Sitkah 29:41e02746041d 396 {
Sitkah 29:41e02746041d 397 etat = DEMO;
Sitkah 29:41e02746041d 398 while(DEMONSTRATION.Touched());
Sitkah 29:41e02746041d 399 }
Sitkah 29:41e02746041d 400
Sitkah 29:41e02746041d 401 if(MATCH.Touched())
Sitkah 29:41e02746041d 402 {
Sitkah 29:41e02746041d 403 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 404 while(MATCH.Touched());
Sitkah 29:41e02746041d 405 }
Sitkah 29:41e02746041d 406
Sitkah 29:41e02746041d 407 }
Sitkah 29:41e02746041d 408 break;
Sitkah 29:41e02746041d 409
Sitkah 29:41e02746041d 410 case DEMO :
Sitkah 29:41e02746041d 411 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 412 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 34:6aa4b46b102e 413 TEST_HERKULEX.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 414 TEST_LASER.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 415 TEST_COULEURS.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 416 TEST_TIR_BALLE.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 417 TEST_IMMEUBLE.Draw(VERT,0);
Sitkah 34:6aa4b46b102e 418 TEST_TRIEUR.Draw(VERT,0);
Sitkah 29:41e02746041d 419 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config //
Sitkah 29:41e02746041d 420 InversStrat = 0;//Pas d'inversion de la couleur // A changer , discussion avec l'ihm
Sitkah 29:41e02746041d 421 }
Sitkah 29:41e02746041d 422 while (etat == DEMO)
Sitkah 29:41e02746041d 423 {
Sitkah 29:41e02746041d 424 canProcessRx();
Sitkah 31:833fc481b002 425 if(TEST_HERKULEX.Touched())
Sitkah 29:41e02746041d 426 {
Sitkah 30:a1e37af4bbde 427 //Strat = 0x10;
Sitkah 31:833fc481b002 428 while(TEST_HERKULEX.Touched());
Sitkah 32:1c9ab15c740e 429 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 430 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 431 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 432 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 433 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 434 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 435 can2.write(trame_Tx);
Sitkah 31:833fc481b002 436 TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 437 etat = TEST_SERVO;
Sitkah 31:833fc481b002 438 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 30:a1e37af4bbde 439 ModeDemo=1;
Sitkah 29:41e02746041d 440 }
Sitkah 29:41e02746041d 441
Sitkah 31:833fc481b002 442 else if(TEST_LASER.Touched())
Sitkah 31:833fc481b002 443 {
Sitkah 31:833fc481b002 444 //Strat = 0x11;
Sitkah 31:833fc481b002 445 while(TEST_LASER.Touched());
Sitkah 31:833fc481b002 446 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 447 etat = TEST_TELEMETRE;
Sitkah 31:833fc481b002 448 }
Sitkah 31:833fc481b002 449 else if (TEST_COULEURS.Touched()){
Sitkah 31:833fc481b002 450 while(TEST_COULEURS.Touched());
Sitkah 31:833fc481b002 451 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 452 etat =TEST_CAPTEURS ;
Sitkah 31:833fc481b002 453 }
Sitkah 31:833fc481b002 454 else if (TEST_TIR_BALLE.Touched()){
Sitkah 31:833fc481b002 455 while(TEST_TIR_BALLE.Touched());
Sitkah 31:833fc481b002 456 TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 457 etat =TEST_TIR ;
Sitkah 31:833fc481b002 458 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 459 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 460 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 461 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 462 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 463 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 464 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 465 can2.write(trame_Tx);
Sitkah 31:833fc481b002 466 ModeDemo=1;
Sitkah 31:833fc481b002 467 }
Sitkah 31:833fc481b002 468 else if(TEST_IMMEUBLE.Touched()){
Sitkah 31:833fc481b002 469 while(TEST_IMMEUBLE.Touched());
Sitkah 31:833fc481b002 470 TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 471 etat =DEMO_IMMEUBLE;
Sitkah 31:833fc481b002 472 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 473 }
Sitkah 32:1c9ab15c740e 474 else if(TEST_TRIEUR.Touched()){
Sitkah 32:1c9ab15c740e 475 while(TEST_TRIEUR.Touched());
Sitkah 32:1c9ab15c740e 476 etat=DEMO_TRIEUR;
Sitkah 32:1c9ab15c740e 477 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 478 }
Sitkah 32:1c9ab15c740e 479
Sitkah 32:1c9ab15c740e 480
Sitkah 29:41e02746041d 481 if(RETOUR.Touched())
Sitkah 29:41e02746041d 482 {
Sitkah 29:41e02746041d 483 etat = CHOIX;
Sitkah 29:41e02746041d 484 while(RETOUR.Touched());
Sitkah 31:833fc481b002 485
Sitkah 29:41e02746041d 486 }
Sitkah 29:41e02746041d 487 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
Sitkah 30:a1e37af4bbde 488 /*if (Strat< 0x10){ // Si la strat est une strat de match, on desactive le mode demo
Sitkah 29:41e02746041d 489 ModeDemo = 0;
Sitkah 29:41e02746041d 490 }
Sitkah 29:41e02746041d 491 else { // sinon, on active le mode demo, utile pour la fin de la demo
Sitkah 29:41e02746041d 492 ModeDemo = 1;
Sitkah 30:a1e37af4bbde 493 }*/
Sitkah 29:41e02746041d 494 Ack_strat = 1;
Sitkah 29:41e02746041d 495 wait_ms(10);
Sitkah 30:a1e37af4bbde 496 //tactile_printf("Strat %d, Asser desactive",Strat);
Sitkah 29:41e02746041d 497 }
Sitkah 30:a1e37af4bbde 498 //SelectionStrat(Strategie);
Sitkah 29:41e02746041d 499 }
Sitkah 29:41e02746041d 500 break;
Sitkah 32:1c9ab15c740e 501 case DEMO_TRIEUR:
Sitkah 32:1c9ab15c740e 502 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 503 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 32:1c9ab15c740e 504 TRI.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 505 AIGUILLEUR_D.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 506 AIGUILLEUR_G.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 507 AIGUILLEUR_CTRE.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 508 while(etat==DEMO_TRIEUR){
Sitkah 32:1c9ab15c740e 509 if(RETOUR.Touched()){
Sitkah 32:1c9ab15c740e 510 while (RETOUR.Touched());
Sitkah 32:1c9ab15c740e 511 etat=DEMO;
Sitkah 32:1c9ab15c740e 512 }
Sitkah 32:1c9ab15c740e 513 else if(TRI.Touched()){
Sitkah 32:1c9ab15c740e 514 while (TRI.Touched());
Sitkah 32:1c9ab15c740e 515 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 516 wait(0.5);
Sitkah 32:1c9ab15c740e 517 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 518 wait(0.5);
Sitkah 32:1c9ab15c740e 519 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 520 wait(0.5);
Sitkah 32:1c9ab15c740e 521 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 522
Sitkah 32:1c9ab15c740e 523 break;
Sitkah 32:1c9ab15c740e 524 }
Sitkah 32:1c9ab15c740e 525 else if(AIGUILLEUR_D.Touched()){
Sitkah 32:1c9ab15c740e 526 while (AIGUILLEUR_D.Touched());
Sitkah 32:1c9ab15c740e 527 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 528 break;
Sitkah 32:1c9ab15c740e 529 }
Sitkah 32:1c9ab15c740e 530 else if(AIGUILLEUR_G.Touched()){
Sitkah 32:1c9ab15c740e 531 while (AIGUILLEUR_G.Touched());
Sitkah 32:1c9ab15c740e 532 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 533 break;
Sitkah 32:1c9ab15c740e 534
Sitkah 32:1c9ab15c740e 535 }
Sitkah 32:1c9ab15c740e 536 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 32:1c9ab15c740e 537 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 32:1c9ab15c740e 538 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 32:1c9ab15c740e 539 break;
Sitkah 32:1c9ab15c740e 540 }
Sitkah 32:1c9ab15c740e 541 else if(AIGUILLEUR_CTRE.Touched()){
Sitkah 32:1c9ab15c740e 542 while (AIGUILLEUR_CTRE.Touched());
Sitkah 32:1c9ab15c740e 543 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 544 break;
Sitkah 32:1c9ab15c740e 545 }
Sitkah 32:1c9ab15c740e 546
Sitkah 32:1c9ab15c740e 547 }
Sitkah 32:1c9ab15c740e 548 break;
Sitkah 31:833fc481b002 549 case DEMO_IMMEUBLE:
Sitkah 31:833fc481b002 550 int color=0;
Sitkah 31:833fc481b002 551 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 552 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"Choix du code couleur", LEFT_MODE);
Sitkah 29:41e02746041d 553
Sitkah 31:833fc481b002 554 CANMessage msgTx=CANMessage();
Sitkah 31:833fc481b002 555 msgTx.id=MONTER_IMMEUBLE; // Monter immeuble
Sitkah 31:833fc481b002 556 msgTx.len=3;
Sitkah 31:833fc481b002 557 msgTx.format=CANStandard;
Sitkah 31:833fc481b002 558 msgTx.type=CANData;
Sitkah 29:41e02746041d 559
Sitkah 29:41e02746041d 560
Sitkah 31:833fc481b002 561 while(etat==DEMO_IMMEUBLE){
Sitkah 31:833fc481b002 562 switch(color){
Sitkah 31:833fc481b002 563 case 0:
Sitkah 31:833fc481b002 564
Sitkah 31:833fc481b002 565 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 566 COLOR_NOIR.Draw(NOIR,1);
Sitkah 31:833fc481b002 567 COLOR_ORANGE.Draw(ORANGE,0);
Sitkah 31:833fc481b002 568 COLOR_JAUNE.Draw(JAUNE,0);
Sitkah 31:833fc481b002 569 COLOR_VERT.Draw(VERT,0);
Sitkah 34:6aa4b46b102e 570 COLOR_BLEU.Draw(VERT,0);
Sitkah 31:833fc481b002 571
Sitkah 31:833fc481b002 572 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 573 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 574 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 1", LEFT_MODE);
Sitkah 31:833fc481b002 575 while(color==0){
Sitkah 31:833fc481b002 576 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 577 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 578 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 579 msgTx.data[color]=1;
Sitkah 31:833fc481b002 580 color++;
Sitkah 31:833fc481b002 581 }
Sitkah 31:833fc481b002 582 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 583 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 584 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 585 msgTx.data[color]=2;
Sitkah 31:833fc481b002 586 color++;
Sitkah 31:833fc481b002 587 }
Sitkah 31:833fc481b002 588 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 589 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 590 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 591
Sitkah 31:833fc481b002 592 msgTx.data[color]=3;
Sitkah 31:833fc481b002 593 color++;
Sitkah 31:833fc481b002 594 }
Sitkah 31:833fc481b002 595 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 596 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 597 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 598 msgTx.data[color]=4;
Sitkah 31:833fc481b002 599 color++;
Sitkah 31:833fc481b002 600 }
Sitkah 31:833fc481b002 601 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 602 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 603 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 604 msgTx.data[color]=5;
Sitkah 31:833fc481b002 605 color++;
Sitkah 31:833fc481b002 606 }
Sitkah 31:833fc481b002 607 }
Sitkah 31:833fc481b002 608 break;
Sitkah 31:833fc481b002 609
Sitkah 31:833fc481b002 610 case 1:
Sitkah 31:833fc481b002 611 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 612 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 613 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 2", LEFT_MODE);
Sitkah 31:833fc481b002 614 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 615 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 616 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 617 msgTx.data[color]=1;
Sitkah 31:833fc481b002 618 color++;
Sitkah 31:833fc481b002 619 }
Sitkah 31:833fc481b002 620 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 621 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 622 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 623 msgTx.data[color]=2;
Sitkah 31:833fc481b002 624 color++;
Sitkah 31:833fc481b002 625 }
Sitkah 31:833fc481b002 626 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 627 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 628 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 629
Sitkah 31:833fc481b002 630 msgTx.data[color]=3;
Sitkah 31:833fc481b002 631 color++;
Sitkah 31:833fc481b002 632 }
Sitkah 31:833fc481b002 633 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 634 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 635 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 636 msgTx.data[color]=4;
Sitkah 31:833fc481b002 637 color++;
Sitkah 31:833fc481b002 638 }
Sitkah 31:833fc481b002 639 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 640 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 641 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 642 msgTx.data[color]=5;
Sitkah 31:833fc481b002 643 color++;
Sitkah 31:833fc481b002 644 }
Sitkah 31:833fc481b002 645 break;
Sitkah 31:833fc481b002 646
Sitkah 31:833fc481b002 647 case 2:
Sitkah 31:833fc481b002 648 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 649 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 650 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 3", LEFT_MODE);
Sitkah 31:833fc481b002 651 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 652 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 653 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 654 msgTx.data[color]=1;
Sitkah 31:833fc481b002 655 color++;
Sitkah 31:833fc481b002 656 }
Sitkah 31:833fc481b002 657 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 658 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 659 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 660 msgTx.data[color]=2;
Sitkah 31:833fc481b002 661 color++;
Sitkah 31:833fc481b002 662 }
Sitkah 31:833fc481b002 663 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 664 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 665 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 666
Sitkah 31:833fc481b002 667 msgTx.data[color]=3;
Sitkah 31:833fc481b002 668 color++;
Sitkah 31:833fc481b002 669 }
Sitkah 31:833fc481b002 670 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 671 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 672 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 673 msgTx.data[color]=4;
Sitkah 31:833fc481b002 674 color++;
Sitkah 31:833fc481b002 675 }
Sitkah 31:833fc481b002 676 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 677 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 678 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 679 msgTx.data[color]=5;
Sitkah 31:833fc481b002 680 color++;
Sitkah 31:833fc481b002 681 }
Sitkah 31:833fc481b002 682 break;
Sitkah 31:833fc481b002 683 case 3:
Sitkah 31:833fc481b002 684 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 685 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 686 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 687
Sitkah 31:833fc481b002 688 lcd.DisplayStringAt(0, LINE(4), (uint8_t *)"Immeuble en construction", LEFT_MODE);
Sitkah 31:833fc481b002 689 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 690 can2.write(msgTx);
Sitkah 31:833fc481b002 691 color++;
Sitkah 31:833fc481b002 692 break;
Sitkah 31:833fc481b002 693
Sitkah 31:833fc481b002 694 case 4:
Sitkah 31:833fc481b002 695 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 696 while(RETOUR.Touched());
Sitkah 31:833fc481b002 697 etat=DEMO;
Sitkah 31:833fc481b002 698 }
Sitkah 31:833fc481b002 699 break;
Sitkah 29:41e02746041d 700 }
Sitkah 31:833fc481b002 701 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 702 while(RETOUR.Touched());
Sitkah 30:a1e37af4bbde 703 etat=DEMO;
Sitkah 30:a1e37af4bbde 704 }
Sitkah 31:833fc481b002 705 }
Sitkah 31:833fc481b002 706 break;
Sitkah 31:833fc481b002 707
Sitkah 31:833fc481b002 708
Sitkah 31:833fc481b002 709
Sitkah 31:833fc481b002 710
Sitkah 31:833fc481b002 711
Sitkah 31:833fc481b002 712 case TEST_SERVO:
Sitkah 31:833fc481b002 713 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 714 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 715 ABAISSE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 716 RELEVE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 717 BRAS_ABEILLE_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 718 BRAS_ABEILLE_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 719 INTERRUPTEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 720 INTERRUPTEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 721 RETOUR.Draw(0xFFFF0000,0);
Sitkah 31:833fc481b002 722 while(etat==TEST_SERVO){
Sitkah 31:833fc481b002 723 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 724 while (RETOUR.Touched());
Sitkah 31:833fc481b002 725 etat=DEMO;
Sitkah 31:833fc481b002 726 }
Sitkah 31:833fc481b002 727 else if(ABAISSE_BLOC.Touched()){
Sitkah 31:833fc481b002 728 while (ABAISSE_BLOC.Touched());
Sitkah 31:833fc481b002 729 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 730 break;
Sitkah 31:833fc481b002 731 }
Sitkah 31:833fc481b002 732 else if(RELEVE_BLOC.Touched()){
Sitkah 31:833fc481b002 733 while (RELEVE_BLOC.Touched());
Sitkah 31:833fc481b002 734 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 735 break;
Sitkah 31:833fc481b002 736 }
Sitkah 31:833fc481b002 737 else if(BRAS_ABEILLE_ON.Touched()){
Sitkah 31:833fc481b002 738 while (BRAS_ABEILLE_ON.Touched());
Sitkah 31:833fc481b002 739 SendRawId(BRAS_ABEILLE_UP);
Sitkah 31:833fc481b002 740 break;
Sitkah 31:833fc481b002 741
Sitkah 31:833fc481b002 742 }
Sitkah 31:833fc481b002 743 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 31:833fc481b002 744 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 31:833fc481b002 745 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 31:833fc481b002 746 break;
Sitkah 31:833fc481b002 747 }
Sitkah 31:833fc481b002 748 else if(INTERRUPTEUR_ON.Touched()){
Sitkah 31:833fc481b002 749 while (INTERRUPTEUR_ON.Touched());
Sitkah 31:833fc481b002 750 SendRawId(ALLUMER_PANNEAU_UP);
Sitkah 31:833fc481b002 751 break;
Sitkah 31:833fc481b002 752 }
Sitkah 31:833fc481b002 753 else if(INTERRUPTEUR_OFF.Touched()){
Sitkah 31:833fc481b002 754 while (INTERRUPTEUR_OFF.Touched());
Sitkah 31:833fc481b002 755 SendRawId(ALLUMER_PANNEAU_DOWN);
Sitkah 31:833fc481b002 756 break;
Sitkah 31:833fc481b002 757 }
Sitkah 31:833fc481b002 758 }
Sitkah 31:833fc481b002 759 break;
Sitkah 31:833fc481b002 760
Sitkah 31:833fc481b002 761 case TEST_TIR:
Sitkah 31:833fc481b002 762 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 763 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 764 TIR_CHATEAU.Draw(VERT, 0);
Sitkah 31:833fc481b002 765 EPURATION.Draw(VERT, 0);
Sitkah 31:833fc481b002 766 LANCEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 767 LANCEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 768 RETOUR.Draw(ROUGE, 0);
Sitkah 31:833fc481b002 769 while(etat==TEST_TIR){
Sitkah 31:833fc481b002 770 if(TIR_CHATEAU.Touched()){
Sitkah 31:833fc481b002 771 while (TIR_CHATEAU.Touched());
Sitkah 31:833fc481b002 772 SendRawId(INCLINAISON_CHATEAU);
Sitkah 31:833fc481b002 773 break;
Sitkah 31:833fc481b002 774 }
Sitkah 31:833fc481b002 775 else if (EPURATION.Touched()){
Sitkah 31:833fc481b002 776 while (EPURATION.Touched());
Sitkah 31:833fc481b002 777 SendRawId(INCLINAISON_EPURATION);
Sitkah 31:833fc481b002 778 break;
Sitkah 31:833fc481b002 779 }
Sitkah 31:833fc481b002 780 else if(LANCEUR_ON.Touched()){
Sitkah 31:833fc481b002 781 while (LANCEUR_ON.Touched());
Sitkah 36:6dd30780bd8e 782 CANMessage msgTx=CANMessage();
Sitkah 36:6dd30780bd8e 783 msgTx.format=CANStandard;
Sitkah 36:6dd30780bd8e 784 msgTx.type=CANData;
Sitkah 36:6dd30780bd8e 785 msgTx.id=LANCEMENT_MOTEUR_TIR_ON;
Sitkah 36:6dd30780bd8e 786
Sitkah 36:6dd30780bd8e 787 msgTx.len=1;
Sitkah 36:6dd30780bd8e 788 msgTx.data[0]=0;
Sitkah 36:6dd30780bd8e 789 can2.write(msgTx);
Sitkah 31:833fc481b002 790 break;
Sitkah 31:833fc481b002 791 }
Sitkah 31:833fc481b002 792 else if(LANCEUR_OFF.Touched()){
Sitkah 31:833fc481b002 793 while (LANCEUR_OFF.Touched());
Sitkah 31:833fc481b002 794 SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
Sitkah 31:833fc481b002 795 break;
Sitkah 31:833fc481b002 796 }
Sitkah 31:833fc481b002 797 else if (RETOUR.Touched()){
Sitkah 31:833fc481b002 798 while (RETOUR.Touched());
Sitkah 31:833fc481b002 799 etat=DEMO;
Sitkah 31:833fc481b002 800
Sitkah 31:833fc481b002 801 }
Sitkah 31:833fc481b002 802 }
Sitkah 31:833fc481b002 803 break;
Sitkah 30:a1e37af4bbde 804
Sitkah 30:a1e37af4bbde 805
Sitkah 31:833fc481b002 806
Sitkah 31:833fc481b002 807 case TEST_TELEMETRE:
Sitkah 31:833fc481b002 808 ModeDemo=1;
Sitkah 31:833fc481b002 809 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 810 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 811 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 812 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 31:833fc481b002 813 while(etat==TEST_TELEMETRE){
Sitkah 31:833fc481b002 814 SendRawId(DATA_RECALAGE);
Sitkah 31:833fc481b002 815 wait(0.1);
Sitkah 31:833fc481b002 816 canProcessRx();
Sitkah 31:833fc481b002 817 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 818 while( RETOUR.Touched());
Sitkah 31:833fc481b002 819 etat=DEMO;
Sitkah 32:1c9ab15c740e 820 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 821 }
Sitkah 29:41e02746041d 822 }
Sitkah 29:41e02746041d 823 break;
Sitkah 31:833fc481b002 824
Sitkah 31:833fc481b002 825
Sitkah 29:41e02746041d 826 case SELECT_SIDE :
Sitkah 29:41e02746041d 827 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 828 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 829 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 830
Sitkah 29:41e02746041d 831 lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
Sitkah 34:6aa4b46b102e 832 COTE_VERT.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 833 COTE_ORANGE.Draw(ORANGE, 0);
Sitkah 29:41e02746041d 834 RETOUR.Draw(LCD_COLOR_RED, 0);
Sitkah 29:41e02746041d 835
Sitkah 29:41e02746041d 836
Sitkah 29:41e02746041d 837 while (etat == SELECT_SIDE)
Sitkah 29:41e02746041d 838 {
Sitkah 29:41e02746041d 839 canProcessRx();
Sitkah 34:6aa4b46b102e 840 if(COTE_VERT.Touched())
Sitkah 29:41e02746041d 841 {
Sitkah 31:833fc481b002 842 liaison_Tx.envoyer(0x30,3,"123");
Sitkah 29:41e02746041d 843 Cote = 0x0;
Sitkah 29:41e02746041d 844 InversStrat = Cote;
Sitkah 29:41e02746041d 845 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 846 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 847 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 848 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 849 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 850 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 851 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 852 can2.write(trame_Tx);
Sitkah 34:6aa4b46b102e 853 while(COTE_VERT.Touched());
Sitkah 30:a1e37af4bbde 854
Sitkah 29:41e02746041d 855 }
Sitkah 29:41e02746041d 856
Sitkah 34:6aa4b46b102e 857 if(COTE_ORANGE.Touched())
Sitkah 29:41e02746041d 858 {
Sitkah 29:41e02746041d 859 Cote = 0x1;
Sitkah 29:41e02746041d 860 InversStrat= Cote;
Sitkah 29:41e02746041d 861 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 862 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 863 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 864 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 865 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 866 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 867 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 868 can2.write(trame_Tx);
Sitkah 34:6aa4b46b102e 869 while(COTE_ORANGE.Touched());
Sitkah 29:41e02746041d 870 }
Sitkah 29:41e02746041d 871
Sitkah 29:41e02746041d 872 if(RETOUR.Touched())
Sitkah 29:41e02746041d 873 {
Sitkah 29:41e02746041d 874 etat = CHOIX;
Sitkah 29:41e02746041d 875 while(RETOUR.Touched());
Sitkah 29:41e02746041d 876 }
Sitkah 29:41e02746041d 877 }
Sitkah 29:41e02746041d 878
Sitkah 29:41e02746041d 879 break;
Sitkah 29:41e02746041d 880
Sitkah 29:41e02746041d 881 case TACTIQUE :
Sitkah 29:41e02746041d 882 if (Cote == 0){
Sitkah 34:6aa4b46b102e 883 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 884 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 885 }
Sitkah 29:41e02746041d 886 else if (Cote == 1){
Sitkah 29:41e02746041d 887 lcd.Clear(JAUNE);
Sitkah 29:41e02746041d 888 lcd.SetBackColor(JAUNE);
Sitkah 29:41e02746041d 889 }
Sitkah 29:41e02746041d 890 else {
Sitkah 34:6aa4b46b102e 891 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 892 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 893 }
Sitkah 29:41e02746041d 894
Sitkah 29:41e02746041d 895 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 896
Sitkah 29:41e02746041d 897 lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
Sitkah 29:41e02746041d 898
Sitkah 29:41e02746041d 899 Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
Sitkah 29:41e02746041d 900 if (Strategie == -1)
Sitkah 29:41e02746041d 901 {
Sitkah 29:41e02746041d 902 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 903 }
Sitkah 29:41e02746041d 904 else
Sitkah 29:41e02746041d 905 {
Sitkah 29:41e02746041d 906 etat = DETAILS;
Sitkah 29:41e02746041d 907 }
Sitkah 29:41e02746041d 908 wait(0.1);
Sitkah 29:41e02746041d 909 break;
Sitkah 29:41e02746041d 910
Sitkah 29:41e02746041d 911 case DETAILS :
Sitkah 29:41e02746041d 912 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 913 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 914 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 915 CHECK.Draw(VERT);
Sitkah 29:41e02746041d 916 RETOUR.Draw(LCD_COLOR_RED);
Sitkah 29:41e02746041d 917
Sitkah 29:41e02746041d 918 SelectionStrat(Strategie);
Sitkah 29:41e02746041d 919
Sitkah 29:41e02746041d 920 while (etat == DETAILS)
Sitkah 29:41e02746041d 921 {
Sitkah 29:41e02746041d 922 canProcessRx();
Sitkah 29:41e02746041d 923 if (CHECK.Touched())
Sitkah 29:41e02746041d 924 {
Sitkah 29:41e02746041d 925 if(gameEtat == ETAT_CONFIG) {
Sitkah 29:41e02746041d 926 gameEtat = ETAT_GAME_INIT;
Sitkah 29:41e02746041d 927 etat=LECTURE;
Sitkah 29:41e02746041d 928
Sitkah 29:41e02746041d 929 }
Sitkah 29:41e02746041d 930 while(CHECK.Touched());
Sitkah 29:41e02746041d 931 }
Sitkah 29:41e02746041d 932
Sitkah 29:41e02746041d 933 if(RETOUR.Touched())
Sitkah 29:41e02746041d 934 {
Sitkah 29:41e02746041d 935 etat = TACTIQUE;
Sitkah 29:41e02746041d 936 while(RETOUR.Touched());
Sitkah 29:41e02746041d 937 }
Sitkah 29:41e02746041d 938 }
Sitkah 29:41e02746041d 939 break;
Sitkah 29:41e02746041d 940
Sitkah 29:41e02746041d 941
Sitkah 29:41e02746041d 942 case LECTURE :
Sitkah 29:41e02746041d 943 break;
Sitkah 29:41e02746041d 944 case AFF_WAIT_JACK :
Sitkah 29:41e02746041d 945 lcd.Clear(BLANC);
Sitkah 29:41e02746041d 946 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 947 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 948
Sitkah 29:41e02746041d 949 if (Cote == 0){
Sitkah 34:6aa4b46b102e 950 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 951 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 952 }
Sitkah 29:41e02746041d 953 else if (Cote == 1){
Sitkah 29:41e02746041d 954 lcd.Clear(JAUNE);
Sitkah 29:41e02746041d 955 lcd.SetBackColor(JAUNE);
Sitkah 29:41e02746041d 956 }
Sitkah 29:41e02746041d 957 else {
Sitkah 34:6aa4b46b102e 958 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 959 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 960 }
Sitkah 29:41e02746041d 961 canProcessRx();
Sitkah 29:41e02746041d 962 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
Sitkah 29:41e02746041d 963 etat=WAIT_JACK;
Sitkah 29:41e02746041d 964 break;
Sitkah 29:41e02746041d 965
Sitkah 29:41e02746041d 966 case WAIT_JACK:
Sitkah 29:41e02746041d 967 break;
Sitkah 29:41e02746041d 968
Sitkah 29:41e02746041d 969 case COMPTEUR:
Sitkah 36:6dd30780bd8e 970 /*cptf=gameTimer.read();
Sitkah 29:41e02746041d 971 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 972 cpt=int(cptf);
Sitkah 36:6dd30780bd8e 973 if(cpt != cpt1){
Sitkah 34:6aa4b46b102e 974 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 975 affichage_compteur(100-cpt);
Sitkah 36:6dd30780bd8e 976 }
Sitkah 29:41e02746041d 977 cpt1=cpt;
Sitkah 29:41e02746041d 978 flag_timer=0;
Sitkah 29:41e02746041d 979
Sitkah 36:6dd30780bd8e 980 affichage_debug(gameEtat);
Sitkah 34:6aa4b46b102e 981 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 36:6dd30780bd8e 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 29:41e02746041d 988 lcd.DisplayStringAt(120, 190, (uint8_t *)"LANCEMENT", LEFT_MODE);
Sitkah 29:41e02746041d 989 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 990 lcd.DisplayStringAt(120, 210, (uint8_t *)"REDEMARAGE", LEFT_MODE);
Sitkah 29:41e02746041d 991 lcd.DisplayStringAt(120, 230, (uint8_t *)"NECESSAIRE", LEFT_MODE);
Sitkah 29:41e02746041d 992 while(1); // force le redemarage du robot
Sitkah 29:41e02746041d 993 //break;
Sitkah 29:41e02746041d 994
Sitkah 29:41e02746041d 995 }
Sitkah 29:41e02746041d 996 }
Sitkah 29:41e02746041d 997
Sitkah 29:41e02746041d 998
Sitkah 29:41e02746041d 999
Sitkah 29:41e02746041d 1000 /****************************************************************************************/
antbig 4:88431b537477 1001 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 1002 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 1003 /****************************************************************************************/
Sitkah 29:41e02746041d 1004 void automate_process(void){
antbig 1:116040d14164 1005 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 1006 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 1007 signed char localData1 = 0;
antbig 0:ad97421fb1fb 1008 signed short localData2 = 0;
antbig 0:ad97421fb1fb 1009 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 1010 //signed short localData4 = 0;
antbig 1:116040d14164 1011 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 1012
Sitkah 34:6aa4b46b102e 1013 if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 1014 gameTimer.stop();
antbig 0:ad97421fb1fb 1015 gameTimer.reset();
antbig 0:ad97421fb1fb 1016 gameEtat = ETAT_END;//Fin du temps
Sitkah 29:41e02746041d 1017 etat=FIN;
antbig 0:ad97421fb1fb 1018 }
antbig 0:ad97421fb1fb 1019
antbig 0:ad97421fb1fb 1020 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 1021 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 1022 debugetatTimer.reset();
antbig 11:ed13a480ddca 1023 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 1024 }
antbig 0:ad97421fb1fb 1025
antbig 0:ad97421fb1fb 1026 switch(gameEtat)
antbig 0:ad97421fb1fb 1027 {
Sitkah 30:a1e37af4bbde 1028
Sitkah 29:41e02746041d 1029 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 1030 /*
antbig 0:ad97421fb1fb 1031 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 1032 */
antbig 0:ad97421fb1fb 1033 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 1034 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 1035
antbig 0:ad97421fb1fb 1036 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1037 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1038 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 1039 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
Sitkah 29:41e02746041d 1040 break;
ClementBreteau 14:c8fc06c4887f 1041
antbig 0:ad97421fb1fb 1042 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 1043 /*
antbig 0:ad97421fb1fb 1044 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 1045 */
antbig 0:ad97421fb1fb 1046 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 1047 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 1048 cartesCheker.stop();
antbig 0:ad97421fb1fb 1049 screenChecktry = 0;
antbig 0:ad97421fb1fb 1050 countAliveCard++;
antbig 11:ed13a480ddca 1051 checkCurrent++;
antbig 0:ad97421fb1fb 1052 if(checkCurrent >= NOMBRE_CARTES) {
Sitkah 29:41e02746041d 1053 printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 1054 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 1055 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 1056 flag=1;
Sitkah 30:a1e37af4bbde 1057 //tactile_printf("Selection couleur et strategie");
Sitkah 29:41e02746041d 1058 }
Sitkah 29:41e02746041d 1059 else {
antbig 0:ad97421fb1fb 1060 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 1061 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1062 }
Sitkah 29:41e02746041d 1063 }
Sitkah 29:41e02746041d 1064 else
antbig 0:ad97421fb1fb 1065 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1066 }
Sitkah 29:41e02746041d 1067 else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 1068 cartesCheker.stop();
antbig 0:ad97421fb1fb 1069 if(screenChecktry >=3) {
antbig 12:14729d584500 1070 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 1071 screenChecktry = 0;
antbig 11:ed13a480ddca 1072 checkCurrent++;
antbig 12:14729d584500 1073
Sitkah 29:41e02746041d 1074 if(checkCurrent >= NOMBRE_CARTES){
Sitkah 29:41e02746041d 1075 if(countAliveCard == NOMBRE_CARTES){
antbig 0:ad97421fb1fb 1076 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 1077 flag=1;
Sitkah 29:41e02746041d 1078 }
Sitkah 29:41e02746041d 1079 else{
Sitkah 29:41e02746041d 1080 gameEtat = ETAT_WAIT_FORCE;
antbig 0:ad97421fb1fb 1081 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1082 }
Sitkah 29:41e02746041d 1083 }
Sitkah 29:41e02746041d 1084 else
antbig 0:ad97421fb1fb 1085 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1086
Sitkah 29:41e02746041d 1087 }
Sitkah 29:41e02746041d 1088 else
antbig 0:ad97421fb1fb 1089 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1090
antbig 0:ad97421fb1fb 1091 }
Sitkah 29:41e02746041d 1092 break;
antbig 0:ad97421fb1fb 1093 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 1094 /*
antbig 0:ad97421fb1fb 1095 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 1096 */
antbig 0:ad97421fb1fb 1097 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 1098 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 1099 }
Sitkah 29:41e02746041d 1100 break;
antbig 0:ad97421fb1fb 1101 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 1102 /*
antbig 0:ad97421fb1fb 1103 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 1104 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 1105 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 1106 */
ClementBreteau 14:c8fc06c4887f 1107 modeTelemetre = 0;
Sitkah 29:41e02746041d 1108 break;
antbig 1:116040d14164 1109 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 1110 //On charge la liste des instructions
Sitkah 29:41e02746041d 1111
Sitkah 29:41e02746041d 1112 loadAllInstruction(Strategie);//Mise en cache de toute les instructions
Sitkah 29:41e02746041d 1113 led3=1;
ClementBreteau 14:c8fc06c4887f 1114
antbig 0:ad97421fb1fb 1115 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
Sitkah 31:833fc481b002 1116 if (etat == TEST_TELEMETRE|| etat ==TEST_CAPTEURS || etat == TEST_SERVO || etat ==TEST_TIR || etat == DEMO_IMMEUBLE)
Sitkah 29:41e02746041d 1117 {
Sitkah 29:41e02746041d 1118 SendRawId(DEBUG_FAKE_JAKE);
Sitkah 29:41e02746041d 1119 }
Sitkah 29:41e02746041d 1120 else
Sitkah 29:41e02746041d 1121 {
Sitkah 29:41e02746041d 1122 etat = AFF_WAIT_JACK;
Sitkah 29:41e02746041d 1123 }
Sitkah 30:a1e37af4bbde 1124 //tactile_printf("Attente du JACK.");
antbig 12:14729d584500 1125 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 1126 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 1127 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 1128
antbig 12:14729d584500 1129 #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 1130 localData2 = POSITION_DEBUT_T;
antbig 12:14729d584500 1131 localData3 = POSITION_DEBUT_Y;
antbig 12:14729d584500 1132 if(InversStrat == 1) {
antbig 27:76ead555a63d 1133 localData2 = 1800-localData2;//Inversion theta
antbig 28:acd18776ed2d 1134 if(localData2 > 1800) localData2 -= 3600;
antbig 28:acd18776ed2d 1135 else if(localData2 <= -1800) localData2 += 3600;
antbig 12:14729d584500 1136 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
antbig 12:14729d584500 1137 }
antbig 12:14729d584500 1138 SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 1139 #endif
ClementBreteau 18:cc5fec34ed9c 1140 #ifdef ROBOT_SMALL
clementlignie 22:a466d08ac42b 1141 localData2 = POSITION_DEBUT_T;
clementlignie 22:a466d08ac42b 1142 localData3 = POSITION_DEBUT_Y;
clementlignie 22:a466d08ac42b 1143 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 1144 localData2 = -localData2;//Inversion theta
clementlignie 22:a466d08ac42b 1145 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
clementlignie 22:a466d08ac42b 1146 }
clementlignie 22:a466d08ac42b 1147 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 1148 #endif
antbig 0:ad97421fb1fb 1149 break;
antbig 0:ad97421fb1fb 1150 case ETAT_GAME_WAIT_FOR_JACK:
antbig 12:14729d584500 1151 //On attend le jack
antbig 1:116040d14164 1152 break;
antbig 1:116040d14164 1153 case ETAT_GAME_START:
Sitkah 29:41e02746041d 1154
antbig 1:116040d14164 1155 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 1156
ClementBreteau 14:c8fc06c4887f 1157 if (ModeDemo == 0){
Sitkah 34:6aa4b46b102e 1158 chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 1159 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 1160 }
antbig 1:116040d14164 1161 gameTimer.reset();
antbig 12:14729d584500 1162 jack.fall(NULL);//On désactive l'interruption du jack
Sitkah 34:6aa4b46b102e 1163 //SendRawId(GLOBAL_START);
Sitkah 29:41e02746041d 1164 Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
Sitkah 30:a1e37af4bbde 1165 //tactile_printf("Start");//Pas vraiment utile mais bon
antbig 0:ad97421fb1fb 1166 break;
antbig 0:ad97421fb1fb 1167 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 1168 /*
antbig 0:ad97421fb1fb 1169 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 1170 */
antbig 0:ad97421fb1fb 1171 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 1172
antbig 0:ad97421fb1fb 1173 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 1174 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 1175 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 1176 } else {
antbig 0:ad97421fb1fb 1177 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 1178 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 1179 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 1180 }
antbig 0:ad97421fb1fb 1181 screenChecktry = 0;
antbig 28:acd18776ed2d 1182 ingnorInversionOnce = 0;
antbig 0:ad97421fb1fb 1183 break;
antbig 0:ad97421fb1fb 1184 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 1185 /*
antbig 0:ad97421fb1fb 1186 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 1187 */
antbig 0:ad97421fb1fb 1188 //debug_Instruction(instruction);
Sitkah 36:6dd30780bd8e 1189 affichage_debug(gameEtat);
ClementBreteau 25:f140c93a8666 1190 actionPrecedente = instruction.order;
antbig 0:ad97421fb1fb 1191 switch(instruction.order)
antbig 0:ad97421fb1fb 1192 {
antbig 12:14729d584500 1193 case MV_COURBURE://C'est un rayon de courbure
ClementBreteau 26:2f4fcc2354f3 1194 actionPrecedente = MV_COURBURE;
antbig 6:eddfa414fd11 1195 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 1196 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 30:a1e37af4bbde 1197 if(instruction.nextActionType == ENCHAINEMENT){
antbig 6:eddfa414fd11 1198 MV_enchainement++;
antbig 6:eddfa414fd11 1199 localData5 = 1;
antbig 6:eddfa414fd11 1200 } else {
antbig 6:eddfa414fd11 1201 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 1202 localData5 = 2;
antbig 6:eddfa414fd11 1203 MV_enchainement = 0;
antbig 6:eddfa414fd11 1204 } else {
antbig 6:eddfa414fd11 1205 localData5 = 0;
antbig 6:eddfa414fd11 1206 }
antbig 0:ad97421fb1fb 1207 }
antbig 11:ed13a480ddca 1208 localData1 = ((instruction.direction == LEFT)?1:-1);
ClementBreteau 23:ab87d308eaf9 1209 localData2 = instruction.arg3;
antbig 28:acd18776ed2d 1210 if(InversStrat == 1 && ingnorInversionOnce == 0)
antbig 12:14729d584500 1211 {
antbig 12:14729d584500 1212 localData1 = -localData1;//Inversion de la direction
ClementBreteau 23:ab87d308eaf9 1213 #ifdef ROBOT_BIG
ClementBreteau 25:f140c93a8666 1214 localData2 = -localData2;
ClementBreteau 26:2f4fcc2354f3 1215 localData1 = -localData1;//Inversion de la direction
ClementBreteau 23:ab87d308eaf9 1216 #endif
antbig 12:14729d584500 1217 }
ClementBreteau 25:f140c93a8666 1218 BendRadius(instruction.arg1, localData2, localData1, localData5);
ClementBreteau 18:cc5fec34ed9c 1219
antbig 28:acd18776ed2d 1220
antbig 28:acd18776ed2d 1221 target_theta_robot = localData2 - theta_robot;
antbig 28:acd18776ed2d 1222 /*
ClementBreteau 26:2f4fcc2354f3 1223 if(instruction.direction == LEFT){
antbig 28:acd18776ed2d 1224
ClementBreteau 26:2f4fcc2354f3 1225 }else{
antbig 28:acd18776ed2d 1226 target_theta_robot = theta_robot + localData2;
antbig 28:acd18776ed2d 1227 }*/
ClementBreteau 26:2f4fcc2354f3 1228
antbig 0:ad97421fb1fb 1229 break;
antbig 12:14729d584500 1230 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 1231 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 1232 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 1233 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 1234 MV_enchainement++;
antbig 1:116040d14164 1235 localData5 = 1;
antbig 1:116040d14164 1236 } else {
antbig 12:14729d584500 1237 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 1238 localData5 = 2;
antbig 1:116040d14164 1239 MV_enchainement = 0;
antbig 1:116040d14164 1240 } else {
antbig 1:116040d14164 1241 localData5 = 0;
antbig 1:116040d14164 1242 }
antbig 0:ad97421fb1fb 1243 }
ClementBreteau 16:7321fb3bb396 1244 #ifdef ROBOT_BIG
antbig 28:acd18776ed2d 1245 if(InversStrat == 1 && ingnorInversionOnce == 0) {
ClementBreteau 15:c2fc239e85df 1246 /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
ClementBreteau 15:c2fc239e85df 1247 else instruction.direction = FORWARD;*/
ClementBreteau 15:c2fc239e85df 1248 instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
ClementBreteau 15:c2fc239e85df 1249 }
ClementBreteau 16:7321fb3bb396 1250 #endif
antbig 1:116040d14164 1251 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 1252 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 1253
ClementBreteau 26:2f4fcc2354f3 1254 target_x_robot = x_robot + localData2*cos((double)theta_robot*M_PI/1800);
ClementBreteau 26:2f4fcc2354f3 1255 target_y_robot = y_robot + localData2*sin((double)theta_robot*M_PI/1800);
ClementBreteau 25:f140c93a8666 1256 target_theta_robot = theta_robot;
ClementBreteau 25:f140c93a8666 1257
antbig 0:ad97421fb1fb 1258 break;
antbig 12:14729d584500 1259 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 1260 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 1261 localData2 = instruction.arg3;
antbig 12:14729d584500 1262 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 1263 localData2 = instruction.arg3;
antbig 12:14729d584500 1264
antbig 12:14729d584500 1265 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 1266 if(localData2 > 1800) {
antbig 12:14729d584500 1267 localData2 = localData2-3600;
antbig 12:14729d584500 1268 }
antbig 12:14729d584500 1269
antbig 0:ad97421fb1fb 1270 }
ClementBreteau 23:ab87d308eaf9 1271 #ifdef ROBOT_SMALL
antbig 28:acd18776ed2d 1272 if(InversStrat == 1 && ingnorInversionOnce == 0) {
clementlignie 22:a466d08ac42b 1273 localData2 = -localData2;
clementlignie 22:a466d08ac42b 1274 }
ClementBreteau 23:ab87d308eaf9 1275 #endif
antbig 28:acd18776ed2d 1276 #ifdef ROBOT_BIG
antbig 28:acd18776ed2d 1277 if(InversStrat == 1 && ingnorInversionOnce == 0) {
antbig 28:acd18776ed2d 1278 if(instruction.direction == RELATIVE) {
antbig 28:acd18776ed2d 1279 localData2 = instruction.arg3;
antbig 28:acd18776ed2d 1280 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 28:acd18776ed2d 1281
antbig 28:acd18776ed2d 1282 localData2 = 1800-instruction.arg3;//Inversion theta
antbig 28:acd18776ed2d 1283 if(localData2 > 1800) localData2 -= 3600;
antbig 28:acd18776ed2d 1284 else if(localData2 <= -1800) localData2 += 3600;
antbig 28:acd18776ed2d 1285
antbig 28:acd18776ed2d 1286 localData2 = (localData2 - theta_robot)%3600;
antbig 28:acd18776ed2d 1287 if(localData2 > 1800) {
antbig 28:acd18776ed2d 1288 localData2 = localData2-3600;
antbig 28:acd18776ed2d 1289 }
antbig 28:acd18776ed2d 1290
antbig 28:acd18776ed2d 1291 }
antbig 28:acd18776ed2d 1292 }
antbig 28:acd18776ed2d 1293 #endif
antbig 0:ad97421fb1fb 1294 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 1295 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 34:6aa4b46b102e 1296 Rotate(localData2);
Sitkah 34:6aa4b46b102e 1297
antbig 28:acd18776ed2d 1298
antbig 0:ad97421fb1fb 1299 break;
antbig 0:ad97421fb1fb 1300 case MV_XYT:
antbig 0:ad97421fb1fb 1301 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 1302 localData1 = -1;
antbig 0:ad97421fb1fb 1303 } else {
antbig 0:ad97421fb1fb 1304 localData1 = 1;
antbig 0:ad97421fb1fb 1305 }
antbig 2:8d8e2cf798a3 1306
antbig 28:acd18776ed2d 1307 if(InversStrat == 1 && ingnorInversionOnce == 0) {
antbig 12:14729d584500 1308 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 1309 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 1310 } else {
antbig 2:8d8e2cf798a3 1311 localData3 = instruction.arg2;
antbig 12:14729d584500 1312 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 1313 }
ClementBreteau 23:ab87d308eaf9 1314
ClementBreteau 23:ab87d308eaf9 1315 #ifdef ROBOT_BIG
antbig 28:acd18776ed2d 1316 if(InversStrat == 1 && ingnorInversionOnce == 0) {
ClementBreteau 23:ab87d308eaf9 1317 localData1 = -localData1;
antbig 27:76ead555a63d 1318 localData2 = 1800-instruction.arg3;//Inversion theta
antbig 28:acd18776ed2d 1319 if(localData2 > 1800) localData2 -= 3600;
antbig 28:acd18776ed2d 1320 else if(localData2 <= -1800) localData2 += 3600;
ClementBreteau 23:ab87d308eaf9 1321 }
ClementBreteau 23:ab87d308eaf9 1322 #endif
ClementBreteau 23:ab87d308eaf9 1323
antbig 12:14729d584500 1324 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 1325 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 1326 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 25:f140c93a8666 1327
ClementBreteau 25:f140c93a8666 1328 target_x_robot = instruction.arg1;
ClementBreteau 25:f140c93a8666 1329 target_y_robot = localData3;
ClementBreteau 25:f140c93a8666 1330 target_theta_robot = localData2;
ClementBreteau 25:f140c93a8666 1331
antbig 0:ad97421fb1fb 1332 break;
antbig 0:ad97421fb1fb 1333 case MV_RECALAGE:
Sitkah 34:6aa4b46b102e 1334 if(instruction.nextActionType == MECANIQUE)
Sitkah 34:6aa4b46b102e 1335 {
Sitkah 34:6aa4b46b102e 1336 instruction.nextActionType = WAIT;
Sitkah 34:6aa4b46b102e 1337
Sitkah 34:6aa4b46b102e 1338 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1339 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 34:6aa4b46b102e 1340
Sitkah 34:6aa4b46b102e 1341 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 1342
Sitkah 34:6aa4b46b102e 1343 if(instruction.precision == RECALAGE_Y) {
Sitkah 34:6aa4b46b102e 1344 localData5 = 2;
Sitkah 34:6aa4b46b102e 1345 if(InversStrat == 1 && ingnorInversionOnce == 0) {
Sitkah 34:6aa4b46b102e 1346 localData3 = 3000 - instruction.arg1;//Inversion du Y
Sitkah 34:6aa4b46b102e 1347 } else {
Sitkah 34:6aa4b46b102e 1348 localData3 = instruction.arg1;
Sitkah 34:6aa4b46b102e 1349 }
antbig 11:ed13a480ddca 1350 } else {
Sitkah 34:6aa4b46b102e 1351 localData5 = 1;
antbig 11:ed13a480ddca 1352 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 1353 }
Sitkah 34:6aa4b46b102e 1354 GoStraight(localData2, localData5, localData3, 0);
antbig 11:ed13a480ddca 1355 }
Sitkah 34:6aa4b46b102e 1356 else //CAPTEUR
Sitkah 36:6dd30780bd8e 1357 {
Sitkah 34:6aa4b46b102e 1358 SendRawId(DATA_RECALAGE);
Sitkah 34:6aa4b46b102e 1359 waitingAckID = RECEPTION_RECALAGE;
Sitkah 34:6aa4b46b102e 1360 waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
Sitkah 34:6aa4b46b102e 1361
Sitkah 34:6aa4b46b102e 1362 // On attend que les variables soient actualisé
Sitkah 34:6aa4b46b102e 1363 while(!(waitingAckID == 0 && waitingAckFrom == 0))
Sitkah 34:6aa4b46b102e 1364 canProcessRx();
Sitkah 35:742dc6b200b0 1365 while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
Sitkah 35:742dc6b200b0 1366 canProcessRx();
Sitkah 36:6dd30780bd8e 1367
Sitkah 34:6aa4b46b102e 1368 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 1369 {
Sitkah 36:6dd30780bd8e 1370 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
Sitkah 34:6aa4b46b102e 1371 }
Sitkah 34:6aa4b46b102e 1372 else if(instruction.precision == RECALAGE_X)
Sitkah 34:6aa4b46b102e 1373 {
Sitkah 36:6dd30780bd8e 1374 SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
Sitkah 34:6aa4b46b102e 1375 }
Sitkah 35:742dc6b200b0 1376 else if(instruction.precision == RECALAGE_T)
Sitkah 34:6aa4b46b102e 1377 {
Sitkah 36:6dd30780bd8e 1378 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
Sitkah 35:742dc6b200b0 1379 }
Sitkah 34:6aa4b46b102e 1380 }
antbig 0:ad97421fb1fb 1381 break;
Sitkah 34:6aa4b46b102e 1382
antbig 0:ad97421fb1fb 1383 case ACTION:
ClementBreteau 18:cc5fec34ed9c 1384 int tempo = 0;
Sitkah 30:a1e37af4bbde 1385 waitingAckID= ACK_ACTION; //On veut un ack de type action
Sitkah 30:a1e37af4bbde 1386 waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
ClementBreteau 18:cc5fec34ed9c 1387 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 1388 if(tempo == 1){
antbig 0:ad97421fb1fb 1389 //L'action est spécifique
Sitkah 34:6aa4b46b102e 1390 if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
antbig 11:ed13a480ddca 1391 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 1392 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1393 }
Sitkah 30:a1e37af4bbde 1394 else {
ClementBreteau 15:c2fc239e85df 1395 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 1396 }
ClementBreteau 18:cc5fec34ed9c 1397 #ifdef ROBOT_SMALL
Sitkah 34:6aa4b46b102e 1398 /*actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
Sitkah 34:6aa4b46b102e 1399 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;*/
ClementBreteau 18:cc5fec34ed9c 1400 #endif
antbig 11:ed13a480ddca 1401 return;
ClementBreteau 18:cc5fec34ed9c 1402 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 1403 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 1404 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 1405 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 1406 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1407
ClementBreteau 18:cc5fec34ed9c 1408 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 1409 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 1410 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 1411 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 1412 #endif
ClementBreteau 18:cc5fec34ed9c 1413 }else{
antbig 0:ad97421fb1fb 1414 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 1415 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 1416 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 1417
antbig 0:ad97421fb1fb 1418 }
antbig 0:ad97421fb1fb 1419 break;
antbig 0:ad97421fb1fb 1420 default:
antbig 0:ad97421fb1fb 1421 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 1422 break;
antbig 0:ad97421fb1fb 1423 }
antbig 0:ad97421fb1fb 1424
antbig 0:ad97421fb1fb 1425
antbig 0:ad97421fb1fb 1426
antbig 0:ad97421fb1fb 1427 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 1428 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 1429 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1430 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1431 cartesCheker.start();
antbig 1:116040d14164 1432 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 1433 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 1434 //AX12_enchainement = 0;
antbig 1:116040d14164 1435 }
Sitkah 36:6dd30780bd8e 1436 }
Sitkah 36:6dd30780bd8e 1437 else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 1438 if(instruction.order == MV_LINE){
Sitkah 30:a1e37af4bbde 1439 gameEtat = ETAT_GAME_WAIT_ACK;
Sitkah 30:a1e37af4bbde 1440 }
Sitkah 30:a1e37af4bbde 1441 else{
ClementBreteau 15:c2fc239e85df 1442 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1443 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 1444 }
antbig 0:ad97421fb1fb 1445 }
antbig 0:ad97421fb1fb 1446
antbig 0:ad97421fb1fb 1447 break;
antbig 0:ad97421fb1fb 1448 case ETAT_GAME_WAIT_ACK:
Sitkah 36:6dd30780bd8e 1449 canProcessRx();
Sitkah 34:6aa4b46b102e 1450
Sitkah 30:a1e37af4bbde 1451 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
antbig 0:ad97421fb1fb 1452 //if(true) {
antbig 0:ad97421fb1fb 1453 cartesCheker.stop();
antbig 0:ad97421fb1fb 1454 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 1455 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 1456 gameEtat = ETAT_GAME_JUMP_POSITION;
Sitkah 30:a1e37af4bbde 1457 }
Sitkah 30:a1e37af4bbde 1458 else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 1459 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 1460 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 1461 cartesCheker.start();
antbig 0:ad97421fb1fb 1462 }
Sitkah 30:a1e37af4bbde 1463 }
Sitkah 30:a1e37af4bbde 1464 else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
Sitkah 34:6aa4b46b102e 1465 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 1466 switch(instruction.order)
antbig 0:ad97421fb1fb 1467 {
antbig 0:ad97421fb1fb 1468 case MV_COURBURE:
Sitkah 34:6aa4b46b102e 1469 waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
Sitkah 34:6aa4b46b102e 1470 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1471 break;
antbig 0:ad97421fb1fb 1472 case MV_LINE:
Sitkah 34:6aa4b46b102e 1473 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1474 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1475 break;
antbig 0:ad97421fb1fb 1476 case MV_TURN:
Sitkah 34:6aa4b46b102e 1477 waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
Sitkah 34:6aa4b46b102e 1478 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1479 break;
antbig 0:ad97421fb1fb 1480 case MV_XYT:
Sitkah 34:6aa4b46b102e 1481 waitingAckID_FIN = ASSERVISSEMENT_XYT;
Sitkah 34:6aa4b46b102e 1482 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1483 break;
antbig 0:ad97421fb1fb 1484 case MV_RECALAGE:
Sitkah 34:6aa4b46b102e 1485 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1486 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1487 break;
antbig 0:ad97421fb1fb 1488 case ACTION:
ClementBreteau 15:c2fc239e85df 1489
ClementBreteau 15:c2fc239e85df 1490 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 1491 if (telemetreDistance == 0){
Sitkah 34:6aa4b46b102e 1492 waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
Sitkah 34:6aa4b46b102e 1493 waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
ClementBreteau 18:cc5fec34ed9c 1494 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 1495 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
Sitkah 34:6aa4b46b102e 1496 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1497 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1498 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 1499 }
ClementBreteau 15:c2fc239e85df 1500 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 1501 //modeTelemetre = 1;
Sitkah 34:6aa4b46b102e 1502 waitingAckID_FIN = OBJET_SUR_TABLE;
Sitkah 34:6aa4b46b102e 1503 waitingAckFrom_FIN = 0;
ClementBreteau 15:c2fc239e85df 1504 }
antbig 0:ad97421fb1fb 1505 break;
antbig 0:ad97421fb1fb 1506 default:
antbig 0:ad97421fb1fb 1507 break;
antbig 0:ad97421fb1fb 1508 }
Sitkah 30:a1e37af4bbde 1509 }
Sitkah 30:a1e37af4bbde 1510 else {
antbig 0:ad97421fb1fb 1511 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 1512 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1513 }
Sitkah 30:a1e37af4bbde 1514 }
Sitkah 36:6dd30780bd8e 1515 else if(cartesCheker.read_ms () > 1000){
antbig 0:ad97421fb1fb 1516 cartesCheker.stop();
antbig 0:ad97421fb1fb 1517 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 1518 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 1519 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1520 }
Sitkah 30:a1e37af4bbde 1521 else {
Sitkah 34:6aa4b46b102e 1522 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 1523 }
antbig 0:ad97421fb1fb 1524 }
antbig 0:ad97421fb1fb 1525 break;
antbig 0:ad97421fb1fb 1526
antbig 0:ad97421fb1fb 1527 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 1528 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 1529 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 1530 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1531 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1532 }
antbig 0:ad97421fb1fb 1533 break;
ClementBreteau 15:c2fc239e85df 1534
ClementBreteau 15:c2fc239e85df 1535 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 1536 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 1537 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 1538 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 1539 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 1540 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 1541 depasX = 0;
ClementBreteau 15:c2fc239e85df 1542 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 1543 depasX = -1;
ClementBreteau 15:c2fc239e85df 1544 }
ClementBreteau 15:c2fc239e85df 1545
ClementBreteau 15:c2fc239e85df 1546 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 1547 depasY = 0;
ClementBreteau 15:c2fc239e85df 1548 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 1549 depasY = -1;
ClementBreteau 15:c2fc239e85df 1550 }
ClementBreteau 15:c2fc239e85df 1551
ClementBreteau 15:c2fc239e85df 1552 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 1553 break;
antbig 0:ad97421fb1fb 1554 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 1555 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 1556
ClementBreteau 15:c2fc239e85df 1557 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 1558 Xok = true;
ClementBreteau 15:c2fc239e85df 1559 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 1560 Xok = true;
ClementBreteau 15:c2fc239e85df 1561 }
ClementBreteau 15:c2fc239e85df 1562
ClementBreteau 15:c2fc239e85df 1563 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 1564 Yok = true;
ClementBreteau 15:c2fc239e85df 1565 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 1566 Yok = true;
ClementBreteau 15:c2fc239e85df 1567 }
ClementBreteau 15:c2fc239e85df 1568
ClementBreteau 15:c2fc239e85df 1569 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 1570 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 1571 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1572 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 1573 }
ClementBreteau 15:c2fc239e85df 1574
antbig 0:ad97421fb1fb 1575 break;
antbig 0:ad97421fb1fb 1576 case ETAT_GAME_WAIT_END_INSTRUCTION:
Sitkah 36:6dd30780bd8e 1577 canProcessRx();
Sitkah 35:742dc6b200b0 1578 if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 1579 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1580 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1581 }
Sitkah 34:6aa4b46b102e 1582
antbig 0:ad97421fb1fb 1583 break;
antbig 0:ad97421fb1fb 1584
antbig 0:ad97421fb1fb 1585
antbig 5:dcd817534b57 1586 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 1587 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 1588 {
antbig 5:dcd817534b57 1589 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 1590 }
antbig 5:dcd817534b57 1591 break;
antbig 5:dcd817534b57 1592 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 1593 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 1594 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1595 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 1596 }
antbig 5:dcd817534b57 1597 break;
antbig 5:dcd817534b57 1598 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
ClementBreteau 25:f140c93a8666 1599 /*
antbig 12:14729d584500 1600 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 1601 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 1602 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1603 #else
antbig 12:14729d584500 1604 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1605 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1606 #endif
ClementBreteau 25:f140c93a8666 1607 gameEtat = ETAT_END;*/
ClementBreteau 21:590cdacb6a35 1608
ClementBreteau 25:f140c93a8666 1609 switch(actionPrecedente){
ClementBreteau 25:f140c93a8666 1610 case MV_LINE:
antbig 27:76ead555a63d 1611
ClementBreteau 25:f140c93a8666 1612 if(instruction.direction == BACKWARD) {
ClementBreteau 25:f140c93a8666 1613 localData1 = -1;
ClementBreteau 25:f140c93a8666 1614 } else {
ClementBreteau 25:f140c93a8666 1615 localData1 = 1;
ClementBreteau 25:f140c93a8666 1616 }
antbig 27:76ead555a63d 1617
ClementBreteau 25:f140c93a8666 1618 GoToPosition(target_x_robot,target_y_robot,target_theta_robot,localData1);
antbig 27:76ead555a63d 1619 debugXYTTarget(target_x_robot,target_y_robot,target_theta_robot);
antbig 27:76ead555a63d 1620 waitingAckID = ASSERVISSEMENT_XYT;
antbig 27:76ead555a63d 1621 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 27:76ead555a63d 1622 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 27:76ead555a63d 1623 instruction.order = MV_XYT;
antbig 28:acd18776ed2d 1624 instruction.arg1 = target_x_robot;
antbig 28:acd18776ed2d 1625 instruction.arg2 = target_y_robot;
antbig 28:acd18776ed2d 1626 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1627 instruction.direction = (localData1)?FORWARD:BACKWARD;
antbig 28:acd18776ed2d 1628 ingnorInversionOnce = 1;//Pour éviter que l'ago recalcul l'inversion
antbig 27:76ead555a63d 1629 return;
ClementBreteau 25:f140c93a8666 1630
ClementBreteau 25:f140c93a8666 1631 case MV_XYT:
antbig 27:76ead555a63d 1632 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
Sitkah 33:388aa0bf6af4 1633 ///////cv
ClementBreteau 25:f140c93a8666 1634 break;
ClementBreteau 25:f140c93a8666 1635
ClementBreteau 26:2f4fcc2354f3 1636 case MV_COURBURE:
antbig 28:acd18776ed2d 1637 //target_theta_robot = theta_robot - target_theta_robot;
antbig 28:acd18776ed2d 1638 //instruction.arg3 = instruction.arg3 - target_theta_robot;
ClementBreteau 26:2f4fcc2354f3 1639 if(instruction.direction == LEFT){
ClementBreteau 26:2f4fcc2354f3 1640 target_theta_robot = target_theta_robot - theta_robot;
ClementBreteau 26:2f4fcc2354f3 1641 }else{
antbig 28:acd18776ed2d 1642 target_theta_robot = theta_robot + target_theta_robot;
antbig 28:acd18776ed2d 1643 }
antbig 28:acd18776ed2d 1644
antbig 28:acd18776ed2d 1645
antbig 28:acd18776ed2d 1646 target_theta_robot = (target_theta_robot)%3600;
antbig 28:acd18776ed2d 1647 if(target_theta_robot > 1800) {
antbig 28:acd18776ed2d 1648 target_theta_robot = target_theta_robot-3600;
antbig 28:acd18776ed2d 1649 }
antbig 28:acd18776ed2d 1650 if(InversStrat == 1) {
antbig 28:acd18776ed2d 1651 target_theta_robot = -target_theta_robot;
antbig 28:acd18776ed2d 1652 }
antbig 28:acd18776ed2d 1653 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1654
antbig 28:acd18776ed2d 1655
antbig 28:acd18776ed2d 1656 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 28:acd18776ed2d 1657
ClementBreteau 25:f140c93a8666 1658 break;
antbig 27:76ead555a63d 1659 default:
antbig 27:76ead555a63d 1660 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1661 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 27:76ead555a63d 1662 break;
ClementBreteau 25:f140c93a8666 1663 }
ClementBreteau 25:f140c93a8666 1664
antbig 27:76ead555a63d 1665 //actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1666 //gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 5:dcd817534b57 1667 break;
antbig 5:dcd817534b57 1668 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 1669 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 1670 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 1671 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 1672 break;
ClementBreteau 20:de595e4ff01d 1673
ClementBreteau 20:de595e4ff01d 1674
ClementBreteau 20:de595e4ff01d 1675
ClementBreteau 14:c8fc06c4887f 1676 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 1677 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 1678 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 1679 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 1680 } else {
ClementBreteau 14:c8fc06c4887f 1681 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 1682 }
antbig 0:ad97421fb1fb 1683 break;
antbig 0:ad97421fb1fb 1684 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 1685 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 1686
antbig 0:ad97421fb1fb 1687 break;
antbig 0:ad97421fb1fb 1688 default:
ClementBreteau 20:de595e4ff01d 1689
antbig 0:ad97421fb1fb 1690 break;
ClementBreteau 20:de595e4ff01d 1691 }
Sitkah 29:41e02746041d 1692 }
Sitkah 29:41e02746041d 1693
Sitkah 29:41e02746041d 1694
Sitkah 29:41e02746041d 1695
Sitkah 29:41e02746041d 1696
Sitkah 29:41e02746041d 1697
antbig 4:88431b537477 1698 /****************************************************************************************/
antbig 4:88431b537477 1699 /* FUNCTION NAME: canProcessRx */
Sitkah 29:41e02746041d 1700 /* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
antbig 4:88431b537477 1701 /****************************************************************************************/
antbig 0:ad97421fb1fb 1702 void canProcessRx(void)
Sitkah 29:41e02746041d 1703 {
antbig 0:ad97421fb1fb 1704 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Sitkah 29:41e02746041d 1705 char useless1 = 0;
Sitkah 31:833fc481b002 1706 char message[10]="toto";
Sitkah 31:833fc481b002 1707 char message1[10]="toto";
Sitkah 31:833fc481b002 1708 char message2[10]="toto";
Sitkah 31:833fc481b002 1709 char message3[10]="toto";
antbig 0:ad97421fb1fb 1710 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 1711 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 1712 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 1713 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 1714 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 1715 if(FIFO_occupation!=0) {
Sitkah 29:41e02746041d 1716 int identifiant=msgRxBuffer[FIFO_lecture].id;
Sitkah 29:41e02746041d 1717 switch(identifiant) {
Sitkah 29:41e02746041d 1718
Sitkah 29:41e02746041d 1719 case ALIVE_MOTEUR:
Sitkah 29:41e02746041d 1720 if (etat == ATT) {
Sitkah 29:41e02746041d 1721
Sitkah 29:41e02746041d 1722 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1723 lcd.FillRect(0,400,400,150);
Sitkah 29:41e02746041d 1724 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1725 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1726 lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 1727 }
Sitkah 29:41e02746041d 1728 break;
Sitkah 29:41e02746041d 1729
Sitkah 29:41e02746041d 1730 case ALIVE_BALISE:
Sitkah 29:41e02746041d 1731 if (etat == ATT) {
Sitkah 29:41e02746041d 1732
Sitkah 29:41e02746041d 1733 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1734 lcd.FillRect(0,600,400,150); //carte AX12
Sitkah 29:41e02746041d 1735 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1736 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1737 lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 1738 }
Sitkah 29:41e02746041d 1739 break;
Sitkah 29:41e02746041d 1740
Sitkah 29:41e02746041d 1741 case RESET_IHM:
Sitkah 29:41e02746041d 1742 etat = CHOIX;
Sitkah 29:41e02746041d 1743 break;
Sitkah 29:41e02746041d 1744
antbig 4:88431b537477 1745 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
ClementBreteau 23:ab87d308eaf9 1746 case GLOBAL_JACK:
antbig 1:116040d14164 1747 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 1748 gameEtat = ETAT_GAME_START;
ClementBreteau 23:ab87d308eaf9 1749 SendRawId(ACKNOWLEDGE_JACK);
antbig 1:116040d14164 1750 }
antbig 1:116040d14164 1751 break;
antbig 1:116040d14164 1752
Sitkah 30:a1e37af4bbde 1753 case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
ClementBreteau 23:ab87d308eaf9 1754 case ALIVE_ACTIONNEURS_ARRIERE:
Sitkah 30:a1e37af4bbde 1755 case ALIVE_HERKULEX:
antbig 0:ad97421fb1fb 1756 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 1757 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 1758 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 1759 }
ClementBreteau 15:c2fc239e85df 1760 break;
antbig 0:ad97421fb1fb 1761
Sitkah 30:a1e37af4bbde 1762
Sitkah 30:a1e37af4bbde 1763
Sitkah 30:a1e37af4bbde 1764
Sitkah 30:a1e37af4bbde 1765 /////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
Sitkah 30:a1e37af4bbde 1766 case ACKNOWLEDGE_HERKULEX:
Sitkah 30:a1e37af4bbde 1767 case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans INSTRUCTION_END_AX12 mais conserve l'ident initial
Sitkah 34:6aa4b46b102e 1768
Sitkah 30:a1e37af4bbde 1769 case ACKNOWLEDGE_TELEMETRE:
Sitkah 30:a1e37af4bbde 1770 /////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
Sitkah 34:6aa4b46b102e 1771 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 1772 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 1773 case INSTRUCTION_END_MOTEUR:
Sitkah 31:833fc481b002 1774 case ACK_FIN_ACTION:
antbig 11:ed13a480ddca 1775 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
Sitkah 36:6dd30780bd8e 1776 lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"ACK OK",LEFT_MODE);
antbig 0:ad97421fb1fb 1777 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1778 waitingAckID = 0;
antbig 0:ad97421fb1fb 1779 }
Sitkah 34:6aa4b46b102e 1780 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 1781 //SendRawId(waitingAckID);
Sitkah 34:6aa4b46b102e 1782 waitingAckFrom_FIN = 0;
Sitkah 34:6aa4b46b102e 1783 waitingAckID_FIN = 0;
Sitkah 34:6aa4b46b102e 1784 }
Sitkah 30:a1e37af4bbde 1785
antbig 0:ad97421fb1fb 1786 break;
antbig 1:116040d14164 1787 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 1788 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 1789 #else
antbig 0:ad97421fb1fb 1790 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 1791 #endif
antbig 0:ad97421fb1fb 1792 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 1793 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 1794 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 1795 break;
Sitkah 29:41e02746041d 1796
Sitkah 30:a1e37af4bbde 1797 //case SERVO_AX12_SETGOAL:
antbig 9:d0042422d95a 1798 //SendAck(0x114, SERVO_AX12_SETGOAL);
ClementBreteau 14:c8fc06c4887f 1799 //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
ClementBreteau 14:c8fc06c4887f 1800 //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 1801
Sitkah 30:a1e37af4bbde 1802 //break;
ClementBreteau 14:c8fc06c4887f 1803
Sitkah 30:a1e37af4bbde 1804 /*case SERVO_AX12_PROCESS:
ClementBreteau 14:c8fc06c4887f 1805 SendAck(0x114, SERVO_AX12_PROCESS);
ClementBreteau 14:c8fc06c4887f 1806 //AX12_processChange(1);
antbig 0:ad97421fb1fb 1807 break;
ClementBreteau 14:c8fc06c4887f 1808
antbig 1:116040d14164 1809 case SERVO_AX12_DONE:
ClementBreteau 15:c2fc239e85df 1810 SendRawId(POMPE_PWM);
Sitkah 30:a1e37af4bbde 1811 //SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 1812 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
ClementBreteau 14:c8fc06c4887f 1813
ClementBreteau 15:c2fc239e85df 1814 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 1815 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 1816 waitingAckID = 0;*/
ClementBreteau 14:c8fc06c4887f 1817
Sitkah 30:a1e37af4bbde 1818 //break;
Sitkah 30:a1e37af4bbde 1819 case ACK_ACTION:
Sitkah 30:a1e37af4bbde 1820 if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
Sitkah 30:a1e37af4bbde 1821 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1822 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 1823 }
Sitkah 30:a1e37af4bbde 1824 break;
Sitkah 30:a1e37af4bbde 1825
ClementBreteau 16:7321fb3bb396 1826 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 1827 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 1828 break;
ClementBreteau 16:7321fb3bb396 1829
antbig 5:dcd817534b57 1830 case BALISE_STOP:
antbig 5:dcd817534b57 1831 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
antbig 28:acd18776ed2d 1832 if (instruction.order != MV_TURN && instruction.order != ACTION ){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
ClementBreteau 16:7321fb3bb396 1833 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 1834 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 1835 {
ClementBreteau 16:7321fb3bb396 1836 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 26:2f4fcc2354f3 1837 //while(1); // ligne à décommenter si on est en homologation
ClementBreteau 16:7321fb3bb396 1838 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 1839 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 1840 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 1841 }
antbig 27:76ead555a63d 1842 gameEtat = ETAT_WARNING_TIMEOUT;
antbig 12:14729d584500 1843 }
antbig 12:14729d584500 1844 }
antbig 28:acd18776ed2d 1845 }
antbig 12:14729d584500 1846 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 1847 break;
ClementBreteau 16:7321fb3bb396 1848
antbig 5:dcd817534b57 1849 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 1850 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 1851 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 1852 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 1853 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 1854 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 1855 }
antbig 5:dcd817534b57 1856 break;
antbig 12:14729d584500 1857
ClementBreteau 14:c8fc06c4887f 1858 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 1859 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 1860
ClementBreteau 15:c2fc239e85df 1861 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 1862 }
ClementBreteau 15:c2fc239e85df 1863 else{
ClementBreteau 15:c2fc239e85df 1864
ClementBreteau 15:c2fc239e85df 1865 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 1866 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 1867
ClementBreteau 15:c2fc239e85df 1868 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 1869 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 1870 }
ClementBreteau 15:c2fc239e85df 1871 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 1872 break;
Sitkah 29:41e02746041d 1873
Sitkah 30:a1e37af4bbde 1874 case RECEPTION_DATA:
Sitkah 30:a1e37af4bbde 1875 telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
Sitkah 30:a1e37af4bbde 1876 telemetreDistance= (float)telemetreDistance*100*35.5+50;
Sitkah 30:a1e37af4bbde 1877 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1878 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 1879 break;
Sitkah 30:a1e37af4bbde 1880
Sitkah 31:833fc481b002 1881 case RECEPTION_RECALAGE:
Sitkah 34:6aa4b46b102e 1882 telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]); //
Sitkah 34:6aa4b46b102e 1883 telemetreDistance_avant_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
Sitkah 34:6aa4b46b102e 1884 telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
Sitkah 34:6aa4b46b102e 1885 telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
Sitkah 34:6aa4b46b102e 1886
Sitkah 34:6aa4b46b102e 1887
Sitkah 34:6aa4b46b102e 1888
Sitkah 34:6aa4b46b102e 1889 if(ModeDemo==1)
Sitkah 34:6aa4b46b102e 1890 {
Sitkah 34:6aa4b46b102e 1891 sprintf(message,"%04d mm",telemetreDistance_arriere_droite);
Sitkah 31:833fc481b002 1892 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1893 lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER ARD : ",LEFT_MODE);
Sitkah 31:833fc481b002 1894 lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message, LEFT_MODE);
Sitkah 31:833fc481b002 1895
Sitkah 34:6aa4b46b102e 1896 sprintf(message1,"%04d mm",telemetreDistance_avant_droite);
Sitkah 31:833fc481b002 1897 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1898 lcd.DisplayStringAt(0, LINE(12),(unsigned char *)"LASER AVD : ",LEFT_MODE);
Sitkah 31:833fc481b002 1899 lcd.DisplayStringAt(200, LINE(12),(unsigned char *)message1, LEFT_MODE);
Sitkah 31:833fc481b002 1900
Sitkah 34:6aa4b46b102e 1901 sprintf(message2,"%04d mm",telemetreDistance_arriere_gauche);
Sitkah 31:833fc481b002 1902 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1903 lcd.DisplayStringAt(0, LINE(14),(unsigned char *)"LASER ARG : ",LEFT_MODE);
Sitkah 31:833fc481b002 1904 lcd.DisplayStringAt(200, LINE(14),(unsigned char *)message2, LEFT_MODE);
Sitkah 31:833fc481b002 1905
Sitkah 34:6aa4b46b102e 1906 sprintf(message3,"%04d mm",telemetreDistance_avant_gauche);
Sitkah 31:833fc481b002 1907 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1908 lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER AVG : ",LEFT_MODE);
Sitkah 34:6aa4b46b102e 1909 lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message3, LEFT_MODE);
Sitkah 31:833fc481b002 1910 }
Sitkah 30:a1e37af4bbde 1911 break;
Sitkah 29:41e02746041d 1912
Sitkah 30:a1e37af4bbde 1913 case RECEPTION_COULEUR:
Sitkah 30:a1e37af4bbde 1914 couleur1=msgRxBuffer[FIFO_lecture].data[0];
Sitkah 30:a1e37af4bbde 1915 couleur2=msgRxBuffer[FIFO_lecture].data[1];
Sitkah 30:a1e37af4bbde 1916 couleur3=msgRxBuffer[FIFO_lecture].data[2];
Sitkah 30:a1e37af4bbde 1917 break;
Sitkah 30:a1e37af4bbde 1918
Sitkah 35:742dc6b200b0 1919 case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
Sitkah 35:742dc6b200b0 1920 actual_instruction = instruction.nextLineError;
Sitkah 35:742dc6b200b0 1921 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 35:742dc6b200b0 1922 /*waitingAckID_FIN=0;
Sitkah 35:742dc6b200b0 1923 waitingAckFrom_FIN=0;*/
Sitkah 35:742dc6b200b0 1924 SendRawId(0x40);
Sitkah 35:742dc6b200b0 1925 break;
Sitkah 29:41e02746041d 1926 }
antbig 0:ad97421fb1fb 1927 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 1928 }
antbig 0:ad97421fb1fb 1929 }
Sitkah 29:41e02746041d 1930
Sitkah 29:41e02746041d 1931
Sitkah 29:41e02746041d 1932
Sitkah 29:41e02746041d 1933
Sitkah 29:41e02746041d 1934
Sitkah 29:41e02746041d 1935 /****************************************************************************************/
Sitkah 29:41e02746041d 1936 /* FUNCTION NAME: Bouton_Strat */
Sitkah 29:41e02746041d 1937 /* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
Sitkah 29:41e02746041d 1938 /****************************************************************************************/
Sitkah 29:41e02746041d 1939 signed char Bouton_Strat (void)
Sitkah 29:41e02746041d 1940 {
Sitkah 29:41e02746041d 1941 Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
Sitkah 29:41e02746041d 1942 Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
Sitkah 29:41e02746041d 1943 Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
Sitkah 29:41e02746041d 1944 Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
Sitkah 29:41e02746041d 1945 Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
Sitkah 29:41e02746041d 1946 Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
Sitkah 29:41e02746041d 1947 Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
Sitkah 29:41e02746041d 1948 Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
Sitkah 29:41e02746041d 1949 Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
Sitkah 29:41e02746041d 1950 Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
Sitkah 29:41e02746041d 1951 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 1952 //Definition des boutons
Sitkah 29:41e02746041d 1953
Sitkah 29:41e02746041d 1954 Ack_strat = 0;
Sitkah 29:41e02746041d 1955 Strat = 0;
Sitkah 29:41e02746041d 1956 STRAT_1.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1957 STRAT_2.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1958 STRAT_3.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1959 STRAT_4.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1960 STRAT_5.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1961 STRAT_6.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1962 STRAT_7.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1963 STRAT_8.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1964 STRAT_9.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1965 STRAT_10.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1966 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 1967
Sitkah 29:41e02746041d 1968 while(Ack_strat == 0)
Sitkah 29:41e02746041d 1969 {
Sitkah 29:41e02746041d 1970 canProcessRx();
Sitkah 29:41e02746041d 1971 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 1972 //msgTx.id=ECRAN_CHOICE_STRAT;
Sitkah 29:41e02746041d 1973 if (RETOUR.Touched())
Sitkah 29:41e02746041d 1974 return -1;
Sitkah 29:41e02746041d 1975 while(RETOUR.Touched());
Sitkah 29:41e02746041d 1976 //////////////////////////////STRATEGIE N°1
Sitkah 29:41e02746041d 1977 if (STRAT_1.Touched()){
Sitkah 29:41e02746041d 1978 Strat = 0;
Sitkah 30:a1e37af4bbde 1979 //msgTx.data[0] = 0x1;
Sitkah 30:a1e37af4bbde 1980 //can2.write(msgTx);
Sitkah 29:41e02746041d 1981 while(STRAT_1.Touched());
Sitkah 29:41e02746041d 1982 Ack_strat =1;
Sitkah 29:41e02746041d 1983 }
Sitkah 29:41e02746041d 1984 /////////////////////////////STRATEGIE N°2
Sitkah 29:41e02746041d 1985 if (STRAT_2.Touched()){
Sitkah 29:41e02746041d 1986 Strat = 1;
Sitkah 30:a1e37af4bbde 1987 //msgTx.data[0] = 0x2;
Sitkah 30:a1e37af4bbde 1988 //can2.write(msgTx);
Sitkah 29:41e02746041d 1989 while(STRAT_2.Touched());
Sitkah 29:41e02746041d 1990 Ack_strat =1;
Sitkah 29:41e02746041d 1991 }
Sitkah 29:41e02746041d 1992 //////////////////////////////STRATEGIE N°3
Sitkah 29:41e02746041d 1993 if (STRAT_3.Touched()){
Sitkah 29:41e02746041d 1994 Strat = 2;
Sitkah 30:a1e37af4bbde 1995 //msgTx.data[0] = 0x3;
Sitkah 30:a1e37af4bbde 1996 //can2.write(msgTx);
Sitkah 29:41e02746041d 1997 while(STRAT_3.Touched());
Sitkah 29:41e02746041d 1998 Ack_strat =1;
Sitkah 29:41e02746041d 1999 }
Sitkah 29:41e02746041d 2000 /////////////////////////////STRATEGIE N°4
Sitkah 29:41e02746041d 2001 if (STRAT_4.Touched()){
Sitkah 29:41e02746041d 2002 Strat = 3;
Sitkah 30:a1e37af4bbde 2003 //msgTx.data[0] = 0x4;
Sitkah 30:a1e37af4bbde 2004 //can2.write(msgTx);
Sitkah 29:41e02746041d 2005 while(STRAT_4.Touched());
Sitkah 29:41e02746041d 2006 Ack_strat =1;
Sitkah 29:41e02746041d 2007 }
Sitkah 29:41e02746041d 2008 ///////////////////////////////STRATEGIE N°5
Sitkah 29:41e02746041d 2009 if (STRAT_5.Touched()){
Sitkah 29:41e02746041d 2010 Strat = 4;
Sitkah 30:a1e37af4bbde 2011 //msgTx.data[0] = 0x5;
Sitkah 30:a1e37af4bbde 2012 //can2.write(msgTx);
Sitkah 29:41e02746041d 2013 while(STRAT_5.Touched());
Sitkah 29:41e02746041d 2014 Ack_strat =1;
Sitkah 29:41e02746041d 2015 }
Sitkah 29:41e02746041d 2016 ////////////////////////////////STRATEGIE N°6
Sitkah 29:41e02746041d 2017 if (STRAT_6.Touched()){
Sitkah 29:41e02746041d 2018 Strat = 5;
Sitkah 30:a1e37af4bbde 2019 //msgTx.data[0] = 0x6;
Sitkah 30:a1e37af4bbde 2020 //can2.write(msgTx);
Sitkah 29:41e02746041d 2021 while(STRAT_6.Touched());
Sitkah 29:41e02746041d 2022 Ack_strat =1;
Sitkah 29:41e02746041d 2023 }
Sitkah 29:41e02746041d 2024 /////////////////////////////////STRATEGIE N°7
Sitkah 29:41e02746041d 2025 if (STRAT_7.Touched()){
Sitkah 29:41e02746041d 2026 Strat = 6;
Sitkah 30:a1e37af4bbde 2027 //msgTx.data[0] = 0x7;
Sitkah 30:a1e37af4bbde 2028 //can2.write(msgTx);
Sitkah 29:41e02746041d 2029 while(STRAT_7.Touched());
Sitkah 29:41e02746041d 2030 Ack_strat =1;
Sitkah 29:41e02746041d 2031 }
Sitkah 29:41e02746041d 2032 /////////////////////////////////STRATEGIE N°8
Sitkah 29:41e02746041d 2033 if (STRAT_8.Touched()){
Sitkah 29:41e02746041d 2034 Strat = 7;
Sitkah 30:a1e37af4bbde 2035 //msgTx.data[0] = 0x8;
Sitkah 30:a1e37af4bbde 2036 //can2.write(msgTx);
Sitkah 29:41e02746041d 2037 while(STRAT_8.Touched());
Sitkah 29:41e02746041d 2038 Ack_strat =1;
Sitkah 29:41e02746041d 2039 }
Sitkah 29:41e02746041d 2040 /////////////////////////////////STRATEGIE N°9
Sitkah 29:41e02746041d 2041 if (STRAT_9.Touched()){
Sitkah 29:41e02746041d 2042 Strat = 8;
Sitkah 30:a1e37af4bbde 2043 //msgTx.data[0] = 0x9;
Sitkah 30:a1e37af4bbde 2044 //can2.write(msgTx);
Sitkah 29:41e02746041d 2045 while(STRAT_9.Touched());
Sitkah 29:41e02746041d 2046 Ack_strat =1;
Sitkah 29:41e02746041d 2047 }
Sitkah 29:41e02746041d 2048 ///////////////////////////////////STRATEGIE N°10
Sitkah 29:41e02746041d 2049 if (STRAT_10.Touched()){
Sitkah 29:41e02746041d 2050 Strat = 9;
Sitkah 30:a1e37af4bbde 2051 //msgTx.data[0] = 0xA;
Sitkah 30:a1e37af4bbde 2052 //can2.write(msgTx);
Sitkah 29:41e02746041d 2053 while(STRAT_10.Touched());
Sitkah 29:41e02746041d 2054 Ack_strat =1;
Sitkah 29:41e02746041d 2055 }
Sitkah 29:41e02746041d 2056
Sitkah 29:41e02746041d 2057 }
Sitkah 29:41e02746041d 2058 return Strat;
Sitkah 29:41e02746041d 2059
Sitkah 29:41e02746041d 2060 }
Sitkah 29:41e02746041d 2061
Sitkah 29:41e02746041d 2062 void affichage_compteur (int nombre)
Sitkah 29:41e02746041d 2063 {
Sitkah 29:41e02746041d 2064 int dizaine=0,unite=0;
Sitkah 29:41e02746041d 2065 dizaine = nombre/10;
Sitkah 29:41e02746041d 2066 unite = nombre-(10*dizaine);
Sitkah 29:41e02746041d 2067 print_segment(unite,0);
Sitkah 29:41e02746041d 2068 print_segment(dizaine,200);
Sitkah 29:41e02746041d 2069
Sitkah 29:41e02746041d 2070 }
Sitkah 29:41e02746041d 2071
Sitkah 29:41e02746041d 2072
Sitkah 29:41e02746041d 2073 //****print_segment***
Sitkah 29:41e02746041d 2074 //Dessine en 7 segment le nombre en parametre
Sitkah 29:41e02746041d 2075 // A
Sitkah 29:41e02746041d 2076 // =====
Sitkah 29:41e02746041d 2077 // | |
Sitkah 29:41e02746041d 2078 // B | G | E
Sitkah 29:41e02746041d 2079 // |=====|
Sitkah 29:41e02746041d 2080 // C | | F
Sitkah 29:41e02746041d 2081 // | |
Sitkah 29:41e02746041d 2082 // =====
Sitkah 29:41e02746041d 2083 // D
Sitkah 29:41e02746041d 2084 /*
Sitkah 29:41e02746041d 2085 position pour le chiffre des unites
Sitkah 29:41e02746041d 2086 lcd.FillRect(460,75,120,25);// A
Sitkah 29:41e02746041d 2087 lcd.FillRect(435,100,25,120);// B
Sitkah 29:41e02746041d 2088 lcd.FillRect(435,245,25,120);// C
Sitkah 29:41e02746041d 2089 lcd.FillRect(460,365,120,25);// D
Sitkah 29:41e02746041d 2090 lcd.FillRect(580,100,25,120);// E
Sitkah 29:41e02746041d 2091 lcd.FillRect(580,245,25,120);// F
Sitkah 29:41e02746041d 2092 lcd.FillRect(460,220,120,25);// G
Sitkah 29:41e02746041d 2093
Sitkah 29:41e02746041d 2094 position pour le chiffre des dizaines
Sitkah 29:41e02746041d 2095 lcd.FillRect(260,75,120,25);// A
Sitkah 29:41e02746041d 2096 lcd.FillRect(235,100,25,120);// B
Sitkah 29:41e02746041d 2097 lcd.FillRect(235,245,25,120);// C
Sitkah 29:41e02746041d 2098 lcd.FillRect(260,365,120,25);// D
Sitkah 29:41e02746041d 2099 lcd.FillRect(380,100,25,120);// E
Sitkah 29:41e02746041d 2100 lcd.FillRect(380,245,25,120);// F
Sitkah 29:41e02746041d 2101 lcd.FillRect(260,220,120,25);// G
Sitkah 29:41e02746041d 2102 */
Sitkah 29:41e02746041d 2103
Sitkah 29:41e02746041d 2104 void print_segment(int nombre, int decalage)
Sitkah 29:41e02746041d 2105 {
Sitkah 29:41e02746041d 2106 switch(nombre)
Sitkah 29:41e02746041d 2107 {
Sitkah 29:41e02746041d 2108 case 0:
Sitkah 29:41e02746041d 2109 lcd.FillRect(240-decalage,75,120,25);
Sitkah 29:41e02746041d 2110 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2111 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2112 lcd.FillRect(360-decalage,245,25,120);
Sitkah 29:41e02746041d 2113 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2114 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2115 break;
Sitkah 29:41e02746041d 2116
Sitkah 29:41e02746041d 2117 case 1:
Sitkah 29:41e02746041d 2118 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2119 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2120 break;
Sitkah 29:41e02746041d 2121
Sitkah 29:41e02746041d 2122 case 2:
Sitkah 29:41e02746041d 2123 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2124 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2125 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2126 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2127 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2128 break;
Sitkah 29:41e02746041d 2129
Sitkah 29:41e02746041d 2130 case 3:
Sitkah 29:41e02746041d 2131 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2132 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2133 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2134 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2135 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2136 break;
Sitkah 29:41e02746041d 2137
Sitkah 29:41e02746041d 2138 case 4:
Sitkah 29:41e02746041d 2139 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2140 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2141 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2142 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2143 break;
Sitkah 29:41e02746041d 2144
Sitkah 29:41e02746041d 2145 case 5:
Sitkah 29:41e02746041d 2146 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2147 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2148 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2149 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2150 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2151 break;
Sitkah 29:41e02746041d 2152
Sitkah 29:41e02746041d 2153 case 6:
Sitkah 29:41e02746041d 2154 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2155 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2156 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2157 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2158 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2159 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2160 break;
Sitkah 29:41e02746041d 2161
Sitkah 29:41e02746041d 2162 case 7:
Sitkah 29:41e02746041d 2163 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2164 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2165 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2166 break;
Sitkah 29:41e02746041d 2167
Sitkah 29:41e02746041d 2168 case 8:
Sitkah 29:41e02746041d 2169 lcd.FillRect(240-decalage,75,120,25); // A
Sitkah 29:41e02746041d 2170 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2171 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2172 lcd.FillRect(360-decalage,245,25,120);//...
Sitkah 29:41e02746041d 2173 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2174 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2175 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2176 break;
Sitkah 29:41e02746041d 2177
Sitkah 29:41e02746041d 2178 case 9:
Sitkah 29:41e02746041d 2179 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2180 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2181 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2182 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2183 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2184 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2185 break;
Sitkah 29:41e02746041d 2186 }
Sitkah 29:41e02746041d 2187 }
Sitkah 29:41e02746041d 2188
Sitkah 29:41e02746041d 2189 void effacer_segment(long couleur)
Sitkah 29:41e02746041d 2190 {
Sitkah 29:41e02746041d 2191 lcd.SetTextColor(couleur);
Sitkah 29:41e02746041d 2192 lcd.FillRect(240-200,75,120,25); // A
Sitkah 29:41e02746041d 2193 lcd.FillRect(215-200,100,25,120);
Sitkah 29:41e02746041d 2194 lcd.FillRect(215-200,245,25,120);
Sitkah 29:41e02746041d 2195 lcd.FillRect(360-200,245,25,120);//...
Sitkah 29:41e02746041d 2196 lcd.FillRect(360-200,100,25,120);
Sitkah 29:41e02746041d 2197 lcd.FillRect(240-200,365,120,25);
Sitkah 29:41e02746041d 2198 lcd.FillRect(240-200,220,120,25);// G
Sitkah 29:41e02746041d 2199
Sitkah 29:41e02746041d 2200 lcd.FillRect(240,75,120,25); // A
Sitkah 29:41e02746041d 2201 lcd.FillRect(215,100,25,120);
Sitkah 29:41e02746041d 2202 lcd.FillRect(215,245,25,120);
Sitkah 29:41e02746041d 2203 lcd.FillRect(360,245,25,120);//...
Sitkah 29:41e02746041d 2204 lcd.FillRect(360,100,25,120);
Sitkah 29:41e02746041d 2205 lcd.FillRect(240,365,120,25);
Sitkah 29:41e02746041d 2206 lcd.FillRect(240,220,120,25);// G
Sitkah 29:41e02746041d 2207 }
Sitkah 36:6dd30780bd8e 2208
Sitkah 36:6dd30780bd8e 2209 short recalageAngulaireCapteur(void)
Sitkah 36:6dd30780bd8e 2210 {
Sitkah 36:6dd30780bd8e 2211 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2212 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2213 unsigned short angleAvant = 0;
Sitkah 36:6dd30780bd8e 2214 unsigned short angleArriere = 0;
Sitkah 36:6dd30780bd8e 2215 unsigned short orientationArrondie = 0;
Sitkah 36:6dd30780bd8e 2216
Sitkah 36:6dd30780bd8e 2217 unsigned short position_avant_gauche=0;
Sitkah 36:6dd30780bd8e 2218 unsigned short position_avant_droite=0;
Sitkah 36:6dd30780bd8e 2219 unsigned short position_arriere_gauche=0;
Sitkah 36:6dd30780bd8e 2220 unsigned short position_arriere_droite=0;
Sitkah 36:6dd30780bd8e 2221
Sitkah 36:6dd30780bd8e 2222 if(theta_robot >= 450 && theta_robot <= 1350)
Sitkah 36:6dd30780bd8e 2223 orientationArrondie = 90;
Sitkah 36:6dd30780bd8e 2224 else if(theta_robot <= -450 && theta_robot >= -1350)
Sitkah 36:6dd30780bd8e 2225 orientationArrondie = 270;
Sitkah 36:6dd30780bd8e 2226 else if(theta_robot <= 450 && theta_robot >= -450)
Sitkah 36:6dd30780bd8e 2227 orientationArrondie = 0;
Sitkah 36:6dd30780bd8e 2228 else if(theta_robot >= 1350 && theta_robot <= -1350)
Sitkah 36:6dd30780bd8e 2229 orientationArrondie = 180;
Sitkah 36:6dd30780bd8e 2230
Sitkah 36:6dd30780bd8e 2231 // Calcul de position pour faire la vérification de cohérence
Sitkah 36:6dd30780bd8e 2232 if(orientationArrondie == 90 || orientationArrondie == 270)
Sitkah 36:6dd30780bd8e 2233 {
Sitkah 36:6dd30780bd8e 2234 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 2235 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 2236 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 2237 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 2238
Sitkah 36:6dd30780bd8e 2239 }
Sitkah 36:6dd30780bd8e 2240 else if(orientationArrondie == 0 || orientationArrondie == 180)
Sitkah 36:6dd30780bd8e 2241 {
Sitkah 36:6dd30780bd8e 2242 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 2243 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 2244 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 2245 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 2246 }
Sitkah 36:6dd30780bd8e 2247
Sitkah 36:6dd30780bd8e 2248
Sitkah 36:6dd30780bd8e 2249 if(orientationArrondie == 90 || orientationArrondie == 270) // Si il est en axe Y
Sitkah 36:6dd30780bd8e 2250 {
Sitkah 36:6dd30780bd8e 2251 if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2252 {
Sitkah 36:6dd30780bd8e 2253 if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2254 {
Sitkah 36:6dd30780bd8e 2255 if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
Sitkah 36:6dd30780bd8e 2256 angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche) , (double)ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2257 else
Sitkah 36:6dd30780bd8e 2258 angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
Sitkah 36:6dd30780bd8e 2259
Sitkah 36:6dd30780bd8e 2260 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2261 moyennageTelemetre += angleArriere;
Sitkah 36:6dd30780bd8e 2262 }
Sitkah 36:6dd30780bd8e 2263 }
Sitkah 36:6dd30780bd8e 2264 }
Sitkah 36:6dd30780bd8e 2265 else if(orientationArrondie == 0 || orientationArrondie == 180) // Si il est en axe X
Sitkah 36:6dd30780bd8e 2266 {
Sitkah 36:6dd30780bd8e 2267 if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2268 {
Sitkah 36:6dd30780bd8e 2269 if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2270 {
Sitkah 36:6dd30780bd8e 2271 if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
Sitkah 36:6dd30780bd8e 2272 angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche) , (double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2273 else
Sitkah 36:6dd30780bd8e 2274 angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
Sitkah 36:6dd30780bd8e 2275
Sitkah 36:6dd30780bd8e 2276 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2277 moyennageTelemetre += angleArriere;
Sitkah 36:6dd30780bd8e 2278 }
Sitkah 36:6dd30780bd8e 2279 }
Sitkah 36:6dd30780bd8e 2280 }
Sitkah 36:6dd30780bd8e 2281
Sitkah 36:6dd30780bd8e 2282 if(orientationArrondie == 90 || orientationArrondie == 270) // Si il est en axe Y
Sitkah 36:6dd30780bd8e 2283 {
Sitkah 36:6dd30780bd8e 2284 if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2285 {
Sitkah 36:6dd30780bd8e 2286 if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2287 {
Sitkah 36:6dd30780bd8e 2288 if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2289 angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
Sitkah 36:6dd30780bd8e 2290 else
Sitkah 36:6dd30780bd8e 2291 angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite) ,(double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2292
Sitkah 36:6dd30780bd8e 2293 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2294 moyennageTelemetre += angleAvant;
Sitkah 36:6dd30780bd8e 2295 }
Sitkah 36:6dd30780bd8e 2296 }
Sitkah 36:6dd30780bd8e 2297 }
Sitkah 36:6dd30780bd8e 2298 else if(orientationArrondie == 0 || orientationArrondie == 180) // Si il est en axe X
Sitkah 36:6dd30780bd8e 2299 {
Sitkah 36:6dd30780bd8e 2300 if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2301 {
Sitkah 36:6dd30780bd8e 2302 if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2303 {
Sitkah 36:6dd30780bd8e 2304 if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2305 angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
Sitkah 36:6dd30780bd8e 2306 else
Sitkah 36:6dd30780bd8e 2307 angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite) ,(double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2308
Sitkah 36:6dd30780bd8e 2309 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2310 moyennageTelemetre += angleAvant;
Sitkah 36:6dd30780bd8e 2311 }
Sitkah 36:6dd30780bd8e 2312 }
Sitkah 36:6dd30780bd8e 2313 }
Sitkah 36:6dd30780bd8e 2314
Sitkah 36:6dd30780bd8e 2315 angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2316
Sitkah 36:6dd30780bd8e 2317
Sitkah 36:6dd30780bd8e 2318
Sitkah 36:6dd30780bd8e 2319 if(nombresDeMesuresAuxTelemetresQuiSontCoherentes)
Sitkah 36:6dd30780bd8e 2320 {
Sitkah 36:6dd30780bd8e 2321 if(orientationArrondie == 0)
Sitkah 36:6dd30780bd8e 2322 {
Sitkah 36:6dd30780bd8e 2323 angleRecalage -= 900;
Sitkah 36:6dd30780bd8e 2324
Sitkah 36:6dd30780bd8e 2325 /*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2326 distanceRecalage = *);
Sitkah 36:6dd30780bd8e 2327 else
Sitkah 36:6dd30780bd8e 2328 distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
Sitkah 36:6dd30780bd8e 2329 }
Sitkah 36:6dd30780bd8e 2330 else if(orientationArrondie == 90)
Sitkah 36:6dd30780bd8e 2331 {
Sitkah 36:6dd30780bd8e 2332 angleRecalage += 0;
Sitkah 36:6dd30780bd8e 2333 }
Sitkah 36:6dd30780bd8e 2334 else if(orientationArrondie == 180)
Sitkah 36:6dd30780bd8e 2335 {
Sitkah 36:6dd30780bd8e 2336 angleRecalage += 900;
Sitkah 36:6dd30780bd8e 2337 }
Sitkah 36:6dd30780bd8e 2338 else if(orientationArrondie == 270)
Sitkah 36:6dd30780bd8e 2339 {
Sitkah 36:6dd30780bd8e 2340 angleRecalage += 1800;
Sitkah 36:6dd30780bd8e 2341 }
Sitkah 36:6dd30780bd8e 2342 }
Sitkah 36:6dd30780bd8e 2343
Sitkah 36:6dd30780bd8e 2344 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
Sitkah 36:6dd30780bd8e 2345 }
Sitkah 36:6dd30780bd8e 2346
Sitkah 36:6dd30780bd8e 2347 short recalageDistanceX(void)
Sitkah 36:6dd30780bd8e 2348 {
Sitkah 36:6dd30780bd8e 2349 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2350 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2351
Sitkah 36:6dd30780bd8e 2352 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 2353 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 2354 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 2355 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 2356
Sitkah 36:6dd30780bd8e 2357 if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2358 {
Sitkah 36:6dd30780bd8e 2359 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2360 moyennageTelemetre += telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2361 }
Sitkah 36:6dd30780bd8e 2362 if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2363 {
Sitkah 36:6dd30780bd8e 2364 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2365 moyennageTelemetre += telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2366 }
Sitkah 36:6dd30780bd8e 2367 if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2368 {
Sitkah 36:6dd30780bd8e 2369 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2370 moyennageTelemetre += telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2371 }
Sitkah 36:6dd30780bd8e 2372 if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2373 {
Sitkah 36:6dd30780bd8e 2374 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2375 moyennageTelemetre += telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2376 }
Sitkah 36:6dd30780bd8e 2377
Sitkah 36:6dd30780bd8e 2378 moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2379
Sitkah 36:6dd30780bd8e 2380 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
Sitkah 36:6dd30780bd8e 2381 }
Sitkah 36:6dd30780bd8e 2382
Sitkah 36:6dd30780bd8e 2383 short recalageDistanceY(void)
Sitkah 36:6dd30780bd8e 2384 {
Sitkah 36:6dd30780bd8e 2385 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2386 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2387
Sitkah 36:6dd30780bd8e 2388 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 2389 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 2390 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 2391 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 2392
Sitkah 36:6dd30780bd8e 2393 if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2394 {
Sitkah 36:6dd30780bd8e 2395 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2396 moyennageTelemetre += telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2397 }
Sitkah 36:6dd30780bd8e 2398 if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2399 {
Sitkah 36:6dd30780bd8e 2400 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2401 moyennageTelemetre += telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2402 }
Sitkah 36:6dd30780bd8e 2403 if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2404 {
Sitkah 36:6dd30780bd8e 2405 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2406 moyennageTelemetre += telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2407 }
Sitkah 36:6dd30780bd8e 2408 if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2409 {
Sitkah 36:6dd30780bd8e 2410 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2411 moyennageTelemetre += telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2412 }
Sitkah 36:6dd30780bd8e 2413
Sitkah 36:6dd30780bd8e 2414 moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2415
Sitkah 36:6dd30780bd8e 2416 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
Sitkah 36:6dd30780bd8e 2417 }
Sitkah 36:6dd30780bd8e 2418