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@41:b029ddc4d60e, 2018-05-11 (annotated)

Committer:
Sitkah
Date:
Fri May 11 12:09:26 2018 +0000
Revision:
41:b029ddc4d60e
Parent:
40:21bb685b553b
Child:
42:657b6a573e11
ed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 35:742dc6b200b0 1 #include "global.h"
Sitkah 31:833fc481b002 2 #include <string.h>
Sitkah 31:833fc481b002 3 #include <sstream>
Sitkah 29:41e02746041d 4 //#include "StrategieManager.h"
Sitkah 29:41e02746041d 5
Sitkah 29:41e02746041d 6
Sitkah 29:41e02746041d 7
Sitkah 29:41e02746041d 8 #define M_PI 3.14159265358979323846
Sitkah 35:742dc6b200b0 9 #define VERT 0xFF00FF00
Sitkah 29:41e02746041d 10 #define ROUGE 0xFFFF0000
Sitkah 35:742dc6b200b0 11 #define BLEU 0xFF0000FF
Sitkah 29:41e02746041d 12 #define JAUNE 0xFFFEFE00
Sitkah 29:41e02746041d 13 #define BLANC 0xFF000000
Sitkah 31:833fc481b002 14 #define ORANGE 0xFFFFA500
Sitkah 31:833fc481b002 15 #define NOIR 0xFF000000
Sitkah 29:41e02746041d 16 #define DIY_GREY 0xFFDFDFDF
antbig 0:ad97421fb1fb 17
Sitkah 29:41e02746041d 18 char tableau_aff[10][50];
Sitkah 29:41e02746041d 19 char tableau_etat[22][50]=
Sitkah 29:41e02746041d 20 {
Sitkah 29:41e02746041d 21 "Check_carte_screen",
Sitkah 29:41e02746041d 22 "Check_carte_screen_wait_ack",
Sitkah 29:41e02746041d 23 "Check_cartes",
Sitkah 29:41e02746041d 24 "Check_cartes_wait_ack",
Sitkah 29:41e02746041d 25 "Wait_force",
Sitkah 29:41e02746041d 26 "Config",
Sitkah 29:41e02746041d 27 "Game_init",
Sitkah 29:41e02746041d 28 "Game_wait_for_jack",
Sitkah 29:41e02746041d 29 "Game_start",
Sitkah 29:41e02746041d 30 "Game_next_instruction",
Sitkah 29:41e02746041d 31 "Game_instruction",
Sitkah 29:41e02746041d 32 "Game_wait_ack",
Sitkah 29:41e02746041d 33 "Game_jump_time",
Sitkah 29:41e02746041d 34 "Game_jump_config",
Sitkah 29:41e02746041d 35 "Game_jump_position",
Sitkah 29:41e02746041d 36 "Game_wait_end_instruction",
Sitkah 29:41e02746041d 37 "Warning_timeout",
Sitkah 29:41e02746041d 38 "Waring_end_balise_wait",
Sitkah 29:41e02746041d 39 "Warning_end_last_instruction",
Sitkah 29:41e02746041d 40 "Warning_switch_strategie",
Sitkah 29:41e02746041d 41 "End",
Sitkah 29:41e02746041d 42 "End_loop",
Sitkah 29:41e02746041d 43 };
Sitkah 29:41e02746041d 44
Sitkah 34:6aa4b46b102e 45 int waitingAckID_FIN;
Sitkah 34:6aa4b46b102e 46 int waitingAckFrom_FIN;
Sitkah 29:41e02746041d 47
Sitkah 29:41e02746041d 48 Ticker ticker;
Sitkah 29:41e02746041d 49 TS_DISCO_F469NI ts;
Sitkah 29:41e02746041d 50 LCD_DISCO_F469NI lcd;
Sitkah 29:41e02746041d 51
Sitkah 29:41e02746041d 52 TS_StateTypeDef TS_State;
Sitkah 29:41e02746041d 53
Sitkah 29:41e02746041d 54 Ticker chrono;
Sitkah 29:41e02746041d 55 Timeout AffTime;
Sitkah 29:41e02746041d 56 Timer timer;
antbig 0:ad97421fb1fb 57 Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
antbig 0:ad97421fb1fb 58 Timer gameTimer;
antbig 0:ad97421fb1fb 59 Timer debugetatTimer;
antbig 5:dcd817534b57 60 Timer timeoutWarning;
antbig 5:dcd817534b57 61 Timer timeoutWarningWaitEnd;
antbig 0:ad97421fb1fb 62 Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
antbig 0:ad97421fb1fb 63
Sitkah 29:41e02746041d 64 unsigned char screenChecktry = 0;
Sitkah 29:41e02746041d 65 unsigned char test[32] = {32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32};
Sitkah 29:41e02746041d 66
Sitkah 29:41e02746041d 67 char counter = 0;
Sitkah 29:41e02746041d 68 char check;
Sitkah 29:41e02746041d 69 char Jack = 1;
Sitkah 40:21bb685b553b 70 short SCORE_GLOBAL=0;
Sitkah 40:21bb685b553b 71 short SCORE_GR=20;
Sitkah 38:76f886a1c8e6 72 short SCORE_PR=0;
Sitkah 29:41e02746041d 73
Sitkah 29:41e02746041d 74 int flag = 0, flag_strat = 0, flag_timer;
Sitkah 29:41e02746041d 75 char Ack_strat = 0;
Sitkah 29:41e02746041d 76 signed char Strat = 0;
antbig 0:ad97421fb1fb 77 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 78
antbig 0:ad97421fb1fb 79 signed short x_robot,y_robot,theta_robot;//La position du robot
ClementBreteau 25:f140c93a8666 80 signed short target_x_robot, target_y_robot, target_theta_robot;
ClementBreteau 25:f140c93a8666 81 E_InstructionType actionPrecedente;
antbig 12:14729d584500 82 signed short start_move_x,start_move_y,start_move_theta;//La position du robot lors du début d'un mouvement, utilisé pour reprendre le mouvement apres stop balise
Sitkah 29:41e02746041d 83 //unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Sitkah 29:41e02746041d 84 int flagSendCan=1;
Sitkah 34:6aa4b46b102e 85 unsigned char Cote = 0; //0 -> VERT | 1 -> jaune
Sitkah 35:742dc6b200b0 86 unsigned short angleRecalage = 0;
antbig 0:ad97421fb1fb 87 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 88 unsigned char countAliveCard = 0;
Sitkah 35:742dc6b200b0 89 unsigned char ligne=0;
antbig 0:ad97421fb1fb 90
Sitkah 37:fca332b64b42 91 float angle_moyen_balise_IR = 0.0;
Sitkah 37:fca332b64b42 92
Sitkah 37:fca332b64b42 93
Sitkah 29:41e02746041d 94 signed char Strategie = 0; //N° de la strategie (1-10)
antbig 1:116040d14164 95
ClementBreteau 14:c8fc06c4887f 96 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 97
antbig 5:dcd817534b57 98 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 99
antbig 12:14729d584500 100 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 101
antbig 28:acd18776ed2d 102 unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
antbig 28:acd18776ed2d 103
antbig 28:acd18776ed2d 104 struct S_Instruction instruction;
antbig 28:acd18776ed2d 105
Sitkah 30:a1e37af4bbde 106 char couleur1, couleur2, couleur3;
Sitkah 29:41e02746041d 107 float cptf;
Sitkah 29:41e02746041d 108 int cpt,cpt1;
Sitkah 29:41e02746041d 109
Sitkah 32:1c9ab15c740e 110 typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_CAPTEURS, TEST_SERVO, TEST_TIR, DEMO_IMMEUBLE,DEMO_TRIEUR, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
Sitkah 29:41e02746041d 111 T_etat etat = INIT;
Sitkah 29:41e02746041d 112 E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 113 E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
Sitkah 38:76f886a1c8e6 114 E_Stratposdebut etat_pos=RECALAGE_1;
Sitkah 29:41e02746041d 115
Sitkah 29:41e02746041d 116 /////////////////DEFINITION DES BOUTONS////////////////////
Sitkah 34:6aa4b46b102e 117 Button COTE_VERT(0, 25, 400, 300, "VERT");
Sitkah 34:6aa4b46b102e 118 Button COTE_ORANGE(0, 350, 400, 300, "ORANGE");
Sitkah 29:41e02746041d 119 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 120 Button LANCER (0, 200, 400, 200, "--LANCER--");
Sitkah 29:41e02746041d 121 Button CHECK (0, 420, 400, 200, "Valider");
Sitkah 29:41e02746041d 122 Button MATCH (0, 50, 400, 320, "Match");
Sitkah 29:41e02746041d 123 Button DEMONSTRATION (0, 400, 400, 320, "Demo");
Sitkah 31:833fc481b002 124 Button TEST_HERKULEX(0, 25, 400, 100, "Test servos");
Sitkah 32:1c9ab15c740e 125 Button TEST_LASER(0, 135, 400, 100, "Test telemetre");
Sitkah 32:1c9ab15c740e 126 Button TEST_COULEURS(0,245,400,100,"Test capteurs");
Sitkah 32:1c9ab15c740e 127 Button TEST_TIR_BALLE(0,355,400,100,"Test Lanceur");
Sitkah 32:1c9ab15c740e 128 Button TEST_IMMEUBLE(0,465,400,100,"Test immeuble");
Sitkah 32:1c9ab15c740e 129 Button TEST_TRIEUR(0,575,400,100,"Test aiguilleur");
Sitkah 31:833fc481b002 130 Button TIR_CHATEAU(0, 25, 400, 100, "Tir chateau");
Sitkah 31:833fc481b002 131 Button EPURATION(0, 150, 400, 100, "epuration");
Sitkah 31:833fc481b002 132 Button LANCEUR_ON(0,275,400,100,"allumer le lanceur");
Sitkah 31:833fc481b002 133 Button LANCEUR_OFF(0,400,400,100,"eteindre le lanceur");
Sitkah 31:833fc481b002 134 Button ABAISSE_BLOC(0, 25, 400, 100, "Ramasser blocs");
Sitkah 31:833fc481b002 135 Button RELEVE_BLOC(0, 135, 400, 100, "lacher blocs");
Sitkah 31:833fc481b002 136 Button BRAS_ABEILLE_ON(0,245,400,100,"bras abeille");
Sitkah 32:1c9ab15c740e 137 Button BRAS_ABEILLE_OFF(0,355,400,100,"baisser bras abeille");
Sitkah 31:833fc481b002 138 Button INTERRUPTEUR_ON(0,465,400,100,"baisser bras interrupt");
Sitkah 31:833fc481b002 139 Button INTERRUPTEUR_OFF(0,575,400,100,"baisser bras interrupt");
Sitkah 29:41e02746041d 140 Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
Sitkah 32:1c9ab15c740e 141 Button TRI(0, 25, 400, 100, "Test tri");
Sitkah 32:1c9ab15c740e 142 Button AIGUILLEUR_D(0, 150, 400, 100, "aiguilleur droite");
Sitkah 32:1c9ab15c740e 143 Button AIGUILLEUR_G(0,275,400,100,"aiguilleur gauche");
Sitkah 32:1c9ab15c740e 144 Button AIGUILLEUR_CTRE(0,400,400,100,"aiguilleur centre");
Sitkah 29:41e02746041d 145 Button SUIVANT(0,380,200,100,"Suivant");
Sitkah 31:833fc481b002 146 Button COLOR_ORANGE (0, 230, 190, 110,"");
Sitkah 31:833fc481b002 147 Button COLOR_JAUNE (210, 230, 190, 110,"");
Sitkah 34:6aa4b46b102e 148 Button COLOR_VERT (0, 350, 190, 110,"");
Sitkah 34:6aa4b46b102e 149 Button COLOR_BLEU (210, 350, 190, 110,"");
Sitkah 31:833fc481b002 150 Button COLOR_NOIR (105, 470, 190, 110,"");
Sitkah 29:41e02746041d 151 ////////////////////////////////////////////////////////////
Sitkah 29:41e02746041d 152
Sitkah 29:41e02746041d 153 void SendRawId (unsigned short id);
Sitkah 29:41e02746041d 154 void SelectionStrat (unsigned char numeroStrat);
Sitkah 29:41e02746041d 155 void Setflag(void);
Sitkah 29:41e02746041d 156 void can2Rx_ISR(void);
Sitkah 29:41e02746041d 157 signed char Bouton_Strat (void);
Sitkah 41:b029ddc4d60e 158 signed char blocage_balise;
Sitkah 29:41e02746041d 159 void print_segment(int nombre, int decalage);
Sitkah 29:41e02746041d 160 void affichage_compteur (int nombre);
Sitkah 29:41e02746041d 161 void effacer_segment(long couleur);
Sitkah 29:41e02746041d 162
Sitkah 30:a1e37af4bbde 163 unsigned short telemetreDistance=0;
Sitkah 34:6aa4b46b102e 164 unsigned short telemetreDistance_avant_gauche=0;
Sitkah 34:6aa4b46b102e 165 unsigned short telemetreDistance_avant_droite=0;
Sitkah 34:6aa4b46b102e 166 unsigned short telemetreDistance_arriere_gauche=0;
Sitkah 34:6aa4b46b102e 167 unsigned short telemetreDistance_arriere_droite=0;
Sitkah 29:41e02746041d 168
Sitkah 29:41e02746041d 169 #ifdef ROBOT_BIG
Sitkah 29:41e02746041d 170
Sitkah 29:41e02746041d 171
Sitkah 38:76f886a1c8e6 172 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
Sitkah 38:76f886a1c8e6 173 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
Sitkah 29:41e02746041d 174
Sitkah 31:833fc481b002 175 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 176 #else
Sitkah 29:41e02746041d 177
Sitkah 29:41e02746041d 178
Sitkah 38:76f886a1c8e6 179 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
Sitkah 38:76f886a1c8e6 180 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
Sitkah 31:833fc481b002 181 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 182
Sitkah 29:41e02746041d 183
Sitkah 29:41e02746041d 184 #endif
Sitkah 29:41e02746041d 185
Sitkah 29:41e02746041d 186
Sitkah 29:41e02746041d 187
Sitkah 29:41e02746041d 188
Sitkah 29:41e02746041d 189
ClementBreteau 14:c8fc06c4887f 190
antbig 4:88431b537477 191 /****************************************************************************************/
antbig 4:88431b537477 192 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 193 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 194 /****************************************************************************************/
antbig 0:ad97421fb1fb 195 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 196 {
antbig 0:ad97421fb1fb 197 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 198 SendRawId(GLOBAL_GAME_END);//Indication fin de match
Sitkah 29:41e02746041d 199 etat=FIN;
antbig 0:ad97421fb1fb 200 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 201
antbig 1:116040d14164 202 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 203 }
antbig 0:ad97421fb1fb 204
Sitkah 29:41e02746041d 205
Sitkah 29:41e02746041d 206
antbig 4:88431b537477 207 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 208 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 209 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 210 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 211 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 212 {
antbig 8:0edc7dfb7f7e 213 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 214 gameEtat = ETAT_GAME_START;//On débute le match
Sitkah 29:41e02746041d 215 etat=COMPTEUR;
Sitkah 41:b029ddc4d60e 216 blocage_balise=1;
antbig 8:0edc7dfb7f7e 217 }
antbig 8:0edc7dfb7f7e 218 }
antbig 8:0edc7dfb7f7e 219
antbig 8:0edc7dfb7f7e 220 /****************************************************************************************/
Sitkah 29:41e02746041d 221 /* FUNCTION NAME: SelectionStrat */
Sitkah 29:41e02746041d 222 /* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
Sitkah 29:41e02746041d 223 /****************************************************************************************/
Sitkah 29:41e02746041d 224
Sitkah 29:41e02746041d 225
Sitkah 29:41e02746041d 226 void SelectionStrat (unsigned char Strategie)
Sitkah 29:41e02746041d 227 {
Sitkah 29:41e02746041d 228 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 229 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 230
Sitkah 29:41e02746041d 231 switch (Strategie+1)
Sitkah 29:41e02746041d 232 {
Sitkah 29:41e02746041d 233 case 0x1 :
Sitkah 29:41e02746041d 234 //description de Strategie n°1
Sitkah 29:41e02746041d 235 lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 236 break;
Sitkah 29:41e02746041d 237
Sitkah 29:41e02746041d 238 case 0x2 :
Sitkah 29:41e02746041d 239 //description de Strategie n°2
Sitkah 29:41e02746041d 240 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 241 break;
Sitkah 29:41e02746041d 242
Sitkah 29:41e02746041d 243 case 0x3 :
Sitkah 29:41e02746041d 244 //description de Strategie n°3
Sitkah 29:41e02746041d 245 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 246 break;
Sitkah 29:41e02746041d 247
Sitkah 29:41e02746041d 248 case 0x4 :
Sitkah 29:41e02746041d 249 //description de Strategie n°4
Sitkah 29:41e02746041d 250 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 251 break;
Sitkah 29:41e02746041d 252
Sitkah 29:41e02746041d 253 case 0x5 :
Sitkah 29:41e02746041d 254 //description de Strategie n°5
Sitkah 29:41e02746041d 255 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 256 break;
Sitkah 29:41e02746041d 257
Sitkah 29:41e02746041d 258 case 0x6 :
Sitkah 29:41e02746041d 259 //description de Strategie n°5
Sitkah 29:41e02746041d 260 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 261 break;
Sitkah 29:41e02746041d 262
Sitkah 29:41e02746041d 263 case 0x7 :
Sitkah 29:41e02746041d 264 //description de Strategie n°5
Sitkah 29:41e02746041d 265 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 266 break;
Sitkah 29:41e02746041d 267
Sitkah 29:41e02746041d 268 case 0x8 :
Sitkah 29:41e02746041d 269 //description de Strategie n°5
Sitkah 29:41e02746041d 270 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 271 break;
Sitkah 29:41e02746041d 272
Sitkah 29:41e02746041d 273 case 0x9 :
Sitkah 29:41e02746041d 274 //description de Strategie n°5
Sitkah 29:41e02746041d 275 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 276 break;
Sitkah 29:41e02746041d 277
Sitkah 29:41e02746041d 278 case 0xA :
Sitkah 29:41e02746041d 279 //description de Strategie n°5
Sitkah 29:41e02746041d 280 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 281 break;
Sitkah 29:41e02746041d 282 }
Sitkah 29:41e02746041d 283 }
Sitkah 29:41e02746041d 284
Sitkah 29:41e02746041d 285 void Setflag(void)
Sitkah 29:41e02746041d 286 {
Sitkah 29:41e02746041d 287 flagSendCan = 1;
Sitkah 29:41e02746041d 288 }
Sitkah 29:41e02746041d 289
Sitkah 35:742dc6b200b0 290 void affichage_var(double Var){
Sitkah 35:742dc6b200b0 291 if(ligne==7)
Sitkah 35:742dc6b200b0 292 ligne=0;
Sitkah 35:742dc6b200b0 293 char aff[10]="toto";
Sitkah 35:742dc6b200b0 294 sprintf(aff,"%lf ",Var);
Sitkah 40:21bb685b553b 295 lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
Sitkah 38:76f886a1c8e6 296 //ligne++;
Sitkah 35:742dc6b200b0 297
Sitkah 35:742dc6b200b0 298 }
Sitkah 35:742dc6b200b0 299
Sitkah 30:a1e37af4bbde 300 void affichage_debug(int Var){
Sitkah 29:41e02746041d 301 int i;
Sitkah 29:41e02746041d 302 int conv=(int)Var;
Sitkah 29:41e02746041d 303 SUIVANT.Draw(ROUGE, 0);
Sitkah 29:41e02746041d 304 for(i=0;i<9;i++){
Sitkah 29:41e02746041d 305 strcpy(tableau_aff[i],"");
Sitkah 29:41e02746041d 306 strcpy(tableau_aff[i],tableau_aff[i+1]);
Sitkah 29:41e02746041d 307 }
Sitkah 29:41e02746041d 308 strcpy(tableau_aff[9],tableau_etat[conv]);
Sitkah 29:41e02746041d 309 for(i=0;i<10;i++){
Sitkah 34:6aa4b46b102e 310 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 311 lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
Sitkah 29:41e02746041d 312 }
Sitkah 30:a1e37af4bbde 313 /*while(!ack_bluetooth){
Sitkah 30:a1e37af4bbde 314 //liaison_bluetooth();
Sitkah 29:41e02746041d 315 }
Sitkah 30:a1e37af4bbde 316 ack_bluetooth=0;*/
Sitkah 30:a1e37af4bbde 317 /*while(SUIVANT.Touched()==0);
Sitkah 30:a1e37af4bbde 318 while(SUIVANT.Touched());*/
Sitkah 29:41e02746041d 319 }
Sitkah 29:41e02746041d 320
Sitkah 29:41e02746041d 321
Sitkah 29:41e02746041d 322 void automate_etat_ihm(void)
Sitkah 29:41e02746041d 323 {
Sitkah 29:41e02746041d 324 int j;
Sitkah 29:41e02746041d 325 if (j==0){
Sitkah 29:41e02746041d 326 ts.Init(lcd.GetXSize(), lcd.GetYSize());
Sitkah 29:41e02746041d 327 j++;
Sitkah 29:41e02746041d 328 }
Sitkah 29:41e02746041d 329 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 330 switch (etat)
Sitkah 29:41e02746041d 331 {
Sitkah 29:41e02746041d 332 case INIT :
Sitkah 29:41e02746041d 333 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 334 canProcessRx();
Sitkah 30:a1e37af4bbde 335
Sitkah 32:1c9ab15c740e 336
Sitkah 30:a1e37af4bbde 337
Sitkah 30:a1e37af4bbde 338
Sitkah 29:41e02746041d 339 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 340 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 341 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 342 wait(0.15);
Sitkah 29:41e02746041d 343 lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
Sitkah 29:41e02746041d 344 //cartes non verifiées////////////////
Sitkah 29:41e02746041d 345 lcd.SetTextColor(DIY_GREY);
Sitkah 29:41e02746041d 346 lcd.FillRect(0,400,400,150); //carte moteur
Sitkah 29:41e02746041d 347 lcd.FillRect(0,600,400,150); //Balise
Sitkah 29:41e02746041d 348
Sitkah 29:41e02746041d 349 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 350 lcd.SetBackColor(DIY_GREY);
Sitkah 29:41e02746041d 351 lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 352 lcd.DisplayStringAt(110,650 , (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 353 ////////////////////////////////////////
Sitkah 29:41e02746041d 354
Sitkah 38:76f886a1c8e6 355 FORCE_LAUNCH.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 356
Sitkah 29:41e02746041d 357 etat=ATT;
Sitkah 29:41e02746041d 358 break;
Sitkah 29:41e02746041d 359
Sitkah 29:41e02746041d 360 case ATT :
Sitkah 29:41e02746041d 361 if (flag==1){
Sitkah 29:41e02746041d 362 etat = CHOIX;
Sitkah 29:41e02746041d 363 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 364 }
Sitkah 29:41e02746041d 365 else if (FORCE_LAUNCH.Touched()){
Sitkah 29:41e02746041d 366 etat = CHOIX;
Sitkah 29:41e02746041d 367 gameEtat = ETAT_CONFIG;
Sitkah 30:a1e37af4bbde 368 while(FORCE_LAUNCH.Touched());
Sitkah 29:41e02746041d 369 }
Sitkah 29:41e02746041d 370
Sitkah 29:41e02746041d 371 break;
Sitkah 29:41e02746041d 372
Sitkah 29:41e02746041d 373
Sitkah 29:41e02746041d 374 case CHOIX :
Sitkah 29:41e02746041d 375 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 376 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 377 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 378 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
Sitkah 29:41e02746041d 379 DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
Sitkah 29:41e02746041d 380 MATCH.Draw(0xFFF01010, 0);
Sitkah 29:41e02746041d 381 while(etat == CHOIX)
Sitkah 29:41e02746041d 382 {
Sitkah 29:41e02746041d 383 canProcessRx();
Sitkah 29:41e02746041d 384 if(DEMONSTRATION.Touched())
Sitkah 29:41e02746041d 385 {
Sitkah 29:41e02746041d 386 etat = DEMO;
Sitkah 29:41e02746041d 387 while(DEMONSTRATION.Touched());
Sitkah 29:41e02746041d 388 }
Sitkah 29:41e02746041d 389
Sitkah 29:41e02746041d 390 if(MATCH.Touched())
Sitkah 29:41e02746041d 391 {
Sitkah 29:41e02746041d 392 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 393 while(MATCH.Touched());
Sitkah 29:41e02746041d 394 }
Sitkah 29:41e02746041d 395
Sitkah 29:41e02746041d 396 }
Sitkah 29:41e02746041d 397 break;
Sitkah 29:41e02746041d 398
Sitkah 29:41e02746041d 399 case DEMO :
Sitkah 29:41e02746041d 400 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 401 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 34:6aa4b46b102e 402 TEST_HERKULEX.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 403 TEST_LASER.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 404 TEST_COULEURS.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 405 TEST_TIR_BALLE.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 406 TEST_IMMEUBLE.Draw(VERT,0);
Sitkah 34:6aa4b46b102e 407 TEST_TRIEUR.Draw(VERT,0);
Sitkah 29:41e02746041d 408 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config //
Sitkah 29:41e02746041d 409 InversStrat = 0;//Pas d'inversion de la couleur // A changer , discussion avec l'ihm
Sitkah 29:41e02746041d 410 }
Sitkah 29:41e02746041d 411 while (etat == DEMO)
Sitkah 29:41e02746041d 412 {
Sitkah 29:41e02746041d 413 canProcessRx();
Sitkah 31:833fc481b002 414 if(TEST_HERKULEX.Touched())
Sitkah 29:41e02746041d 415 {
Sitkah 30:a1e37af4bbde 416 //Strat = 0x10;
Sitkah 31:833fc481b002 417 while(TEST_HERKULEX.Touched());
Sitkah 32:1c9ab15c740e 418 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 419 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 420 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 421 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 422 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 423 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 424 can2.write(trame_Tx);
Sitkah 31:833fc481b002 425 TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 426 etat = TEST_SERVO;
Sitkah 31:833fc481b002 427 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 30:a1e37af4bbde 428 ModeDemo=1;
Sitkah 29:41e02746041d 429 }
Sitkah 29:41e02746041d 430
Sitkah 31:833fc481b002 431 else if(TEST_LASER.Touched())
Sitkah 31:833fc481b002 432 {
Sitkah 31:833fc481b002 433 //Strat = 0x11;
Sitkah 31:833fc481b002 434 while(TEST_LASER.Touched());
Sitkah 31:833fc481b002 435 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 436 etat = TEST_TELEMETRE;
Sitkah 31:833fc481b002 437 }
Sitkah 31:833fc481b002 438 else if (TEST_COULEURS.Touched()){
Sitkah 31:833fc481b002 439 while(TEST_COULEURS.Touched());
Sitkah 31:833fc481b002 440 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 441 etat =TEST_CAPTEURS ;
Sitkah 31:833fc481b002 442 }
Sitkah 31:833fc481b002 443 else if (TEST_TIR_BALLE.Touched()){
Sitkah 31:833fc481b002 444 while(TEST_TIR_BALLE.Touched());
Sitkah 31:833fc481b002 445 TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 446 etat =TEST_TIR ;
Sitkah 31:833fc481b002 447 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 448 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 449 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 450 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 451 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 452 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 453 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 454 can2.write(trame_Tx);
Sitkah 31:833fc481b002 455 ModeDemo=1;
Sitkah 31:833fc481b002 456 }
Sitkah 31:833fc481b002 457 else if(TEST_IMMEUBLE.Touched()){
Sitkah 31:833fc481b002 458 while(TEST_IMMEUBLE.Touched());
Sitkah 31:833fc481b002 459 TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 460 etat =DEMO_IMMEUBLE;
Sitkah 31:833fc481b002 461 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 462 }
Sitkah 32:1c9ab15c740e 463 else if(TEST_TRIEUR.Touched()){
Sitkah 32:1c9ab15c740e 464 while(TEST_TRIEUR.Touched());
Sitkah 32:1c9ab15c740e 465 etat=DEMO_TRIEUR;
Sitkah 32:1c9ab15c740e 466 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 467 }
Sitkah 32:1c9ab15c740e 468
Sitkah 32:1c9ab15c740e 469
Sitkah 29:41e02746041d 470 if(RETOUR.Touched())
Sitkah 29:41e02746041d 471 {
Sitkah 29:41e02746041d 472 etat = CHOIX;
Sitkah 29:41e02746041d 473 while(RETOUR.Touched());
Sitkah 31:833fc481b002 474
Sitkah 29:41e02746041d 475 }
Sitkah 29:41e02746041d 476 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
Sitkah 30:a1e37af4bbde 477 /*if (Strat< 0x10){ // Si la strat est une strat de match, on desactive le mode demo
Sitkah 29:41e02746041d 478 ModeDemo = 0;
Sitkah 29:41e02746041d 479 }
Sitkah 29:41e02746041d 480 else { // sinon, on active le mode demo, utile pour la fin de la demo
Sitkah 29:41e02746041d 481 ModeDemo = 1;
Sitkah 30:a1e37af4bbde 482 }*/
Sitkah 29:41e02746041d 483 Ack_strat = 1;
Sitkah 29:41e02746041d 484 wait_ms(10);
Sitkah 30:a1e37af4bbde 485 //tactile_printf("Strat %d, Asser desactive",Strat);
Sitkah 29:41e02746041d 486 }
Sitkah 30:a1e37af4bbde 487 //SelectionStrat(Strategie);
Sitkah 29:41e02746041d 488 }
Sitkah 29:41e02746041d 489 break;
Sitkah 32:1c9ab15c740e 490 case DEMO_TRIEUR:
Sitkah 32:1c9ab15c740e 491 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 492 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 32:1c9ab15c740e 493 TRI.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 494 AIGUILLEUR_D.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 495 AIGUILLEUR_G.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 496 AIGUILLEUR_CTRE.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 497 while(etat==DEMO_TRIEUR){
Sitkah 32:1c9ab15c740e 498 if(RETOUR.Touched()){
Sitkah 32:1c9ab15c740e 499 while (RETOUR.Touched());
Sitkah 32:1c9ab15c740e 500 etat=DEMO;
Sitkah 32:1c9ab15c740e 501 }
Sitkah 32:1c9ab15c740e 502 else if(TRI.Touched()){
Sitkah 32:1c9ab15c740e 503 while (TRI.Touched());
Sitkah 32:1c9ab15c740e 504 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 505 wait(0.5);
Sitkah 32:1c9ab15c740e 506 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 507 wait(0.5);
Sitkah 32:1c9ab15c740e 508 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 509 wait(0.5);
Sitkah 32:1c9ab15c740e 510 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 511
Sitkah 32:1c9ab15c740e 512 break;
Sitkah 32:1c9ab15c740e 513 }
Sitkah 32:1c9ab15c740e 514 else if(AIGUILLEUR_D.Touched()){
Sitkah 32:1c9ab15c740e 515 while (AIGUILLEUR_D.Touched());
Sitkah 32:1c9ab15c740e 516 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 517 break;
Sitkah 32:1c9ab15c740e 518 }
Sitkah 32:1c9ab15c740e 519 else if(AIGUILLEUR_G.Touched()){
Sitkah 32:1c9ab15c740e 520 while (AIGUILLEUR_G.Touched());
Sitkah 32:1c9ab15c740e 521 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 522 break;
Sitkah 32:1c9ab15c740e 523
Sitkah 32:1c9ab15c740e 524 }
Sitkah 32:1c9ab15c740e 525 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 32:1c9ab15c740e 526 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 32:1c9ab15c740e 527 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 32:1c9ab15c740e 528 break;
Sitkah 32:1c9ab15c740e 529 }
Sitkah 32:1c9ab15c740e 530 else if(AIGUILLEUR_CTRE.Touched()){
Sitkah 32:1c9ab15c740e 531 while (AIGUILLEUR_CTRE.Touched());
Sitkah 32:1c9ab15c740e 532 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 533 break;
Sitkah 32:1c9ab15c740e 534 }
Sitkah 32:1c9ab15c740e 535
Sitkah 32:1c9ab15c740e 536 }
Sitkah 32:1c9ab15c740e 537 break;
Sitkah 31:833fc481b002 538 case DEMO_IMMEUBLE:
Sitkah 31:833fc481b002 539 int color=0;
Sitkah 31:833fc481b002 540 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 541 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"Choix du code couleur", LEFT_MODE);
Sitkah 29:41e02746041d 542
Sitkah 31:833fc481b002 543 CANMessage msgTx=CANMessage();
Sitkah 31:833fc481b002 544 msgTx.id=MONTER_IMMEUBLE; // Monter immeuble
Sitkah 31:833fc481b002 545 msgTx.len=3;
Sitkah 31:833fc481b002 546 msgTx.format=CANStandard;
Sitkah 31:833fc481b002 547 msgTx.type=CANData;
Sitkah 29:41e02746041d 548
Sitkah 29:41e02746041d 549
Sitkah 31:833fc481b002 550 while(etat==DEMO_IMMEUBLE){
Sitkah 31:833fc481b002 551 switch(color){
Sitkah 31:833fc481b002 552 case 0:
Sitkah 31:833fc481b002 553
Sitkah 31:833fc481b002 554 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 555 COLOR_NOIR.Draw(NOIR,1);
Sitkah 31:833fc481b002 556 COLOR_ORANGE.Draw(ORANGE,0);
Sitkah 31:833fc481b002 557 COLOR_JAUNE.Draw(JAUNE,0);
Sitkah 31:833fc481b002 558 COLOR_VERT.Draw(VERT,0);
Sitkah 38:76f886a1c8e6 559 COLOR_BLEU.Draw(BLEU,0);
Sitkah 31:833fc481b002 560
Sitkah 31:833fc481b002 561 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 562 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 563 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 1", LEFT_MODE);
Sitkah 31:833fc481b002 564 while(color==0){
Sitkah 31:833fc481b002 565 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 566 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 567 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 568 msgTx.data[color]=1;
Sitkah 31:833fc481b002 569 color++;
Sitkah 31:833fc481b002 570 }
Sitkah 31:833fc481b002 571 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 572 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 573 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 574 msgTx.data[color]=2;
Sitkah 31:833fc481b002 575 color++;
Sitkah 31:833fc481b002 576 }
Sitkah 31:833fc481b002 577 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 578 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 579 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 580
Sitkah 31:833fc481b002 581 msgTx.data[color]=3;
Sitkah 31:833fc481b002 582 color++;
Sitkah 31:833fc481b002 583 }
Sitkah 31:833fc481b002 584 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 585 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 586 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 587 msgTx.data[color]=4;
Sitkah 31:833fc481b002 588 color++;
Sitkah 31:833fc481b002 589 }
Sitkah 31:833fc481b002 590 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 591 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 592 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 593 msgTx.data[color]=5;
Sitkah 31:833fc481b002 594 color++;
Sitkah 31:833fc481b002 595 }
Sitkah 31:833fc481b002 596 }
Sitkah 31:833fc481b002 597 break;
Sitkah 31:833fc481b002 598
Sitkah 31:833fc481b002 599 case 1:
Sitkah 31:833fc481b002 600 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 601 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 602 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 2", LEFT_MODE);
Sitkah 31:833fc481b002 603 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 604 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 605 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 606 msgTx.data[color]=1;
Sitkah 31:833fc481b002 607 color++;
Sitkah 31:833fc481b002 608 }
Sitkah 31:833fc481b002 609 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 610 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 611 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 612 msgTx.data[color]=2;
Sitkah 31:833fc481b002 613 color++;
Sitkah 31:833fc481b002 614 }
Sitkah 31:833fc481b002 615 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 616 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 617 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 618
Sitkah 31:833fc481b002 619 msgTx.data[color]=3;
Sitkah 31:833fc481b002 620 color++;
Sitkah 31:833fc481b002 621 }
Sitkah 31:833fc481b002 622 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 623 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 624 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 625 msgTx.data[color]=4;
Sitkah 31:833fc481b002 626 color++;
Sitkah 31:833fc481b002 627 }
Sitkah 31:833fc481b002 628 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 629 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 630 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 631 msgTx.data[color]=5;
Sitkah 31:833fc481b002 632 color++;
Sitkah 31:833fc481b002 633 }
Sitkah 31:833fc481b002 634 break;
Sitkah 31:833fc481b002 635
Sitkah 31:833fc481b002 636 case 2:
Sitkah 31:833fc481b002 637 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 638 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 639 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 3", LEFT_MODE);
Sitkah 31:833fc481b002 640 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 641 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 642 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 643 msgTx.data[color]=1;
Sitkah 31:833fc481b002 644 color++;
Sitkah 31:833fc481b002 645 }
Sitkah 31:833fc481b002 646 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 647 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 648 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 649 msgTx.data[color]=2;
Sitkah 31:833fc481b002 650 color++;
Sitkah 31:833fc481b002 651 }
Sitkah 31:833fc481b002 652 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 653 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 654 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 655
Sitkah 31:833fc481b002 656 msgTx.data[color]=3;
Sitkah 31:833fc481b002 657 color++;
Sitkah 31:833fc481b002 658 }
Sitkah 31:833fc481b002 659 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 660 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 661 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 662 msgTx.data[color]=4;
Sitkah 31:833fc481b002 663 color++;
Sitkah 31:833fc481b002 664 }
Sitkah 31:833fc481b002 665 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 666 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 667 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 668 msgTx.data[color]=5;
Sitkah 31:833fc481b002 669 color++;
Sitkah 31:833fc481b002 670 }
Sitkah 31:833fc481b002 671 break;
Sitkah 31:833fc481b002 672 case 3:
Sitkah 31:833fc481b002 673 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 674 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 675 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 676
Sitkah 31:833fc481b002 677 lcd.DisplayStringAt(0, LINE(4), (uint8_t *)"Immeuble en construction", LEFT_MODE);
Sitkah 31:833fc481b002 678 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 679 can2.write(msgTx);
Sitkah 31:833fc481b002 680 color++;
Sitkah 31:833fc481b002 681 break;
Sitkah 31:833fc481b002 682
Sitkah 31:833fc481b002 683 case 4:
Sitkah 31:833fc481b002 684 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 685 while(RETOUR.Touched());
Sitkah 31:833fc481b002 686 etat=DEMO;
Sitkah 31:833fc481b002 687 }
Sitkah 31:833fc481b002 688 break;
Sitkah 29:41e02746041d 689 }
Sitkah 31:833fc481b002 690 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 691 while(RETOUR.Touched());
Sitkah 30:a1e37af4bbde 692 etat=DEMO;
Sitkah 30:a1e37af4bbde 693 }
Sitkah 31:833fc481b002 694 }
Sitkah 31:833fc481b002 695 break;
Sitkah 31:833fc481b002 696
Sitkah 31:833fc481b002 697
Sitkah 31:833fc481b002 698
Sitkah 31:833fc481b002 699
Sitkah 31:833fc481b002 700
Sitkah 31:833fc481b002 701 case TEST_SERVO:
Sitkah 31:833fc481b002 702 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 703 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 704 ABAISSE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 705 RELEVE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 706 BRAS_ABEILLE_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 707 BRAS_ABEILLE_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 708 INTERRUPTEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 709 INTERRUPTEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 710 RETOUR.Draw(0xFFFF0000,0);
Sitkah 31:833fc481b002 711 while(etat==TEST_SERVO){
Sitkah 31:833fc481b002 712 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 713 while (RETOUR.Touched());
Sitkah 31:833fc481b002 714 etat=DEMO;
Sitkah 31:833fc481b002 715 }
Sitkah 31:833fc481b002 716 else if(ABAISSE_BLOC.Touched()){
Sitkah 31:833fc481b002 717 while (ABAISSE_BLOC.Touched());
Sitkah 31:833fc481b002 718 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 719 break;
Sitkah 31:833fc481b002 720 }
Sitkah 31:833fc481b002 721 else if(RELEVE_BLOC.Touched()){
Sitkah 31:833fc481b002 722 while (RELEVE_BLOC.Touched());
Sitkah 31:833fc481b002 723 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 724 break;
Sitkah 31:833fc481b002 725 }
Sitkah 31:833fc481b002 726 else if(BRAS_ABEILLE_ON.Touched()){
Sitkah 31:833fc481b002 727 while (BRAS_ABEILLE_ON.Touched());
Sitkah 31:833fc481b002 728 SendRawId(BRAS_ABEILLE_UP);
Sitkah 31:833fc481b002 729 break;
Sitkah 31:833fc481b002 730
Sitkah 31:833fc481b002 731 }
Sitkah 31:833fc481b002 732 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 31:833fc481b002 733 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 31:833fc481b002 734 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 31:833fc481b002 735 break;
Sitkah 31:833fc481b002 736 }
Sitkah 31:833fc481b002 737 else if(INTERRUPTEUR_ON.Touched()){
Sitkah 31:833fc481b002 738 while (INTERRUPTEUR_ON.Touched());
Sitkah 31:833fc481b002 739 SendRawId(ALLUMER_PANNEAU_UP);
Sitkah 31:833fc481b002 740 break;
Sitkah 31:833fc481b002 741 }
Sitkah 31:833fc481b002 742 else if(INTERRUPTEUR_OFF.Touched()){
Sitkah 31:833fc481b002 743 while (INTERRUPTEUR_OFF.Touched());
Sitkah 31:833fc481b002 744 SendRawId(ALLUMER_PANNEAU_DOWN);
Sitkah 31:833fc481b002 745 break;
Sitkah 31:833fc481b002 746 }
Sitkah 31:833fc481b002 747 }
Sitkah 31:833fc481b002 748 break;
Sitkah 31:833fc481b002 749
Sitkah 31:833fc481b002 750 case TEST_TIR:
Sitkah 31:833fc481b002 751 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 752 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 753 TIR_CHATEAU.Draw(VERT, 0);
Sitkah 31:833fc481b002 754 EPURATION.Draw(VERT, 0);
Sitkah 31:833fc481b002 755 LANCEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 756 LANCEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 757 RETOUR.Draw(ROUGE, 0);
Sitkah 31:833fc481b002 758 while(etat==TEST_TIR){
Sitkah 31:833fc481b002 759 if(TIR_CHATEAU.Touched()){
Sitkah 31:833fc481b002 760 while (TIR_CHATEAU.Touched());
Sitkah 31:833fc481b002 761 SendRawId(INCLINAISON_CHATEAU);
Sitkah 31:833fc481b002 762 break;
Sitkah 31:833fc481b002 763 }
Sitkah 31:833fc481b002 764 else if (EPURATION.Touched()){
Sitkah 31:833fc481b002 765 while (EPURATION.Touched());
Sitkah 31:833fc481b002 766 SendRawId(INCLINAISON_EPURATION);
Sitkah 31:833fc481b002 767 break;
Sitkah 31:833fc481b002 768 }
Sitkah 31:833fc481b002 769 else if(LANCEUR_ON.Touched()){
Sitkah 31:833fc481b002 770 while (LANCEUR_ON.Touched());
Sitkah 36:6dd30780bd8e 771 CANMessage msgTx=CANMessage();
Sitkah 36:6dd30780bd8e 772 msgTx.format=CANStandard;
Sitkah 36:6dd30780bd8e 773 msgTx.type=CANData;
Sitkah 36:6dd30780bd8e 774 msgTx.id=LANCEMENT_MOTEUR_TIR_ON;
Sitkah 36:6dd30780bd8e 775
Sitkah 36:6dd30780bd8e 776 msgTx.len=1;
Sitkah 36:6dd30780bd8e 777 msgTx.data[0]=0;
Sitkah 36:6dd30780bd8e 778 can2.write(msgTx);
Sitkah 31:833fc481b002 779 break;
Sitkah 31:833fc481b002 780 }
Sitkah 31:833fc481b002 781 else if(LANCEUR_OFF.Touched()){
Sitkah 31:833fc481b002 782 while (LANCEUR_OFF.Touched());
Sitkah 31:833fc481b002 783 SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
Sitkah 31:833fc481b002 784 break;
Sitkah 31:833fc481b002 785 }
Sitkah 31:833fc481b002 786 else if (RETOUR.Touched()){
Sitkah 31:833fc481b002 787 while (RETOUR.Touched());
Sitkah 31:833fc481b002 788 etat=DEMO;
Sitkah 31:833fc481b002 789
Sitkah 31:833fc481b002 790 }
Sitkah 31:833fc481b002 791 }
Sitkah 31:833fc481b002 792 break;
Sitkah 30:a1e37af4bbde 793
Sitkah 30:a1e37af4bbde 794
Sitkah 31:833fc481b002 795
Sitkah 31:833fc481b002 796 case TEST_TELEMETRE:
Sitkah 31:833fc481b002 797 ModeDemo=1;
Sitkah 31:833fc481b002 798 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 799 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 800 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 801 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 31:833fc481b002 802 while(etat==TEST_TELEMETRE){
Sitkah 31:833fc481b002 803 SendRawId(DATA_RECALAGE);
Sitkah 31:833fc481b002 804 wait(0.1);
Sitkah 31:833fc481b002 805 canProcessRx();
Sitkah 31:833fc481b002 806 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 807 while( RETOUR.Touched());
Sitkah 31:833fc481b002 808 etat=DEMO;
Sitkah 32:1c9ab15c740e 809 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 810 }
Sitkah 29:41e02746041d 811 }
Sitkah 29:41e02746041d 812 break;
Sitkah 31:833fc481b002 813
Sitkah 31:833fc481b002 814
Sitkah 29:41e02746041d 815 case SELECT_SIDE :
Sitkah 29:41e02746041d 816 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 817 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 818 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 819
Sitkah 29:41e02746041d 820 lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
Sitkah 34:6aa4b46b102e 821 COTE_VERT.Draw(VERT, 0);
Sitkah 34:6aa4b46b102e 822 COTE_ORANGE.Draw(ORANGE, 0);
Sitkah 29:41e02746041d 823 RETOUR.Draw(LCD_COLOR_RED, 0);
Sitkah 29:41e02746041d 824
Sitkah 29:41e02746041d 825
Sitkah 29:41e02746041d 826 while (etat == SELECT_SIDE)
Sitkah 29:41e02746041d 827 {
Sitkah 29:41e02746041d 828 canProcessRx();
Sitkah 34:6aa4b46b102e 829 if(COTE_VERT.Touched())
Sitkah 29:41e02746041d 830 {
Sitkah 29:41e02746041d 831 Cote = 0x0;
Sitkah 29:41e02746041d 832 InversStrat = Cote;
Sitkah 29:41e02746041d 833 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 834 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 835 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 836 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 837 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 838 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 839 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 840 can2.write(trame_Tx);
Sitkah 34:6aa4b46b102e 841 while(COTE_VERT.Touched());
Sitkah 30:a1e37af4bbde 842
Sitkah 29:41e02746041d 843 }
Sitkah 29:41e02746041d 844
Sitkah 34:6aa4b46b102e 845 if(COTE_ORANGE.Touched())
Sitkah 29:41e02746041d 846 {
Sitkah 29:41e02746041d 847 Cote = 0x1;
Sitkah 29:41e02746041d 848 InversStrat= Cote;
Sitkah 29:41e02746041d 849 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 850 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 851 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 852 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 853 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 854 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 855 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 856 can2.write(trame_Tx);
Sitkah 34:6aa4b46b102e 857 while(COTE_ORANGE.Touched());
Sitkah 29:41e02746041d 858 }
Sitkah 29:41e02746041d 859
Sitkah 29:41e02746041d 860 if(RETOUR.Touched())
Sitkah 29:41e02746041d 861 {
Sitkah 29:41e02746041d 862 etat = CHOIX;
Sitkah 29:41e02746041d 863 while(RETOUR.Touched());
Sitkah 29:41e02746041d 864 }
Sitkah 29:41e02746041d 865 }
Sitkah 29:41e02746041d 866
Sitkah 29:41e02746041d 867 break;
Sitkah 29:41e02746041d 868
Sitkah 29:41e02746041d 869 case TACTIQUE :
Sitkah 29:41e02746041d 870 if (Cote == 0){
Sitkah 34:6aa4b46b102e 871 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 872 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 873 }
Sitkah 29:41e02746041d 874 else if (Cote == 1){
Sitkah 38:76f886a1c8e6 875 lcd.Clear(ORANGE);
Sitkah 38:76f886a1c8e6 876 lcd.SetBackColor(ORANGE);
Sitkah 29:41e02746041d 877 }
Sitkah 29:41e02746041d 878 else {
Sitkah 38:76f886a1c8e6 879 lcd.Clear(BLEU);
Sitkah 38:76f886a1c8e6 880 lcd.SetBackColor(BLEU);
Sitkah 29:41e02746041d 881 }
Sitkah 29:41e02746041d 882
Sitkah 29:41e02746041d 883 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 884
Sitkah 29:41e02746041d 885 lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
Sitkah 29:41e02746041d 886
Sitkah 29:41e02746041d 887 Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
Sitkah 29:41e02746041d 888 if (Strategie == -1)
Sitkah 29:41e02746041d 889 {
Sitkah 29:41e02746041d 890 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 891 }
Sitkah 29:41e02746041d 892 else
Sitkah 29:41e02746041d 893 {
Sitkah 29:41e02746041d 894 etat = DETAILS;
Sitkah 29:41e02746041d 895 }
Sitkah 29:41e02746041d 896 wait(0.1);
Sitkah 29:41e02746041d 897 break;
Sitkah 29:41e02746041d 898
Sitkah 29:41e02746041d 899 case DETAILS :
Sitkah 29:41e02746041d 900 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 901 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 902 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 903 CHECK.Draw(VERT);
Sitkah 29:41e02746041d 904 RETOUR.Draw(LCD_COLOR_RED);
Sitkah 29:41e02746041d 905
Sitkah 29:41e02746041d 906 SelectionStrat(Strategie);
Sitkah 29:41e02746041d 907
Sitkah 29:41e02746041d 908 while (etat == DETAILS)
Sitkah 29:41e02746041d 909 {
Sitkah 29:41e02746041d 910 canProcessRx();
Sitkah 29:41e02746041d 911 if (CHECK.Touched())
Sitkah 29:41e02746041d 912 {
Sitkah 29:41e02746041d 913 if(gameEtat == ETAT_CONFIG) {
Sitkah 29:41e02746041d 914 gameEtat = ETAT_GAME_INIT;
Sitkah 29:41e02746041d 915 etat=LECTURE;
Sitkah 29:41e02746041d 916
Sitkah 29:41e02746041d 917 }
Sitkah 29:41e02746041d 918 while(CHECK.Touched());
Sitkah 29:41e02746041d 919 }
Sitkah 29:41e02746041d 920
Sitkah 29:41e02746041d 921 if(RETOUR.Touched())
Sitkah 29:41e02746041d 922 {
Sitkah 29:41e02746041d 923 etat = TACTIQUE;
Sitkah 29:41e02746041d 924 while(RETOUR.Touched());
Sitkah 29:41e02746041d 925 }
Sitkah 29:41e02746041d 926 }
Sitkah 29:41e02746041d 927 break;
Sitkah 29:41e02746041d 928
Sitkah 29:41e02746041d 929
Sitkah 29:41e02746041d 930 case LECTURE :
Sitkah 29:41e02746041d 931 break;
Sitkah 29:41e02746041d 932 case AFF_WAIT_JACK :
Sitkah 29:41e02746041d 933 lcd.Clear(BLANC);
Sitkah 29:41e02746041d 934 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 935 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 936
Sitkah 29:41e02746041d 937 if (Cote == 0){
Sitkah 34:6aa4b46b102e 938 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 939 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 940 }
Sitkah 29:41e02746041d 941 else if (Cote == 1){
Sitkah 38:76f886a1c8e6 942 lcd.Clear(ORANGE);
Sitkah 38:76f886a1c8e6 943 lcd.SetBackColor(ORANGE);
Sitkah 29:41e02746041d 944 }
Sitkah 29:41e02746041d 945 else {
Sitkah 34:6aa4b46b102e 946 lcd.Clear(VERT);
Sitkah 34:6aa4b46b102e 947 lcd.SetBackColor(VERT);
Sitkah 29:41e02746041d 948 }
Sitkah 29:41e02746041d 949 canProcessRx();
Sitkah 29:41e02746041d 950 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
Sitkah 29:41e02746041d 951 etat=WAIT_JACK;
Sitkah 29:41e02746041d 952 break;
Sitkah 29:41e02746041d 953
Sitkah 29:41e02746041d 954 case WAIT_JACK:
Sitkah 29:41e02746041d 955 break;
Sitkah 29:41e02746041d 956
Sitkah 29:41e02746041d 957 case COMPTEUR:
Sitkah 38:76f886a1c8e6 958 cptf=gameTimer.read();
Sitkah 29:41e02746041d 959 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 38:76f886a1c8e6 960 cpt=(int)cptf;
Sitkah 36:6dd30780bd8e 961 if(cpt != cpt1){
Sitkah 34:6aa4b46b102e 962 lcd.Clear(VERT);
Sitkah 38:76f886a1c8e6 963 // affichage_compteur(100-cpt);
Sitkah 40:21bb685b553b 964 //affichage_compteur(SCORE_PR);
Sitkah 38:76f886a1c8e6 965 #ifdef ROBOT_BIG
Sitkah 38:76f886a1c8e6 966 affichage_var(SCORE_GR);
Sitkah 38:76f886a1c8e6 967 #else
Sitkah 38:76f886a1c8e6 968 affichage_var(SCORE_PR);
Sitkah 38:76f886a1c8e6 969 #endif
Sitkah 38:76f886a1c8e6 970 if(liaison_pr.paquet_en_attente()){
Sitkah 38:76f886a1c8e6 971 PaquetDomotique *paquet=liaison_pr.lire();
Sitkah 38:76f886a1c8e6 972 if(paquet->identifiant==PAQUET_IDENTIFIANT_AJOUTERSCORE){
Sitkah 38:76f886a1c8e6 973 SCORE_PR+=convertir_score(paquet);
Sitkah 38:76f886a1c8e6 974 }
Sitkah 38:76f886a1c8e6 975 delete paquet;
Sitkah 38:76f886a1c8e6 976 }
Sitkah 36:6dd30780bd8e 977 }
Sitkah 29:41e02746041d 978 cpt1=cpt;
Sitkah 29:41e02746041d 979 flag_timer=0;
Sitkah 29:41e02746041d 980
Sitkah 38:76f886a1c8e6 981 //affichage_debug(gameEtat);
Sitkah 34:6aa4b46b102e 982 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 38:76f886a1c8e6 983
Sitkah 29:41e02746041d 984 break;
Sitkah 29:41e02746041d 985
Sitkah 29:41e02746041d 986 case FIN :
Sitkah 29:41e02746041d 987 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 988 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 38:76f886a1c8e6 989 #ifdef ROBOT_BIG
Sitkah 40:21bb685b553b 990 // affichage_compteur(SCORE_GR);
Sitkah 40:21bb685b553b 991 affichage_var(SCORE_GR);
Sitkah 40:21bb685b553b 992 //liaison_Tx.envoyer_short(PAQUET_IDENTIFIANT_FINMATCH,SCORE_GLOBAL);
Sitkah 38:76f886a1c8e6 993 #else
Sitkah 40:21bb685b553b 994 //affichage_compteur(SCORE_PR);
Sitkah 40:21bb685b553b 995 affichage_var(SCORE_PR);
Sitkah 38:76f886a1c8e6 996 #endif
Sitkah 29:41e02746041d 997 while(1); // force le redemarage du robot
Sitkah 29:41e02746041d 998 //break;
Sitkah 29:41e02746041d 999
Sitkah 29:41e02746041d 1000 }
Sitkah 29:41e02746041d 1001 }
Sitkah 29:41e02746041d 1002
Sitkah 29:41e02746041d 1003
Sitkah 29:41e02746041d 1004
Sitkah 29:41e02746041d 1005 /****************************************************************************************/
antbig 4:88431b537477 1006 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 1007 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 1008 /****************************************************************************************/
Sitkah 29:41e02746041d 1009 void automate_process(void){
antbig 1:116040d14164 1010 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 1011 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 1012 signed char localData1 = 0;
antbig 0:ad97421fb1fb 1013 signed short localData2 = 0;
antbig 0:ad97421fb1fb 1014 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 1015 //signed short localData4 = 0;
antbig 1:116040d14164 1016 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 1017
Sitkah 34:6aa4b46b102e 1018 if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 1019 gameTimer.stop();
antbig 0:ad97421fb1fb 1020 gameTimer.reset();
antbig 0:ad97421fb1fb 1021 gameEtat = ETAT_END;//Fin du temps
Sitkah 29:41e02746041d 1022 etat=FIN;
antbig 0:ad97421fb1fb 1023 }
antbig 0:ad97421fb1fb 1024
antbig 0:ad97421fb1fb 1025 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 1026 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 1027 debugetatTimer.reset();
antbig 11:ed13a480ddca 1028 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 1029 }
antbig 0:ad97421fb1fb 1030
antbig 0:ad97421fb1fb 1031 switch(gameEtat)
antbig 0:ad97421fb1fb 1032 {
Sitkah 30:a1e37af4bbde 1033
Sitkah 29:41e02746041d 1034 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 1035 /*
antbig 0:ad97421fb1fb 1036 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 1037 */
antbig 0:ad97421fb1fb 1038 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 1039 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 1040
antbig 0:ad97421fb1fb 1041 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1042 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1043 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 1044 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
Sitkah 29:41e02746041d 1045 break;
ClementBreteau 14:c8fc06c4887f 1046
antbig 0:ad97421fb1fb 1047 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 1048 /*
antbig 0:ad97421fb1fb 1049 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 1050 */
antbig 0:ad97421fb1fb 1051 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 1052 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 1053 cartesCheker.stop();
antbig 0:ad97421fb1fb 1054 screenChecktry = 0;
antbig 0:ad97421fb1fb 1055 countAliveCard++;
antbig 11:ed13a480ddca 1056 checkCurrent++;
antbig 0:ad97421fb1fb 1057 if(checkCurrent >= NOMBRE_CARTES) {
Sitkah 29:41e02746041d 1058 printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 1059 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 1060 gameEtat = ETAT_CONFIG;
Sitkah 38:76f886a1c8e6 1061 SendRawId(ECRAN_ALL_CHECK);
Sitkah 29:41e02746041d 1062 flag=1;
Sitkah 38:76f886a1c8e6 1063
Sitkah 30:a1e37af4bbde 1064 //tactile_printf("Selection couleur et strategie");
Sitkah 29:41e02746041d 1065 }
Sitkah 29:41e02746041d 1066 else {
antbig 0:ad97421fb1fb 1067 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 1068 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1069 }
Sitkah 29:41e02746041d 1070 }
Sitkah 29:41e02746041d 1071 else
antbig 0:ad97421fb1fb 1072 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1073 }
Sitkah 29:41e02746041d 1074 else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 1075 cartesCheker.stop();
antbig 0:ad97421fb1fb 1076 if(screenChecktry >=3) {
antbig 12:14729d584500 1077 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 1078 screenChecktry = 0;
antbig 11:ed13a480ddca 1079 checkCurrent++;
antbig 12:14729d584500 1080
Sitkah 29:41e02746041d 1081 if(checkCurrent >= NOMBRE_CARTES){
Sitkah 29:41e02746041d 1082 if(countAliveCard == NOMBRE_CARTES){
antbig 0:ad97421fb1fb 1083 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 1084 flag=1;
Sitkah 29:41e02746041d 1085 }
Sitkah 29:41e02746041d 1086 else{
Sitkah 29:41e02746041d 1087 gameEtat = ETAT_WAIT_FORCE;
antbig 0:ad97421fb1fb 1088 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1089 }
Sitkah 29:41e02746041d 1090 }
Sitkah 29:41e02746041d 1091 else
antbig 0:ad97421fb1fb 1092 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1093
Sitkah 29:41e02746041d 1094 }
Sitkah 29:41e02746041d 1095 else
antbig 0:ad97421fb1fb 1096 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1097
antbig 0:ad97421fb1fb 1098 }
Sitkah 29:41e02746041d 1099 break;
antbig 0:ad97421fb1fb 1100 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 1101 /*
antbig 0:ad97421fb1fb 1102 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 1103 */
antbig 0:ad97421fb1fb 1104 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 1105 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 1106 }
Sitkah 29:41e02746041d 1107 break;
antbig 0:ad97421fb1fb 1108 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 1109 /*
antbig 0:ad97421fb1fb 1110 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 1111 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 1112 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 1113 */
ClementBreteau 14:c8fc06c4887f 1114 modeTelemetre = 0;
Sitkah 29:41e02746041d 1115 break;
antbig 1:116040d14164 1116 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 1117 //On charge la liste des instructions
Sitkah 29:41e02746041d 1118
Sitkah 29:41e02746041d 1119 loadAllInstruction(Strategie);//Mise en cache de toute les instructions
Sitkah 29:41e02746041d 1120 led3=1;
ClementBreteau 14:c8fc06c4887f 1121
Sitkah 37:fca332b64b42 1122 SendRawId(GLOBAL_START);
Sitkah 37:fca332b64b42 1123
antbig 0:ad97421fb1fb 1124 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
Sitkah 31:833fc481b002 1125 if (etat == TEST_TELEMETRE|| etat ==TEST_CAPTEURS || etat == TEST_SERVO || etat ==TEST_TIR || etat == DEMO_IMMEUBLE)
Sitkah 29:41e02746041d 1126 {
Sitkah 29:41e02746041d 1127 SendRawId(DEBUG_FAKE_JAKE);
Sitkah 29:41e02746041d 1128 }
Sitkah 29:41e02746041d 1129 else
Sitkah 29:41e02746041d 1130 {
Sitkah 29:41e02746041d 1131 etat = AFF_WAIT_JACK;
Sitkah 29:41e02746041d 1132 }
Sitkah 30:a1e37af4bbde 1133 //tactile_printf("Attente du JACK.");
antbig 12:14729d584500 1134 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 1135 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 1136 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 1137
clementlignie 22:a466d08ac42b 1138 localData2 = POSITION_DEBUT_T;
clementlignie 22:a466d08ac42b 1139 localData3 = POSITION_DEBUT_Y;
clementlignie 22:a466d08ac42b 1140 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 1141 localData2 = -localData2;//Inversion theta
clementlignie 22:a466d08ac42b 1142 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
clementlignie 22:a466d08ac42b 1143 }
Sitkah 38:76f886a1c8e6 1144 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
Sitkah 38:76f886a1c8e6 1145
Sitkah 38:76f886a1c8e6 1146 instruction = strat_instructions[actual_instruction];
Sitkah 38:76f886a1c8e6 1147 //On effectue le traitement de l'instruction
Sitkah 38:76f886a1c8e6 1148
antbig 0:ad97421fb1fb 1149 break;
antbig 0:ad97421fb1fb 1150 case ETAT_GAME_WAIT_FOR_JACK:
Sitkah 38:76f886a1c8e6 1151 if(instruction.order==POSITION_DEBUT){
Sitkah 38:76f886a1c8e6 1152 switch(etat_pos){
Sitkah 38:76f886a1c8e6 1153 case RECALAGE_1:
Sitkah 38:76f886a1c8e6 1154 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1155 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1156 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1157 GoStraight(3000, 1,MOITIEE_ROBOT-5, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
Sitkah 38:76f886a1c8e6 1158 #else
Sitkah 40:21bb685b553b 1159 GoStraight(-3000, 1,MOITIEE_ROBOT-5, 0);
Sitkah 38:76f886a1c8e6 1160 #endif
Sitkah 38:76f886a1c8e6 1161 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1162 canProcessRx();
Sitkah 38:76f886a1c8e6 1163 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1164 waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1165 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1166 canProcessRx();
Sitkah 38:76f886a1c8e6 1167 etat_pos=RECULER_1;
Sitkah 38:76f886a1c8e6 1168 break;
Sitkah 38:76f886a1c8e6 1169
Sitkah 38:76f886a1c8e6 1170 case RECULER_1:
Sitkah 38:76f886a1c8e6 1171 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1172 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1173 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1174 GoStraight(-450, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1175 #else
Sitkah 41:b029ddc4d60e 1176 GoStraight(150, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1177 #endif
Sitkah 38:76f886a1c8e6 1178 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1179 canProcessRx();
Sitkah 38:76f886a1c8e6 1180 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1181 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1182 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1183 canProcessRx();
Sitkah 38:76f886a1c8e6 1184 etat_pos=TOURNER;
Sitkah 38:76f886a1c8e6 1185 break;
Sitkah 38:76f886a1c8e6 1186
Sitkah 38:76f886a1c8e6 1187 case TOURNER:
Sitkah 38:76f886a1c8e6 1188 waitingAckID = ASSERVISSEMENT_ROTATION;
Sitkah 38:76f886a1c8e6 1189 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1190 if(Cote==0){
Sitkah 38:76f886a1c8e6 1191 localData2 = 900;
Sitkah 38:76f886a1c8e6 1192 }
Sitkah 38:76f886a1c8e6 1193 else{
Sitkah 38:76f886a1c8e6 1194 localData2=-900;
Sitkah 38:76f886a1c8e6 1195 }
Sitkah 38:76f886a1c8e6 1196 Rotate(localData2);
Sitkah 38:76f886a1c8e6 1197 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1198 canProcessRx();
Sitkah 38:76f886a1c8e6 1199 waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
Sitkah 38:76f886a1c8e6 1200 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1201 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1202 canProcessRx();
Sitkah 38:76f886a1c8e6 1203 etat_pos=RECALAGE_2;
Sitkah 38:76f886a1c8e6 1204 break;
Sitkah 38:76f886a1c8e6 1205
Sitkah 38:76f886a1c8e6 1206 case RECALAGE_2:
Sitkah 38:76f886a1c8e6 1207 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1208 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1209 if(Cote==1)
Sitkah 40:21bb685b553b 1210 localData3=3000-(MOITIEE_ROBOT-5);
Sitkah 38:76f886a1c8e6 1211 else
Sitkah 38:76f886a1c8e6 1212 localData3=MOITIEE_ROBOT;
Sitkah 38:76f886a1c8e6 1213 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1214 GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
Sitkah 38:76f886a1c8e6 1215 #else
Sitkah 38:76f886a1c8e6 1216 GoStraight(-3000, 2,localData3, 0);
Sitkah 38:76f886a1c8e6 1217 #endif
Sitkah 38:76f886a1c8e6 1218 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1219 canProcessRx();
Sitkah 38:76f886a1c8e6 1220 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1221 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1222 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1223 canProcessRx();
Sitkah 38:76f886a1c8e6 1224 etat_pos=RECULER_2;
Sitkah 38:76f886a1c8e6 1225 break;
Sitkah 38:76f886a1c8e6 1226
Sitkah 38:76f886a1c8e6 1227 case RECULER_2:
Sitkah 38:76f886a1c8e6 1228 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1229 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1230 #ifdef ROBOT_SMALL
Sitkah 38:76f886a1c8e6 1231 GoStraight(-200, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1232 #else
Sitkah 38:76f886a1c8e6 1233 GoStraight(200, 0, 0, 0);
Sitkah 38:76f886a1c8e6 1234 #endif
Sitkah 38:76f886a1c8e6 1235 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1236 canProcessRx();
Sitkah 38:76f886a1c8e6 1237 waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
Sitkah 38:76f886a1c8e6 1238 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1239 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1240 canProcessRx();
Sitkah 38:76f886a1c8e6 1241 etat_pos=GOTOPOS;
Sitkah 38:76f886a1c8e6 1242 break;
Sitkah 38:76f886a1c8e6 1243
Sitkah 38:76f886a1c8e6 1244 case GOTOPOS:
Sitkah 38:76f886a1c8e6 1245 localData1 = -1;
Sitkah 38:76f886a1c8e6 1246
Sitkah 38:76f886a1c8e6 1247 if(InversStrat == 1 && ingnorInversionOnce == 0) {
Sitkah 38:76f886a1c8e6 1248 localData2 = -instruction.arg3;
Sitkah 38:76f886a1c8e6 1249 localData3 = 3000 - instruction.arg2;//Inversion du Y
Sitkah 38:76f886a1c8e6 1250 } else {
Sitkah 38:76f886a1c8e6 1251 localData3 = instruction.arg2;
Sitkah 38:76f886a1c8e6 1252 localData2 = instruction.arg3;
Sitkah 38:76f886a1c8e6 1253 }
Sitkah 38:76f886a1c8e6 1254
Sitkah 38:76f886a1c8e6 1255 GoToPosition(instruction.arg1,localData3,localData2,localData1);
Sitkah 38:76f886a1c8e6 1256 waitingAckID = ASSERVISSEMENT_XYT;
Sitkah 38:76f886a1c8e6 1257 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 38:76f886a1c8e6 1258
Sitkah 38:76f886a1c8e6 1259 while(waitingAckID !=0 && waitingAckFrom !=0)
Sitkah 38:76f886a1c8e6 1260 canProcessRx();
Sitkah 38:76f886a1c8e6 1261 waitingAckID_FIN=ASSERVISSEMENT_XYT;
Sitkah 38:76f886a1c8e6 1262 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1263 while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
Sitkah 38:76f886a1c8e6 1264 canProcessRx();
Sitkah 38:76f886a1c8e6 1265 etat_pos=FIN_POS;
Sitkah 38:76f886a1c8e6 1266 break;
Sitkah 38:76f886a1c8e6 1267 case FIN_POS:
Sitkah 38:76f886a1c8e6 1268 actual_instruction = instruction.nextLineOK;
Sitkah 38:76f886a1c8e6 1269 break;
Sitkah 38:76f886a1c8e6 1270 }
Sitkah 38:76f886a1c8e6 1271 }
Sitkah 38:76f886a1c8e6 1272
Sitkah 38:76f886a1c8e6 1273
antbig 1:116040d14164 1274 break;
antbig 1:116040d14164 1275 case ETAT_GAME_START:
Sitkah 29:41e02746041d 1276
antbig 1:116040d14164 1277 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 1278
ClementBreteau 14:c8fc06c4887f 1279 if (ModeDemo == 0){
Sitkah 34:6aa4b46b102e 1280 chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 1281 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 1282 }
antbig 1:116040d14164 1283 gameTimer.reset();
antbig 12:14729d584500 1284 jack.fall(NULL);//On désactive l'interruption du jack
Sitkah 34:6aa4b46b102e 1285 //SendRawId(GLOBAL_START);
Sitkah 29:41e02746041d 1286 Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
Sitkah 30:a1e37af4bbde 1287 //tactile_printf("Start");//Pas vraiment utile mais bon
antbig 0:ad97421fb1fb 1288 break;
antbig 0:ad97421fb1fb 1289 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 1290 /*
antbig 0:ad97421fb1fb 1291 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 1292 */
antbig 0:ad97421fb1fb 1293 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 1294
antbig 0:ad97421fb1fb 1295 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 1296 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 1297 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 1298 } else {
antbig 0:ad97421fb1fb 1299 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 1300 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 1301 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 1302 }
antbig 0:ad97421fb1fb 1303 screenChecktry = 0;
antbig 28:acd18776ed2d 1304 ingnorInversionOnce = 0;
antbig 0:ad97421fb1fb 1305 break;
antbig 0:ad97421fb1fb 1306 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 1307 /*
antbig 0:ad97421fb1fb 1308 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 1309 */
antbig 0:ad97421fb1fb 1310 //debug_Instruction(instruction);
Sitkah 38:76f886a1c8e6 1311 //affichage_debug(gameEtat);
ClementBreteau 25:f140c93a8666 1312 actionPrecedente = instruction.order;
antbig 0:ad97421fb1fb 1313 switch(instruction.order)
antbig 0:ad97421fb1fb 1314 {
antbig 12:14729d584500 1315 case MV_COURBURE://C'est un rayon de courbure
ClementBreteau 26:2f4fcc2354f3 1316 actionPrecedente = MV_COURBURE;
antbig 6:eddfa414fd11 1317 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 1318 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 30:a1e37af4bbde 1319 if(instruction.nextActionType == ENCHAINEMENT){
antbig 6:eddfa414fd11 1320 MV_enchainement++;
antbig 6:eddfa414fd11 1321 localData5 = 1;
antbig 6:eddfa414fd11 1322 } else {
antbig 6:eddfa414fd11 1323 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 1324 localData5 = 2;
antbig 6:eddfa414fd11 1325 MV_enchainement = 0;
antbig 6:eddfa414fd11 1326 } else {
antbig 6:eddfa414fd11 1327 localData5 = 0;
antbig 6:eddfa414fd11 1328 }
antbig 0:ad97421fb1fb 1329 }
antbig 11:ed13a480ddca 1330 localData1 = ((instruction.direction == LEFT)?1:-1);
ClementBreteau 23:ab87d308eaf9 1331 localData2 = instruction.arg3;
antbig 28:acd18776ed2d 1332 if(InversStrat == 1 && ingnorInversionOnce == 0)
antbig 12:14729d584500 1333 {
antbig 12:14729d584500 1334 localData1 = -localData1;//Inversion de la direction
antbig 12:14729d584500 1335 }
ClementBreteau 25:f140c93a8666 1336 BendRadius(instruction.arg1, localData2, localData1, localData5);
ClementBreteau 18:cc5fec34ed9c 1337
antbig 28:acd18776ed2d 1338
antbig 28:acd18776ed2d 1339 target_theta_robot = localData2 - theta_robot;
antbig 28:acd18776ed2d 1340 /*
ClementBreteau 26:2f4fcc2354f3 1341 if(instruction.direction == LEFT){
antbig 28:acd18776ed2d 1342
ClementBreteau 26:2f4fcc2354f3 1343 }else{
antbig 28:acd18776ed2d 1344 target_theta_robot = theta_robot + localData2;
antbig 28:acd18776ed2d 1345 }*/
ClementBreteau 26:2f4fcc2354f3 1346
antbig 0:ad97421fb1fb 1347 break;
antbig 12:14729d584500 1348 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 1349 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 1350 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 1351 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 1352 MV_enchainement++;
antbig 1:116040d14164 1353 localData5 = 1;
antbig 1:116040d14164 1354 } else {
antbig 12:14729d584500 1355 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 1356 localData5 = 2;
antbig 1:116040d14164 1357 MV_enchainement = 0;
antbig 1:116040d14164 1358 } else {
antbig 1:116040d14164 1359 localData5 = 0;
antbig 1:116040d14164 1360 }
Sitkah 38:76f886a1c8e6 1361 }
antbig 1:116040d14164 1362 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 1363 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 1364
ClementBreteau 26:2f4fcc2354f3 1365 target_x_robot = x_robot + localData2*cos((double)theta_robot*M_PI/1800);
ClementBreteau 26:2f4fcc2354f3 1366 target_y_robot = y_robot + localData2*sin((double)theta_robot*M_PI/1800);
ClementBreteau 25:f140c93a8666 1367 target_theta_robot = theta_robot;
ClementBreteau 25:f140c93a8666 1368
antbig 0:ad97421fb1fb 1369 break;
antbig 12:14729d584500 1370 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 1371 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 1372 localData2 = instruction.arg3;
antbig 12:14729d584500 1373 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 1374 localData2 = instruction.arg3;
antbig 12:14729d584500 1375
antbig 12:14729d584500 1376 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 1377 if(localData2 > 1800) {
antbig 12:14729d584500 1378 localData2 = localData2-3600;
antbig 12:14729d584500 1379 }
antbig 12:14729d584500 1380
antbig 0:ad97421fb1fb 1381 }
antbig 28:acd18776ed2d 1382 if(InversStrat == 1 && ingnorInversionOnce == 0) {
clementlignie 22:a466d08ac42b 1383 localData2 = -localData2;
Sitkah 38:76f886a1c8e6 1384 }
antbig 0:ad97421fb1fb 1385 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 1386 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 34:6aa4b46b102e 1387 Rotate(localData2);
Sitkah 34:6aa4b46b102e 1388
antbig 28:acd18776ed2d 1389
antbig 0:ad97421fb1fb 1390 break;
antbig 0:ad97421fb1fb 1391 case MV_XYT:
antbig 0:ad97421fb1fb 1392 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 1393 localData1 = -1;
antbig 0:ad97421fb1fb 1394 } else {
antbig 0:ad97421fb1fb 1395 localData1 = 1;
antbig 0:ad97421fb1fb 1396 }
antbig 2:8d8e2cf798a3 1397
antbig 28:acd18776ed2d 1398 if(InversStrat == 1 && ingnorInversionOnce == 0) {
antbig 12:14729d584500 1399 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 1400 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 1401 } else {
antbig 2:8d8e2cf798a3 1402 localData3 = instruction.arg2;
antbig 12:14729d584500 1403 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 1404 }
ClementBreteau 23:ab87d308eaf9 1405
antbig 12:14729d584500 1406 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 1407 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 1408 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 25:f140c93a8666 1409
ClementBreteau 25:f140c93a8666 1410 target_x_robot = instruction.arg1;
ClementBreteau 25:f140c93a8666 1411 target_y_robot = localData3;
ClementBreteau 25:f140c93a8666 1412 target_theta_robot = localData2;
ClementBreteau 25:f140c93a8666 1413
antbig 0:ad97421fb1fb 1414 break;
antbig 0:ad97421fb1fb 1415 case MV_RECALAGE:
Sitkah 34:6aa4b46b102e 1416 if(instruction.nextActionType == MECANIQUE)
Sitkah 34:6aa4b46b102e 1417 {
Sitkah 34:6aa4b46b102e 1418 instruction.nextActionType = WAIT;
Sitkah 34:6aa4b46b102e 1419
Sitkah 34:6aa4b46b102e 1420 waitingAckID = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1421 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 34:6aa4b46b102e 1422
Sitkah 34:6aa4b46b102e 1423 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 1424
Sitkah 34:6aa4b46b102e 1425 if(instruction.precision == RECALAGE_Y) {
Sitkah 34:6aa4b46b102e 1426 localData5 = 2;
Sitkah 34:6aa4b46b102e 1427 if(InversStrat == 1 && ingnorInversionOnce == 0) {
Sitkah 34:6aa4b46b102e 1428 localData3 = 3000 - instruction.arg1;//Inversion du Y
Sitkah 34:6aa4b46b102e 1429 } else {
Sitkah 34:6aa4b46b102e 1430 localData3 = instruction.arg1;
Sitkah 34:6aa4b46b102e 1431 }
antbig 11:ed13a480ddca 1432 } else {
Sitkah 34:6aa4b46b102e 1433 localData5 = 1;
antbig 11:ed13a480ddca 1434 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 1435 }
Sitkah 34:6aa4b46b102e 1436 GoStraight(localData2, localData5, localData3, 0);
antbig 11:ed13a480ddca 1437 }
Sitkah 34:6aa4b46b102e 1438 else //CAPTEUR
Sitkah 36:6dd30780bd8e 1439 {
Sitkah 34:6aa4b46b102e 1440 SendRawId(DATA_RECALAGE);
Sitkah 34:6aa4b46b102e 1441 waitingAckID = RECEPTION_RECALAGE;
Sitkah 34:6aa4b46b102e 1442 waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
Sitkah 34:6aa4b46b102e 1443
Sitkah 34:6aa4b46b102e 1444 // On attend que les variables soient actualisé
Sitkah 34:6aa4b46b102e 1445 while(!(waitingAckID == 0 && waitingAckFrom == 0))
Sitkah 34:6aa4b46b102e 1446 canProcessRx();
Sitkah 35:742dc6b200b0 1447 while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
Sitkah 35:742dc6b200b0 1448 canProcessRx();
Sitkah 36:6dd30780bd8e 1449
Sitkah 34:6aa4b46b102e 1450 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 1451 {
Sitkah 36:6dd30780bd8e 1452 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
Sitkah 34:6aa4b46b102e 1453 }
Sitkah 34:6aa4b46b102e 1454 else if(instruction.precision == RECALAGE_X)
Sitkah 34:6aa4b46b102e 1455 {
Sitkah 36:6dd30780bd8e 1456 SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
Sitkah 34:6aa4b46b102e 1457 }
Sitkah 35:742dc6b200b0 1458 else if(instruction.precision == RECALAGE_T)
Sitkah 34:6aa4b46b102e 1459 {
Sitkah 36:6dd30780bd8e 1460 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
Sitkah 35:742dc6b200b0 1461 }
Sitkah 34:6aa4b46b102e 1462 }
antbig 0:ad97421fb1fb 1463 break;
Sitkah 34:6aa4b46b102e 1464
antbig 0:ad97421fb1fb 1465 case ACTION:
ClementBreteau 18:cc5fec34ed9c 1466 int tempo = 0;
Sitkah 30:a1e37af4bbde 1467 waitingAckID= ACK_ACTION; //On veut un ack de type action
Sitkah 30:a1e37af4bbde 1468 waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
ClementBreteau 18:cc5fec34ed9c 1469 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 1470 if(tempo == 1){
antbig 0:ad97421fb1fb 1471 //L'action est spécifique
Sitkah 34:6aa4b46b102e 1472 if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
antbig 11:ed13a480ddca 1473 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 1474 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1475 }
Sitkah 30:a1e37af4bbde 1476 else {
ClementBreteau 15:c2fc239e85df 1477 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 1478 }
ClementBreteau 18:cc5fec34ed9c 1479 #ifdef ROBOT_SMALL
Sitkah 34:6aa4b46b102e 1480 /*actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
Sitkah 34:6aa4b46b102e 1481 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;*/
ClementBreteau 18:cc5fec34ed9c 1482 #endif
antbig 11:ed13a480ddca 1483 return;
ClementBreteau 18:cc5fec34ed9c 1484 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 1485 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 1486 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 1487 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 1488 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1489
ClementBreteau 18:cc5fec34ed9c 1490 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 1491 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 1492 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 1493 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 1494 #endif
ClementBreteau 18:cc5fec34ed9c 1495 }else{
antbig 0:ad97421fb1fb 1496 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 1497 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 1498 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 1499
antbig 0:ad97421fb1fb 1500 }
antbig 0:ad97421fb1fb 1501 break;
antbig 0:ad97421fb1fb 1502 default:
antbig 0:ad97421fb1fb 1503 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 1504 break;
antbig 0:ad97421fb1fb 1505 }
antbig 0:ad97421fb1fb 1506
antbig 0:ad97421fb1fb 1507
antbig 0:ad97421fb1fb 1508
antbig 0:ad97421fb1fb 1509 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 1510 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 1511 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1512 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1513 cartesCheker.start();
antbig 1:116040d14164 1514 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 1515 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 1516 //AX12_enchainement = 0;
antbig 1:116040d14164 1517 }
Sitkah 36:6dd30780bd8e 1518 }
Sitkah 36:6dd30780bd8e 1519 else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 1520 if(instruction.order == MV_LINE){
Sitkah 30:a1e37af4bbde 1521 gameEtat = ETAT_GAME_WAIT_ACK;
Sitkah 30:a1e37af4bbde 1522 }
Sitkah 30:a1e37af4bbde 1523 else{
ClementBreteau 15:c2fc239e85df 1524 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1525 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 1526 }
antbig 0:ad97421fb1fb 1527 }
antbig 0:ad97421fb1fb 1528
antbig 0:ad97421fb1fb 1529 break;
antbig 0:ad97421fb1fb 1530 case ETAT_GAME_WAIT_ACK:
Sitkah 36:6dd30780bd8e 1531 canProcessRx();
Sitkah 34:6aa4b46b102e 1532
Sitkah 30:a1e37af4bbde 1533 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
antbig 0:ad97421fb1fb 1534 //if(true) {
antbig 0:ad97421fb1fb 1535 cartesCheker.stop();
antbig 0:ad97421fb1fb 1536 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 1537 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 1538 gameEtat = ETAT_GAME_JUMP_POSITION;
Sitkah 30:a1e37af4bbde 1539 }
Sitkah 30:a1e37af4bbde 1540 else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 1541 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 1542 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 1543 cartesCheker.start();
antbig 0:ad97421fb1fb 1544 }
Sitkah 30:a1e37af4bbde 1545 }
Sitkah 30:a1e37af4bbde 1546 else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
Sitkah 41:b029ddc4d60e 1547 /*wait_ms(200);
Sitkah 40:21bb685b553b 1548 #ifdef ROBOT_BIG
Sitkah 40:21bb685b553b 1549 SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1550 #else
Sitkah 40:21bb685b553b 1551 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1552 #endif
Sitkah 41:b029ddc4d60e 1553 wait_ms(200);*/
Sitkah 40:21bb685b553b 1554
Sitkah 40:21bb685b553b 1555 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
Sitkah 40:21bb685b553b 1556 switch(instruction.order)
antbig 0:ad97421fb1fb 1557 {
antbig 0:ad97421fb1fb 1558 case MV_COURBURE:
Sitkah 34:6aa4b46b102e 1559 waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
Sitkah 34:6aa4b46b102e 1560 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1561 break;
antbig 0:ad97421fb1fb 1562 case MV_LINE:
Sitkah 34:6aa4b46b102e 1563 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1564 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1565 break;
antbig 0:ad97421fb1fb 1566 case MV_TURN:
Sitkah 34:6aa4b46b102e 1567 waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
Sitkah 34:6aa4b46b102e 1568 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1569 break;
antbig 0:ad97421fb1fb 1570 case MV_XYT:
Sitkah 34:6aa4b46b102e 1571 waitingAckID_FIN = ASSERVISSEMENT_XYT;
Sitkah 34:6aa4b46b102e 1572 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1573 break;
antbig 0:ad97421fb1fb 1574 case MV_RECALAGE:
Sitkah 34:6aa4b46b102e 1575 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1576 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1577 break;
antbig 0:ad97421fb1fb 1578 case ACTION:
ClementBreteau 15:c2fc239e85df 1579
ClementBreteau 15:c2fc239e85df 1580 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 1581 if (telemetreDistance == 0){
Sitkah 34:6aa4b46b102e 1582 waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
Sitkah 34:6aa4b46b102e 1583 waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
ClementBreteau 18:cc5fec34ed9c 1584 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 1585 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
Sitkah 34:6aa4b46b102e 1586 waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
Sitkah 34:6aa4b46b102e 1587 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1588 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 1589 }
ClementBreteau 15:c2fc239e85df 1590 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 1591 //modeTelemetre = 1;
Sitkah 34:6aa4b46b102e 1592 waitingAckID_FIN = OBJET_SUR_TABLE;
Sitkah 34:6aa4b46b102e 1593 waitingAckFrom_FIN = 0;
ClementBreteau 15:c2fc239e85df 1594 }
antbig 0:ad97421fb1fb 1595 break;
antbig 0:ad97421fb1fb 1596 default:
antbig 0:ad97421fb1fb 1597 break;
antbig 0:ad97421fb1fb 1598 }
Sitkah 30:a1e37af4bbde 1599 }
Sitkah 30:a1e37af4bbde 1600 else {
antbig 0:ad97421fb1fb 1601 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 1602 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1603 }
Sitkah 30:a1e37af4bbde 1604 }
Sitkah 36:6dd30780bd8e 1605 else if(cartesCheker.read_ms () > 1000){
antbig 0:ad97421fb1fb 1606 cartesCheker.stop();
antbig 0:ad97421fb1fb 1607 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 1608 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 1609 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1610 }
Sitkah 30:a1e37af4bbde 1611 else {
Sitkah 34:6aa4b46b102e 1612 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 1613 }
antbig 0:ad97421fb1fb 1614 }
antbig 0:ad97421fb1fb 1615 break;
antbig 0:ad97421fb1fb 1616
antbig 0:ad97421fb1fb 1617 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 1618 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 1619 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 1620 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1621 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1622 }
antbig 0:ad97421fb1fb 1623 break;
ClementBreteau 15:c2fc239e85df 1624
ClementBreteau 15:c2fc239e85df 1625 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 1626 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 1627 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 1628 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 1629 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 1630 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 1631 depasX = 0;
ClementBreteau 15:c2fc239e85df 1632 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 1633 depasX = -1;
ClementBreteau 15:c2fc239e85df 1634 }
ClementBreteau 15:c2fc239e85df 1635
ClementBreteau 15:c2fc239e85df 1636 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 1637 depasY = 0;
ClementBreteau 15:c2fc239e85df 1638 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 1639 depasY = -1;
ClementBreteau 15:c2fc239e85df 1640 }
ClementBreteau 15:c2fc239e85df 1641
ClementBreteau 15:c2fc239e85df 1642 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 1643 break;
antbig 0:ad97421fb1fb 1644 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 1645 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 1646
ClementBreteau 15:c2fc239e85df 1647 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 1648 Xok = true;
ClementBreteau 15:c2fc239e85df 1649 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 1650 Xok = true;
ClementBreteau 15:c2fc239e85df 1651 }
ClementBreteau 15:c2fc239e85df 1652
ClementBreteau 15:c2fc239e85df 1653 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 1654 Yok = true;
ClementBreteau 15:c2fc239e85df 1655 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 1656 Yok = true;
ClementBreteau 15:c2fc239e85df 1657 }
ClementBreteau 15:c2fc239e85df 1658
ClementBreteau 15:c2fc239e85df 1659 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 1660 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 1661 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1662 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 1663 }
ClementBreteau 15:c2fc239e85df 1664
antbig 0:ad97421fb1fb 1665 break;
antbig 0:ad97421fb1fb 1666 case ETAT_GAME_WAIT_END_INSTRUCTION:
Sitkah 36:6dd30780bd8e 1667 canProcessRx();
Sitkah 35:742dc6b200b0 1668 if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 1669 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1670 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1671 }
Sitkah 34:6aa4b46b102e 1672
antbig 0:ad97421fb1fb 1673 break;
antbig 0:ad97421fb1fb 1674
antbig 0:ad97421fb1fb 1675
antbig 5:dcd817534b57 1676 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 1677 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 1678 {
Sitkah 40:21bb685b553b 1679 if(instruction.nextLineOK != instruction.nextLineError)
Sitkah 38:76f886a1c8e6 1680 {
Sitkah 38:76f886a1c8e6 1681 actual_instruction = instruction.nextLineError;
Sitkah 38:76f886a1c8e6 1682 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 38:76f886a1c8e6 1683 }
antbig 5:dcd817534b57 1684 }
antbig 5:dcd817534b57 1685 break;
antbig 5:dcd817534b57 1686 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 1687 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 1688 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1689 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 1690 }
antbig 5:dcd817534b57 1691 break;
antbig 5:dcd817534b57 1692 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
ClementBreteau 25:f140c93a8666 1693 /*
antbig 12:14729d584500 1694 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 1695 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 1696 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1697 #else
antbig 12:14729d584500 1698 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1699 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1700 #endif
ClementBreteau 25:f140c93a8666 1701 gameEtat = ETAT_END;*/
ClementBreteau 21:590cdacb6a35 1702
Sitkah 41:b029ddc4d60e 1703 /*wait_ms(200);
Sitkah 40:21bb685b553b 1704 #ifdef ROBOT_BIG
Sitkah 40:21bb685b553b 1705 SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1706 #else
Sitkah 40:21bb685b553b 1707 SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
Sitkah 40:21bb685b553b 1708 #endif
Sitkah 41:b029ddc4d60e 1709 wait_ms(200);*/
Sitkah 40:21bb685b553b 1710
ClementBreteau 25:f140c93a8666 1711 switch(actionPrecedente){
ClementBreteau 25:f140c93a8666 1712 case MV_LINE:
antbig 27:76ead555a63d 1713
ClementBreteau 25:f140c93a8666 1714 if(instruction.direction == BACKWARD) {
ClementBreteau 25:f140c93a8666 1715 localData1 = -1;
ClementBreteau 25:f140c93a8666 1716 } else {
ClementBreteau 25:f140c93a8666 1717 localData1 = 1;
ClementBreteau 25:f140c93a8666 1718 }
antbig 27:76ead555a63d 1719
ClementBreteau 25:f140c93a8666 1720 GoToPosition(target_x_robot,target_y_robot,target_theta_robot,localData1);
antbig 27:76ead555a63d 1721 debugXYTTarget(target_x_robot,target_y_robot,target_theta_robot);
antbig 27:76ead555a63d 1722 waitingAckID = ASSERVISSEMENT_XYT;
antbig 27:76ead555a63d 1723 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 27:76ead555a63d 1724 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 27:76ead555a63d 1725 instruction.order = MV_XYT;
antbig 28:acd18776ed2d 1726 instruction.arg1 = target_x_robot;
antbig 28:acd18776ed2d 1727 instruction.arg2 = target_y_robot;
antbig 28:acd18776ed2d 1728 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1729 instruction.direction = (localData1)?FORWARD:BACKWARD;
antbig 28:acd18776ed2d 1730 ingnorInversionOnce = 1;//Pour éviter que l'ago recalcul l'inversion
antbig 27:76ead555a63d 1731 return;
ClementBreteau 25:f140c93a8666 1732
ClementBreteau 25:f140c93a8666 1733 case MV_XYT:
antbig 27:76ead555a63d 1734 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
Sitkah 33:388aa0bf6af4 1735 ///////cv
ClementBreteau 25:f140c93a8666 1736 break;
ClementBreteau 25:f140c93a8666 1737
ClementBreteau 26:2f4fcc2354f3 1738 case MV_COURBURE:
antbig 28:acd18776ed2d 1739 //target_theta_robot = theta_robot - target_theta_robot;
antbig 28:acd18776ed2d 1740 //instruction.arg3 = instruction.arg3 - target_theta_robot;
ClementBreteau 26:2f4fcc2354f3 1741 if(instruction.direction == LEFT){
ClementBreteau 26:2f4fcc2354f3 1742 target_theta_robot = target_theta_robot - theta_robot;
ClementBreteau 26:2f4fcc2354f3 1743 }else{
antbig 28:acd18776ed2d 1744 target_theta_robot = theta_robot + target_theta_robot;
antbig 28:acd18776ed2d 1745 }
antbig 28:acd18776ed2d 1746
antbig 28:acd18776ed2d 1747
antbig 28:acd18776ed2d 1748 target_theta_robot = (target_theta_robot)%3600;
antbig 28:acd18776ed2d 1749 if(target_theta_robot > 1800) {
antbig 28:acd18776ed2d 1750 target_theta_robot = target_theta_robot-3600;
antbig 28:acd18776ed2d 1751 }
antbig 28:acd18776ed2d 1752 if(InversStrat == 1) {
antbig 28:acd18776ed2d 1753 target_theta_robot = -target_theta_robot;
antbig 28:acd18776ed2d 1754 }
antbig 28:acd18776ed2d 1755 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1756
antbig 28:acd18776ed2d 1757
antbig 28:acd18776ed2d 1758 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 28:acd18776ed2d 1759
ClementBreteau 25:f140c93a8666 1760 break;
antbig 27:76ead555a63d 1761 default:
antbig 27:76ead555a63d 1762 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1763 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 27:76ead555a63d 1764 break;
ClementBreteau 25:f140c93a8666 1765 }
ClementBreteau 25:f140c93a8666 1766
antbig 27:76ead555a63d 1767 //actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1768 //gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 5:dcd817534b57 1769 break;
antbig 5:dcd817534b57 1770 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 1771 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 1772 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 1773 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 1774 break;
Sitkah 37:fca332b64b42 1775
Sitkah 37:fca332b64b42 1776 case ETAT_EVITEMENT :
Sitkah 37:fca332b64b42 1777 E_Evitement EvitEtat= ETAT_INIT_EVITEMENT;
Sitkah 37:fca332b64b42 1778 while(1)
Sitkah 37:fca332b64b42 1779 {
Sitkah 37:fca332b64b42 1780 canProcessRx();
Sitkah 37:fca332b64b42 1781
Sitkah 37:fca332b64b42 1782 switch(EvitEtat)
Sitkah 37:fca332b64b42 1783 {
Sitkah 37:fca332b64b42 1784 case ETAT_INIT_EVITEMENT:
Sitkah 37:fca332b64b42 1785 EvitEtat = ETAT_ESTIMATION_POSITION;
Sitkah 37:fca332b64b42 1786 break;
Sitkah 37:fca332b64b42 1787
Sitkah 37:fca332b64b42 1788 case ETAT_ESTIMATION_POSITION :
Sitkah 38:76f886a1c8e6 1789 /*wait_ms(100);
Sitkah 37:fca332b64b42 1790 Rotate(3600);
Sitkah 37:fca332b64b42 1791 EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK;
Sitkah 37:fca332b64b42 1792 waitingAckID = ASSERVISSEMENT_ROTATION;
Sitkah 38:76f886a1c8e6 1793 waitingAckFrom = ACKNOWLEDGE_MOTEUR;*/
Sitkah 38:76f886a1c8e6 1794 GoToPosition(1400,300,0,1);
Sitkah 38:76f886a1c8e6 1795 waitingAckID = ASSERVISSEMENT_XYT;
Sitkah 37:fca332b64b42 1796 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 37:fca332b64b42 1797 break;
Sitkah 37:fca332b64b42 1798
Sitkah 37:fca332b64b42 1799 case ETAT_ESTIMATION_POSITION_ROTATION_ACK:
Sitkah 37:fca332b64b42 1800 if(waitingAckID == 0 && waitingAckFrom == 0)
Sitkah 38:76f886a1c8e6 1801 {
Sitkah 37:fca332b64b42 1802 EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK_END;
Sitkah 38:76f886a1c8e6 1803 waitingAckID_FIN = ASSERVISSEMENT_XYT;
Sitkah 38:76f886a1c8e6 1804 waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
Sitkah 38:76f886a1c8e6 1805 }
Sitkah 37:fca332b64b42 1806 break;
Sitkah 37:fca332b64b42 1807
Sitkah 37:fca332b64b42 1808 case ETAT_ESTIMATION_POSITION_ROTATION_ACK_END:
Sitkah 38:76f886a1c8e6 1809 if(waitingAckID == 0 && waitingAckFrom == 0)
Sitkah 38:76f886a1c8e6 1810 EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK_END;
Sitkah 37:fca332b64b42 1811 break;
Sitkah 37:fca332b64b42 1812
Sitkah 37:fca332b64b42 1813 case ETAT_FIN_EVITEMENT:
Sitkah 38:76f886a1c8e6 1814 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
Sitkah 37:fca332b64b42 1815 break;
Sitkah 37:fca332b64b42 1816 }
Sitkah 37:fca332b64b42 1817 }
Sitkah 37:fca332b64b42 1818
Sitkah 37:fca332b64b42 1819
Sitkah 37:fca332b64b42 1820 break;
ClementBreteau 20:de595e4ff01d 1821
ClementBreteau 20:de595e4ff01d 1822
ClementBreteau 20:de595e4ff01d 1823
ClementBreteau 14:c8fc06c4887f 1824 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 1825 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 1826 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 1827 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 1828 } else {
ClementBreteau 14:c8fc06c4887f 1829 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 1830 }
antbig 0:ad97421fb1fb 1831 break;
antbig 0:ad97421fb1fb 1832 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 1833 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 1834
antbig 0:ad97421fb1fb 1835 break;
antbig 0:ad97421fb1fb 1836 default:
ClementBreteau 20:de595e4ff01d 1837
antbig 0:ad97421fb1fb 1838 break;
ClementBreteau 20:de595e4ff01d 1839 }
Sitkah 29:41e02746041d 1840 }
Sitkah 29:41e02746041d 1841
Sitkah 29:41e02746041d 1842
Sitkah 29:41e02746041d 1843
Sitkah 29:41e02746041d 1844
Sitkah 29:41e02746041d 1845
antbig 4:88431b537477 1846 /****************************************************************************************/
antbig 4:88431b537477 1847 /* FUNCTION NAME: canProcessRx */
Sitkah 29:41e02746041d 1848 /* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
antbig 4:88431b537477 1849 /****************************************************************************************/
antbig 0:ad97421fb1fb 1850 void canProcessRx(void)
Sitkah 29:41e02746041d 1851 {
antbig 0:ad97421fb1fb 1852 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Sitkah 31:833fc481b002 1853 char message[10]="toto";
Sitkah 31:833fc481b002 1854 char message1[10]="toto";
Sitkah 31:833fc481b002 1855 char message2[10]="toto";
Sitkah 31:833fc481b002 1856 char message3[10]="toto";
antbig 0:ad97421fb1fb 1857 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 1858 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 1859 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 1860 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 1861 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 1862 if(FIFO_occupation!=0) {
Sitkah 29:41e02746041d 1863 int identifiant=msgRxBuffer[FIFO_lecture].id;
Sitkah 29:41e02746041d 1864 switch(identifiant) {
Sitkah 29:41e02746041d 1865
Sitkah 29:41e02746041d 1866 case ALIVE_MOTEUR:
Sitkah 29:41e02746041d 1867 if (etat == ATT) {
Sitkah 29:41e02746041d 1868
Sitkah 29:41e02746041d 1869 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1870 lcd.FillRect(0,400,400,150);
Sitkah 29:41e02746041d 1871 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1872 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1873 lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 1874 }
Sitkah 29:41e02746041d 1875 break;
Sitkah 29:41e02746041d 1876
Sitkah 29:41e02746041d 1877 case ALIVE_BALISE:
Sitkah 29:41e02746041d 1878 if (etat == ATT) {
Sitkah 29:41e02746041d 1879
Sitkah 29:41e02746041d 1880 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1881 lcd.FillRect(0,600,400,150); //carte AX12
Sitkah 29:41e02746041d 1882 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1883 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 34:6aa4b46b102e 1884 lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 1885 }
Sitkah 29:41e02746041d 1886 break;
Sitkah 29:41e02746041d 1887
Sitkah 29:41e02746041d 1888 case RESET_IHM:
Sitkah 29:41e02746041d 1889 etat = CHOIX;
Sitkah 29:41e02746041d 1890 break;
Sitkah 29:41e02746041d 1891
antbig 4:88431b537477 1892 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
ClementBreteau 23:ab87d308eaf9 1893 case GLOBAL_JACK:
antbig 1:116040d14164 1894 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 1895 gameEtat = ETAT_GAME_START;
ClementBreteau 23:ab87d308eaf9 1896 SendRawId(ACKNOWLEDGE_JACK);
antbig 1:116040d14164 1897 }
antbig 1:116040d14164 1898 break;
antbig 1:116040d14164 1899
Sitkah 30:a1e37af4bbde 1900 case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
ClementBreteau 23:ab87d308eaf9 1901 case ALIVE_ACTIONNEURS_ARRIERE:
Sitkah 30:a1e37af4bbde 1902 case ALIVE_HERKULEX:
antbig 0:ad97421fb1fb 1903 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 1904 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 1905 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 1906 }
Sitkah 38:76f886a1c8e6 1907 flag=1;
ClementBreteau 15:c2fc239e85df 1908 break;
antbig 0:ad97421fb1fb 1909
Sitkah 30:a1e37af4bbde 1910
Sitkah 30:a1e37af4bbde 1911
Sitkah 30:a1e37af4bbde 1912
Sitkah 30:a1e37af4bbde 1913 /////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
Sitkah 30:a1e37af4bbde 1914 case ACKNOWLEDGE_HERKULEX:
Sitkah 30:a1e37af4bbde 1915 case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans INSTRUCTION_END_AX12 mais conserve l'ident initial
Sitkah 34:6aa4b46b102e 1916
Sitkah 30:a1e37af4bbde 1917 case ACKNOWLEDGE_TELEMETRE:
Sitkah 30:a1e37af4bbde 1918 /////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
Sitkah 34:6aa4b46b102e 1919 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 1920 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 1921 case INSTRUCTION_END_MOTEUR:
Sitkah 31:833fc481b002 1922 case ACK_FIN_ACTION:
antbig 11:ed13a480ddca 1923 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
antbig 0:ad97421fb1fb 1924 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1925 waitingAckID = 0;
antbig 0:ad97421fb1fb 1926 }
Sitkah 34:6aa4b46b102e 1927 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 1928 waitingAckFrom_FIN = 0;
Sitkah 34:6aa4b46b102e 1929 waitingAckID_FIN = 0;
Sitkah 34:6aa4b46b102e 1930 }
Sitkah 30:a1e37af4bbde 1931
antbig 0:ad97421fb1fb 1932 break;
antbig 1:116040d14164 1933 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 1934 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 1935 #else
antbig 0:ad97421fb1fb 1936 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 1937 #endif
antbig 0:ad97421fb1fb 1938 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 1939 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 1940 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 1941 break;
Sitkah 29:41e02746041d 1942
Sitkah 30:a1e37af4bbde 1943 case ACK_ACTION:
Sitkah 30:a1e37af4bbde 1944 if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
Sitkah 30:a1e37af4bbde 1945 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1946 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 1947 }
Sitkah 30:a1e37af4bbde 1948 break;
Sitkah 30:a1e37af4bbde 1949
ClementBreteau 16:7321fb3bb396 1950 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 1951 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 1952 break;
ClementBreteau 16:7321fb3bb396 1953
antbig 5:dcd817534b57 1954 case BALISE_STOP:
antbig 5:dcd817534b57 1955 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
Sitkah 37:fca332b64b42 1956
Sitkah 37:fca332b64b42 1957 signed char fin_angle_detection = msgRxBuffer[FIFO_lecture].data[0] & 0x0F;
Sitkah 37:fca332b64b42 1958 signed char debut_angle_detection = (msgRxBuffer[FIFO_lecture].data[0] & 0xF0) >> 4;
Sitkah 37:fca332b64b42 1959
Sitkah 37:fca332b64b42 1960 if(debut_angle_detection > fin_angle_detection)
Sitkah 37:fca332b64b42 1961 {
Sitkah 38:76f886a1c8e6 1962 angle_moyen_balise_IR = (float)debut_angle_detection + ((15.0f-(float)debut_angle_detection)+(float)fin_angle_detection)/2.0f;
Sitkah 38:76f886a1c8e6 1963 if(angle_moyen_balise_IR > 15.0f)
Sitkah 38:76f886a1c8e6 1964 angle_moyen_balise_IR-=15.0f;
Sitkah 37:fca332b64b42 1965 }
Sitkah 37:fca332b64b42 1966 else
Sitkah 37:fca332b64b42 1967 angle_moyen_balise_IR = debut_angle_detection + (fin_angle_detection-debut_angle_detection)/2;
Sitkah 37:fca332b64b42 1968
Sitkah 38:76f886a1c8e6 1969 #ifdef ROBOT_BIG
Sitkah 38:76f886a1c8e6 1970 float seuil_bas_avant = 12.0; // >=
Sitkah 38:76f886a1c8e6 1971 float seuil_haut_avant = 0.0; // <=
Sitkah 38:76f886a1c8e6 1972 float seuil_bas_arriere = 4.0;
Sitkah 38:76f886a1c8e6 1973 float seuil_haut_arriere = 8.0;
Sitkah 38:76f886a1c8e6 1974 #else
Sitkah 38:76f886a1c8e6 1975 float seuil_bas_avant = 13.0;
Sitkah 38:76f886a1c8e6 1976 float seuil_haut_avant = 15.0;
Sitkah 38:76f886a1c8e6 1977 float seuil_bas_arriere = 5.0;
Sitkah 38:76f886a1c8e6 1978 float seuil_haut_arriere = 7.0;
Sitkah 38:76f886a1c8e6 1979 #endif
Sitkah 37:fca332b64b42 1980
Sitkah 38:76f886a1c8e6 1981 if (instruction.order == MV_LINE && instruction.direction == FORWARD && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
Sitkah 38:76f886a1c8e6 1982 || instruction.order == MV_LINE && instruction.direction == BACKWARD && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= 7
Sitkah 38:76f886a1c8e6 1983 || instruction.order == MV_COURBURE && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
Sitkah 38:76f886a1c8e6 1984 || instruction.order == MV_COURBURE && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= seuil_haut_arriere
Sitkah 38:76f886a1c8e6 1985 || instruction.order == MV_XYT && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
Sitkah 38:76f886a1c8e6 1986 || instruction.order == MV_XYT && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= seuil_haut_arriere ){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
ClementBreteau 16:7321fb3bb396 1987 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 1988 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 1989 {
ClementBreteau 16:7321fb3bb396 1990 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 26:2f4fcc2354f3 1991 //while(1); // ligne à décommenter si on est en homologation
ClementBreteau 16:7321fb3bb396 1992 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 1993 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 1994 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 1995 }
antbig 27:76ead555a63d 1996 gameEtat = ETAT_WARNING_TIMEOUT;
antbig 12:14729d584500 1997 }
antbig 12:14729d584500 1998 }
Sitkah 38:76f886a1c8e6 1999
antbig 28:acd18776ed2d 2000 }
Sitkah 38:76f886a1c8e6 2001
Sitkah 38:76f886a1c8e6 2002
Sitkah 38:76f886a1c8e6 2003
antbig 12:14729d584500 2004 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 2005 break;
ClementBreteau 16:7321fb3bb396 2006
antbig 5:dcd817534b57 2007 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 2008 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 2009 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 2010 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 2011 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 2012 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 2013 }
antbig 5:dcd817534b57 2014 break;
antbig 12:14729d584500 2015
ClementBreteau 14:c8fc06c4887f 2016 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 2017 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 2018
ClementBreteau 15:c2fc239e85df 2019 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 2020 }
ClementBreteau 15:c2fc239e85df 2021 else{
ClementBreteau 15:c2fc239e85df 2022
ClementBreteau 15:c2fc239e85df 2023 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 2024 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 2025
ClementBreteau 15:c2fc239e85df 2026 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 2027 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 2028 }
ClementBreteau 15:c2fc239e85df 2029 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 2030 break;
Sitkah 29:41e02746041d 2031
Sitkah 30:a1e37af4bbde 2032 case RECEPTION_DATA:
Sitkah 30:a1e37af4bbde 2033 telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
Sitkah 38:76f886a1c8e6 2034 telemetreDistance= (float)telemetreDistance*100.0f*35.5f+50.0f;
Sitkah 30:a1e37af4bbde 2035 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 2036 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 2037 break;
Sitkah 30:a1e37af4bbde 2038
Sitkah 31:833fc481b002 2039 case RECEPTION_RECALAGE:
Sitkah 34:6aa4b46b102e 2040 telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]); //
Sitkah 34:6aa4b46b102e 2041 telemetreDistance_avant_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
Sitkah 34:6aa4b46b102e 2042 telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
Sitkah 34:6aa4b46b102e 2043 telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
Sitkah 34:6aa4b46b102e 2044
Sitkah 34:6aa4b46b102e 2045
Sitkah 34:6aa4b46b102e 2046
Sitkah 34:6aa4b46b102e 2047 if(ModeDemo==1)
Sitkah 34:6aa4b46b102e 2048 {
Sitkah 34:6aa4b46b102e 2049 sprintf(message,"%04d mm",telemetreDistance_arriere_droite);
Sitkah 31:833fc481b002 2050 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2051 lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER ARD : ",LEFT_MODE);
Sitkah 31:833fc481b002 2052 lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message, LEFT_MODE);
Sitkah 31:833fc481b002 2053
Sitkah 34:6aa4b46b102e 2054 sprintf(message1,"%04d mm",telemetreDistance_avant_droite);
Sitkah 31:833fc481b002 2055 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2056 lcd.DisplayStringAt(0, LINE(12),(unsigned char *)"LASER AVD : ",LEFT_MODE);
Sitkah 31:833fc481b002 2057 lcd.DisplayStringAt(200, LINE(12),(unsigned char *)message1, LEFT_MODE);
Sitkah 31:833fc481b002 2058
Sitkah 34:6aa4b46b102e 2059 sprintf(message2,"%04d mm",telemetreDistance_arriere_gauche);
Sitkah 31:833fc481b002 2060 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2061 lcd.DisplayStringAt(0, LINE(14),(unsigned char *)"LASER ARG : ",LEFT_MODE);
Sitkah 31:833fc481b002 2062 lcd.DisplayStringAt(200, LINE(14),(unsigned char *)message2, LEFT_MODE);
Sitkah 31:833fc481b002 2063
Sitkah 34:6aa4b46b102e 2064 sprintf(message3,"%04d mm",telemetreDistance_avant_gauche);
Sitkah 31:833fc481b002 2065 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 2066 lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER AVG : ",LEFT_MODE);
Sitkah 34:6aa4b46b102e 2067 lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message3, LEFT_MODE);
Sitkah 31:833fc481b002 2068 }
Sitkah 30:a1e37af4bbde 2069 break;
Sitkah 29:41e02746041d 2070
Sitkah 30:a1e37af4bbde 2071 case RECEPTION_COULEUR:
Sitkah 41:b029ddc4d60e 2072 if (blocage_balise==0){
Sitkah 30:a1e37af4bbde 2073 couleur1=msgRxBuffer[FIFO_lecture].data[0];
Sitkah 30:a1e37af4bbde 2074 couleur2=msgRxBuffer[FIFO_lecture].data[1];
Sitkah 30:a1e37af4bbde 2075 couleur3=msgRxBuffer[FIFO_lecture].data[2];
Sitkah 41:b029ddc4d60e 2076
Sitkah 41:b029ddc4d60e 2077 /*lcd.DisplayStringAt(0,LINE(16),(unsigned char *)couleur1+'0',LEFT_MODE);
Sitkah 41:b029ddc4d60e 2078 lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE);
Sitkah 41:b029ddc4d60e 2079 lcd.DisplayStringAt(0,LINE(16+2),(unsigned char *)couleur3+'0',LEFT_MODE);*/
Sitkah 41:b029ddc4d60e 2080 }
Sitkah 41:b029ddc4d60e 2081
Sitkah 30:a1e37af4bbde 2082 break;
Sitkah 41:b029ddc4d60e 2083
Sitkah 35:742dc6b200b0 2084 case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
Sitkah 35:742dc6b200b0 2085 actual_instruction = instruction.nextLineError;
Sitkah 35:742dc6b200b0 2086 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 35:742dc6b200b0 2087 /*waitingAckID_FIN=0;
Sitkah 35:742dc6b200b0 2088 waitingAckFrom_FIN=0;*/
Sitkah 35:742dc6b200b0 2089 SendRawId(0x40);
Sitkah 35:742dc6b200b0 2090 break;
Sitkah 29:41e02746041d 2091 }
antbig 0:ad97421fb1fb 2092 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 2093 }
antbig 0:ad97421fb1fb 2094 }
Sitkah 29:41e02746041d 2095
Sitkah 29:41e02746041d 2096
Sitkah 29:41e02746041d 2097
Sitkah 29:41e02746041d 2098
Sitkah 29:41e02746041d 2099
Sitkah 29:41e02746041d 2100 /****************************************************************************************/
Sitkah 29:41e02746041d 2101 /* FUNCTION NAME: Bouton_Strat */
Sitkah 29:41e02746041d 2102 /* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
Sitkah 29:41e02746041d 2103 /****************************************************************************************/
Sitkah 29:41e02746041d 2104 signed char Bouton_Strat (void)
Sitkah 29:41e02746041d 2105 {
Sitkah 29:41e02746041d 2106 Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
Sitkah 29:41e02746041d 2107 Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
Sitkah 29:41e02746041d 2108 Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
Sitkah 29:41e02746041d 2109 Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
Sitkah 29:41e02746041d 2110 Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
Sitkah 29:41e02746041d 2111 Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
Sitkah 29:41e02746041d 2112 Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
Sitkah 29:41e02746041d 2113 Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
Sitkah 29:41e02746041d 2114 Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
Sitkah 29:41e02746041d 2115 Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
Sitkah 29:41e02746041d 2116 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 2117 //Definition des boutons
Sitkah 29:41e02746041d 2118
Sitkah 29:41e02746041d 2119 Ack_strat = 0;
Sitkah 29:41e02746041d 2120 Strat = 0;
Sitkah 29:41e02746041d 2121 STRAT_1.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2122 STRAT_2.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2123 STRAT_3.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2124 STRAT_4.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2125 STRAT_5.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2126 STRAT_6.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2127 STRAT_7.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2128 STRAT_8.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2129 STRAT_9.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2130 STRAT_10.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 2131 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 2132
Sitkah 29:41e02746041d 2133 while(Ack_strat == 0)
Sitkah 29:41e02746041d 2134 {
Sitkah 29:41e02746041d 2135 canProcessRx();
Sitkah 29:41e02746041d 2136 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 2137 //msgTx.id=ECRAN_CHOICE_STRAT;
Sitkah 29:41e02746041d 2138 if (RETOUR.Touched())
Sitkah 29:41e02746041d 2139 return -1;
Sitkah 29:41e02746041d 2140 while(RETOUR.Touched());
Sitkah 29:41e02746041d 2141 //////////////////////////////STRATEGIE N°1
Sitkah 29:41e02746041d 2142 if (STRAT_1.Touched()){
Sitkah 29:41e02746041d 2143 Strat = 0;
Sitkah 30:a1e37af4bbde 2144 //msgTx.data[0] = 0x1;
Sitkah 30:a1e37af4bbde 2145 //can2.write(msgTx);
Sitkah 29:41e02746041d 2146 while(STRAT_1.Touched());
Sitkah 29:41e02746041d 2147 Ack_strat =1;
Sitkah 29:41e02746041d 2148 }
Sitkah 29:41e02746041d 2149 /////////////////////////////STRATEGIE N°2
Sitkah 29:41e02746041d 2150 if (STRAT_2.Touched()){
Sitkah 29:41e02746041d 2151 Strat = 1;
Sitkah 30:a1e37af4bbde 2152 //msgTx.data[0] = 0x2;
Sitkah 30:a1e37af4bbde 2153 //can2.write(msgTx);
Sitkah 29:41e02746041d 2154 while(STRAT_2.Touched());
Sitkah 29:41e02746041d 2155 Ack_strat =1;
Sitkah 29:41e02746041d 2156 }
Sitkah 29:41e02746041d 2157 //////////////////////////////STRATEGIE N°3
Sitkah 29:41e02746041d 2158 if (STRAT_3.Touched()){
Sitkah 29:41e02746041d 2159 Strat = 2;
Sitkah 30:a1e37af4bbde 2160 //msgTx.data[0] = 0x3;
Sitkah 30:a1e37af4bbde 2161 //can2.write(msgTx);
Sitkah 29:41e02746041d 2162 while(STRAT_3.Touched());
Sitkah 29:41e02746041d 2163 Ack_strat =1;
Sitkah 29:41e02746041d 2164 }
Sitkah 29:41e02746041d 2165 /////////////////////////////STRATEGIE N°4
Sitkah 29:41e02746041d 2166 if (STRAT_4.Touched()){
Sitkah 29:41e02746041d 2167 Strat = 3;
Sitkah 30:a1e37af4bbde 2168 //msgTx.data[0] = 0x4;
Sitkah 30:a1e37af4bbde 2169 //can2.write(msgTx);
Sitkah 29:41e02746041d 2170 while(STRAT_4.Touched());
Sitkah 29:41e02746041d 2171 Ack_strat =1;
Sitkah 29:41e02746041d 2172 }
Sitkah 29:41e02746041d 2173 ///////////////////////////////STRATEGIE N°5
Sitkah 29:41e02746041d 2174 if (STRAT_5.Touched()){
Sitkah 29:41e02746041d 2175 Strat = 4;
Sitkah 30:a1e37af4bbde 2176 //msgTx.data[0] = 0x5;
Sitkah 30:a1e37af4bbde 2177 //can2.write(msgTx);
Sitkah 29:41e02746041d 2178 while(STRAT_5.Touched());
Sitkah 29:41e02746041d 2179 Ack_strat =1;
Sitkah 29:41e02746041d 2180 }
Sitkah 29:41e02746041d 2181 ////////////////////////////////STRATEGIE N°6
Sitkah 29:41e02746041d 2182 if (STRAT_6.Touched()){
Sitkah 29:41e02746041d 2183 Strat = 5;
Sitkah 30:a1e37af4bbde 2184 //msgTx.data[0] = 0x6;
Sitkah 30:a1e37af4bbde 2185 //can2.write(msgTx);
Sitkah 29:41e02746041d 2186 while(STRAT_6.Touched());
Sitkah 29:41e02746041d 2187 Ack_strat =1;
Sitkah 29:41e02746041d 2188 }
Sitkah 29:41e02746041d 2189 /////////////////////////////////STRATEGIE N°7
Sitkah 29:41e02746041d 2190 if (STRAT_7.Touched()){
Sitkah 29:41e02746041d 2191 Strat = 6;
Sitkah 30:a1e37af4bbde 2192 //msgTx.data[0] = 0x7;
Sitkah 30:a1e37af4bbde 2193 //can2.write(msgTx);
Sitkah 29:41e02746041d 2194 while(STRAT_7.Touched());
Sitkah 29:41e02746041d 2195 Ack_strat =1;
Sitkah 29:41e02746041d 2196 }
Sitkah 29:41e02746041d 2197 /////////////////////////////////STRATEGIE N°8
Sitkah 29:41e02746041d 2198 if (STRAT_8.Touched()){
Sitkah 29:41e02746041d 2199 Strat = 7;
Sitkah 30:a1e37af4bbde 2200 //msgTx.data[0] = 0x8;
Sitkah 30:a1e37af4bbde 2201 //can2.write(msgTx);
Sitkah 29:41e02746041d 2202 while(STRAT_8.Touched());
Sitkah 29:41e02746041d 2203 Ack_strat =1;
Sitkah 29:41e02746041d 2204 }
Sitkah 29:41e02746041d 2205 /////////////////////////////////STRATEGIE N°9
Sitkah 29:41e02746041d 2206 if (STRAT_9.Touched()){
Sitkah 29:41e02746041d 2207 Strat = 8;
Sitkah 30:a1e37af4bbde 2208 //msgTx.data[0] = 0x9;
Sitkah 30:a1e37af4bbde 2209 //can2.write(msgTx);
Sitkah 29:41e02746041d 2210 while(STRAT_9.Touched());
Sitkah 29:41e02746041d 2211 Ack_strat =1;
Sitkah 29:41e02746041d 2212 }
Sitkah 29:41e02746041d 2213 ///////////////////////////////////STRATEGIE N°10
Sitkah 29:41e02746041d 2214 if (STRAT_10.Touched()){
Sitkah 29:41e02746041d 2215 Strat = 9;
Sitkah 30:a1e37af4bbde 2216 //msgTx.data[0] = 0xA;
Sitkah 30:a1e37af4bbde 2217 //can2.write(msgTx);
Sitkah 29:41e02746041d 2218 while(STRAT_10.Touched());
Sitkah 29:41e02746041d 2219 Ack_strat =1;
Sitkah 29:41e02746041d 2220 }
Sitkah 29:41e02746041d 2221
Sitkah 29:41e02746041d 2222 }
Sitkah 29:41e02746041d 2223 return Strat;
Sitkah 29:41e02746041d 2224
Sitkah 29:41e02746041d 2225 }
Sitkah 29:41e02746041d 2226
Sitkah 29:41e02746041d 2227 void affichage_compteur (int nombre)
Sitkah 29:41e02746041d 2228 {
Sitkah 38:76f886a1c8e6 2229 int dizaine=0,unite=0,centaine=0;
Sitkah 38:76f886a1c8e6 2230 centaine=nombre/100;
Sitkah 29:41e02746041d 2231 dizaine = nombre/10;
Sitkah 29:41e02746041d 2232 unite = nombre-(10*dizaine);
Sitkah 38:76f886a1c8e6 2233 print_segment(unite,-50);
Sitkah 40:21bb685b553b 2234 print_segment(dizaine,100);
Sitkah 38:76f886a1c8e6 2235 if(centaine!=0){
Sitkah 38:76f886a1c8e6 2236 print_segment(centaine,350);
Sitkah 38:76f886a1c8e6 2237 }
Sitkah 29:41e02746041d 2238
Sitkah 29:41e02746041d 2239 }
Sitkah 29:41e02746041d 2240
Sitkah 29:41e02746041d 2241
Sitkah 29:41e02746041d 2242 //****print_segment***
Sitkah 29:41e02746041d 2243 //Dessine en 7 segment le nombre en parametre
Sitkah 29:41e02746041d 2244 // A
Sitkah 29:41e02746041d 2245 // =====
Sitkah 29:41e02746041d 2246 // | |
Sitkah 29:41e02746041d 2247 // B | G | E
Sitkah 29:41e02746041d 2248 // |=====|
Sitkah 29:41e02746041d 2249 // C | | F
Sitkah 29:41e02746041d 2250 // | |
Sitkah 29:41e02746041d 2251 // =====
Sitkah 29:41e02746041d 2252 // D
Sitkah 29:41e02746041d 2253 /*
Sitkah 29:41e02746041d 2254 position pour le chiffre des unites
Sitkah 29:41e02746041d 2255 lcd.FillRect(460,75,120,25);// A
Sitkah 29:41e02746041d 2256 lcd.FillRect(435,100,25,120);// B
Sitkah 29:41e02746041d 2257 lcd.FillRect(435,245,25,120);// C
Sitkah 29:41e02746041d 2258 lcd.FillRect(460,365,120,25);// D
Sitkah 29:41e02746041d 2259 lcd.FillRect(580,100,25,120);// E
Sitkah 29:41e02746041d 2260 lcd.FillRect(580,245,25,120);// F
Sitkah 29:41e02746041d 2261 lcd.FillRect(460,220,120,25);// G
Sitkah 29:41e02746041d 2262
Sitkah 29:41e02746041d 2263 position pour le chiffre des dizaines
Sitkah 29:41e02746041d 2264 lcd.FillRect(260,75,120,25);// A
Sitkah 29:41e02746041d 2265 lcd.FillRect(235,100,25,120);// B
Sitkah 29:41e02746041d 2266 lcd.FillRect(235,245,25,120);// C
Sitkah 29:41e02746041d 2267 lcd.FillRect(260,365,120,25);// D
Sitkah 29:41e02746041d 2268 lcd.FillRect(380,100,25,120);// E
Sitkah 29:41e02746041d 2269 lcd.FillRect(380,245,25,120);// F
Sitkah 29:41e02746041d 2270 lcd.FillRect(260,220,120,25);// G
Sitkah 29:41e02746041d 2271 */
Sitkah 29:41e02746041d 2272
Sitkah 29:41e02746041d 2273 void print_segment(int nombre, int decalage)
Sitkah 29:41e02746041d 2274 {
Sitkah 38:76f886a1c8e6 2275
Sitkah 29:41e02746041d 2276 switch(nombre)
Sitkah 29:41e02746041d 2277 {
Sitkah 29:41e02746041d 2278 case 0:
Sitkah 29:41e02746041d 2279 lcd.FillRect(240-decalage,75,120,25);
Sitkah 29:41e02746041d 2280 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2281 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2282 lcd.FillRect(360-decalage,245,25,120);
Sitkah 29:41e02746041d 2283 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2284 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2285 break;
Sitkah 29:41e02746041d 2286
Sitkah 29:41e02746041d 2287 case 1:
Sitkah 29:41e02746041d 2288 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2289 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2290 break;
Sitkah 29:41e02746041d 2291
Sitkah 29:41e02746041d 2292 case 2:
Sitkah 29:41e02746041d 2293 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2294 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2295 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2296 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2297 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2298 break;
Sitkah 29:41e02746041d 2299
Sitkah 29:41e02746041d 2300 case 3:
Sitkah 29:41e02746041d 2301 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2302 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2303 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2304 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2305 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2306 break;
Sitkah 29:41e02746041d 2307
Sitkah 29:41e02746041d 2308 case 4:
Sitkah 29:41e02746041d 2309 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2310 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2311 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2312 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2313 break;
Sitkah 29:41e02746041d 2314
Sitkah 29:41e02746041d 2315 case 5:
Sitkah 29:41e02746041d 2316 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2317 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2318 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2319 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2320 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2321 break;
Sitkah 29:41e02746041d 2322
Sitkah 29:41e02746041d 2323 case 6:
Sitkah 29:41e02746041d 2324 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2325 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2326 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2327 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2328 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2329 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2330 break;
Sitkah 29:41e02746041d 2331
Sitkah 29:41e02746041d 2332 case 7:
Sitkah 29:41e02746041d 2333 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2334 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2335 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2336 break;
Sitkah 29:41e02746041d 2337
Sitkah 29:41e02746041d 2338 case 8:
Sitkah 29:41e02746041d 2339 lcd.FillRect(240-decalage,75,120,25); // A
Sitkah 29:41e02746041d 2340 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2341 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2342 lcd.FillRect(360-decalage,245,25,120);//...
Sitkah 29:41e02746041d 2343 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2344 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2345 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2346 break;
Sitkah 29:41e02746041d 2347
Sitkah 29:41e02746041d 2348 case 9:
Sitkah 29:41e02746041d 2349 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2350 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2351 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2352 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2353 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2354 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2355 break;
Sitkah 29:41e02746041d 2356 }
Sitkah 29:41e02746041d 2357 }
Sitkah 29:41e02746041d 2358
Sitkah 29:41e02746041d 2359 void effacer_segment(long couleur)
Sitkah 29:41e02746041d 2360 {
Sitkah 29:41e02746041d 2361 lcd.SetTextColor(couleur);
Sitkah 29:41e02746041d 2362 lcd.FillRect(240-200,75,120,25); // A
Sitkah 29:41e02746041d 2363 lcd.FillRect(215-200,100,25,120);
Sitkah 29:41e02746041d 2364 lcd.FillRect(215-200,245,25,120);
Sitkah 29:41e02746041d 2365 lcd.FillRect(360-200,245,25,120);//...
Sitkah 29:41e02746041d 2366 lcd.FillRect(360-200,100,25,120);
Sitkah 29:41e02746041d 2367 lcd.FillRect(240-200,365,120,25);
Sitkah 29:41e02746041d 2368 lcd.FillRect(240-200,220,120,25);// G
Sitkah 29:41e02746041d 2369
Sitkah 29:41e02746041d 2370 lcd.FillRect(240,75,120,25); // A
Sitkah 29:41e02746041d 2371 lcd.FillRect(215,100,25,120);
Sitkah 29:41e02746041d 2372 lcd.FillRect(215,245,25,120);
Sitkah 29:41e02746041d 2373 lcd.FillRect(360,245,25,120);//...
Sitkah 29:41e02746041d 2374 lcd.FillRect(360,100,25,120);
Sitkah 29:41e02746041d 2375 lcd.FillRect(240,365,120,25);
Sitkah 29:41e02746041d 2376 lcd.FillRect(240,220,120,25);// G
Sitkah 29:41e02746041d 2377 }
Sitkah 36:6dd30780bd8e 2378
Sitkah 36:6dd30780bd8e 2379 short recalageAngulaireCapteur(void)
Sitkah 36:6dd30780bd8e 2380 {
Sitkah 36:6dd30780bd8e 2381 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2382 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2383 unsigned short angleAvant = 0;
Sitkah 36:6dd30780bd8e 2384 unsigned short angleArriere = 0;
Sitkah 36:6dd30780bd8e 2385 unsigned short orientationArrondie = 0;
Sitkah 36:6dd30780bd8e 2386
Sitkah 36:6dd30780bd8e 2387 unsigned short position_avant_gauche=0;
Sitkah 36:6dd30780bd8e 2388 unsigned short position_avant_droite=0;
Sitkah 36:6dd30780bd8e 2389 unsigned short position_arriere_gauche=0;
Sitkah 36:6dd30780bd8e 2390 unsigned short position_arriere_droite=0;
Sitkah 36:6dd30780bd8e 2391
Sitkah 36:6dd30780bd8e 2392 if(theta_robot >= 450 && theta_robot <= 1350)
Sitkah 36:6dd30780bd8e 2393 orientationArrondie = 90;
Sitkah 36:6dd30780bd8e 2394 else if(theta_robot <= -450 && theta_robot >= -1350)
Sitkah 36:6dd30780bd8e 2395 orientationArrondie = 270;
Sitkah 36:6dd30780bd8e 2396 else if(theta_robot <= 450 && theta_robot >= -450)
Sitkah 36:6dd30780bd8e 2397 orientationArrondie = 0;
Sitkah 36:6dd30780bd8e 2398 else if(theta_robot >= 1350 && theta_robot <= -1350)
Sitkah 36:6dd30780bd8e 2399 orientationArrondie = 180;
Sitkah 36:6dd30780bd8e 2400
Sitkah 36:6dd30780bd8e 2401 // Calcul de position pour faire la vérification de cohérence
Sitkah 36:6dd30780bd8e 2402 if(orientationArrondie == 90 || orientationArrondie == 270)
Sitkah 36:6dd30780bd8e 2403 {
Sitkah 36:6dd30780bd8e 2404 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 2405 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 2406 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 2407 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 2408
Sitkah 36:6dd30780bd8e 2409 }
Sitkah 36:6dd30780bd8e 2410 else if(orientationArrondie == 0 || orientationArrondie == 180)
Sitkah 36:6dd30780bd8e 2411 {
Sitkah 36:6dd30780bd8e 2412 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 2413 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 2414 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 2415 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 2416 }
Sitkah 36:6dd30780bd8e 2417
Sitkah 36:6dd30780bd8e 2418
Sitkah 36:6dd30780bd8e 2419 if(orientationArrondie == 90 || orientationArrondie == 270) // Si il est en axe Y
Sitkah 36:6dd30780bd8e 2420 {
Sitkah 36:6dd30780bd8e 2421 if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2422 {
Sitkah 36:6dd30780bd8e 2423 if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2424 {
Sitkah 36:6dd30780bd8e 2425 if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
Sitkah 36:6dd30780bd8e 2426 angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche) , (double)ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2427 else
Sitkah 36:6dd30780bd8e 2428 angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
Sitkah 36:6dd30780bd8e 2429
Sitkah 36:6dd30780bd8e 2430 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2431 moyennageTelemetre += angleArriere;
Sitkah 36:6dd30780bd8e 2432 }
Sitkah 36:6dd30780bd8e 2433 }
Sitkah 36:6dd30780bd8e 2434 }
Sitkah 36:6dd30780bd8e 2435 else if(orientationArrondie == 0 || orientationArrondie == 180) // Si il est en axe X
Sitkah 36:6dd30780bd8e 2436 {
Sitkah 36:6dd30780bd8e 2437 if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2438 {
Sitkah 36:6dd30780bd8e 2439 if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2440 {
Sitkah 36:6dd30780bd8e 2441 if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
Sitkah 36:6dd30780bd8e 2442 angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche) , (double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2443 else
Sitkah 36:6dd30780bd8e 2444 angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
Sitkah 36:6dd30780bd8e 2445
Sitkah 36:6dd30780bd8e 2446 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2447 moyennageTelemetre += angleArriere;
Sitkah 36:6dd30780bd8e 2448 }
Sitkah 36:6dd30780bd8e 2449 }
Sitkah 36:6dd30780bd8e 2450 }
Sitkah 36:6dd30780bd8e 2451
Sitkah 36:6dd30780bd8e 2452 if(orientationArrondie == 90 || orientationArrondie == 270) // Si il est en axe Y
Sitkah 36:6dd30780bd8e 2453 {
Sitkah 36:6dd30780bd8e 2454 if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2455 {
Sitkah 36:6dd30780bd8e 2456 if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2457 {
Sitkah 36:6dd30780bd8e 2458 if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2459 angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
Sitkah 36:6dd30780bd8e 2460 else
Sitkah 36:6dd30780bd8e 2461 angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite) ,(double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2462
Sitkah 36:6dd30780bd8e 2463 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2464 moyennageTelemetre += angleAvant;
Sitkah 36:6dd30780bd8e 2465 }
Sitkah 36:6dd30780bd8e 2466 }
Sitkah 36:6dd30780bd8e 2467 }
Sitkah 36:6dd30780bd8e 2468 else if(orientationArrondie == 0 || orientationArrondie == 180) // Si il est en axe X
Sitkah 36:6dd30780bd8e 2469 {
Sitkah 36:6dd30780bd8e 2470 if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) // Et que les mesures sont cohérentes
Sitkah 36:6dd30780bd8e 2471 {
Sitkah 36:6dd30780bd8e 2472 if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2473 {
Sitkah 36:6dd30780bd8e 2474 if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2475 angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
Sitkah 36:6dd30780bd8e 2476 else
Sitkah 36:6dd30780bd8e 2477 angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite) ,(double) ESPACE_INTER_TELEMETRE ))/M_PI;
Sitkah 36:6dd30780bd8e 2478
Sitkah 36:6dd30780bd8e 2479 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2480 moyennageTelemetre += angleAvant;
Sitkah 36:6dd30780bd8e 2481 }
Sitkah 36:6dd30780bd8e 2482 }
Sitkah 36:6dd30780bd8e 2483 }
Sitkah 36:6dd30780bd8e 2484
Sitkah 36:6dd30780bd8e 2485 angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2486
Sitkah 36:6dd30780bd8e 2487
Sitkah 36:6dd30780bd8e 2488
Sitkah 36:6dd30780bd8e 2489 if(nombresDeMesuresAuxTelemetresQuiSontCoherentes)
Sitkah 36:6dd30780bd8e 2490 {
Sitkah 36:6dd30780bd8e 2491 if(orientationArrondie == 0)
Sitkah 36:6dd30780bd8e 2492 {
Sitkah 36:6dd30780bd8e 2493 angleRecalage -= 900;
Sitkah 36:6dd30780bd8e 2494
Sitkah 36:6dd30780bd8e 2495 /*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
Sitkah 36:6dd30780bd8e 2496 distanceRecalage = *);
Sitkah 36:6dd30780bd8e 2497 else
Sitkah 36:6dd30780bd8e 2498 distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
Sitkah 36:6dd30780bd8e 2499 }
Sitkah 36:6dd30780bd8e 2500 else if(orientationArrondie == 90)
Sitkah 36:6dd30780bd8e 2501 {
Sitkah 36:6dd30780bd8e 2502 angleRecalage += 0;
Sitkah 36:6dd30780bd8e 2503 }
Sitkah 36:6dd30780bd8e 2504 else if(orientationArrondie == 180)
Sitkah 36:6dd30780bd8e 2505 {
Sitkah 36:6dd30780bd8e 2506 angleRecalage += 900;
Sitkah 36:6dd30780bd8e 2507 }
Sitkah 36:6dd30780bd8e 2508 else if(orientationArrondie == 270)
Sitkah 36:6dd30780bd8e 2509 {
Sitkah 36:6dd30780bd8e 2510 angleRecalage += 1800;
Sitkah 36:6dd30780bd8e 2511 }
Sitkah 36:6dd30780bd8e 2512 }
Sitkah 36:6dd30780bd8e 2513
Sitkah 36:6dd30780bd8e 2514 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
Sitkah 36:6dd30780bd8e 2515 }
Sitkah 36:6dd30780bd8e 2516
Sitkah 36:6dd30780bd8e 2517 short recalageDistanceX(void)
Sitkah 36:6dd30780bd8e 2518 {
Sitkah 36:6dd30780bd8e 2519 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2520 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2521
Sitkah 36:6dd30780bd8e 2522 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 2523 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 2524 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 2525 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 2526
Sitkah 36:6dd30780bd8e 2527 if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2528 {
Sitkah 36:6dd30780bd8e 2529 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2530 moyennageTelemetre += telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2531 }
Sitkah 36:6dd30780bd8e 2532 if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2533 {
Sitkah 36:6dd30780bd8e 2534 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2535 moyennageTelemetre += telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2536 }
Sitkah 36:6dd30780bd8e 2537 if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2538 {
Sitkah 36:6dd30780bd8e 2539 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2540 moyennageTelemetre += telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2541 }
Sitkah 36:6dd30780bd8e 2542 if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2543 {
Sitkah 36:6dd30780bd8e 2544 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2545 moyennageTelemetre += telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2546 }
Sitkah 36:6dd30780bd8e 2547
Sitkah 36:6dd30780bd8e 2548 moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2549
Sitkah 36:6dd30780bd8e 2550 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
Sitkah 36:6dd30780bd8e 2551 }
Sitkah 36:6dd30780bd8e 2552
Sitkah 36:6dd30780bd8e 2553 short recalageDistanceY(void)
Sitkah 36:6dd30780bd8e 2554 {
Sitkah 36:6dd30780bd8e 2555 unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
Sitkah 36:6dd30780bd8e 2556 unsigned int moyennageTelemetre = 0;
Sitkah 36:6dd30780bd8e 2557
Sitkah 36:6dd30780bd8e 2558 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 2559 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 2560 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 2561 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 2562
Sitkah 36:6dd30780bd8e 2563 if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2564 {
Sitkah 36:6dd30780bd8e 2565 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2566 moyennageTelemetre += telemetreDistance_avant_gauche;
Sitkah 36:6dd30780bd8e 2567 }
Sitkah 36:6dd30780bd8e 2568 if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2569 {
Sitkah 36:6dd30780bd8e 2570 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2571 moyennageTelemetre += telemetreDistance_avant_droite;
Sitkah 36:6dd30780bd8e 2572 }
Sitkah 36:6dd30780bd8e 2573 if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2574 {
Sitkah 36:6dd30780bd8e 2575 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2576 moyennageTelemetre += telemetreDistance_arriere_gauche;
Sitkah 36:6dd30780bd8e 2577 }
Sitkah 36:6dd30780bd8e 2578 if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1)
Sitkah 36:6dd30780bd8e 2579 {
Sitkah 36:6dd30780bd8e 2580 nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
Sitkah 36:6dd30780bd8e 2581 moyennageTelemetre += telemetreDistance_arriere_droite;
Sitkah 36:6dd30780bd8e 2582 }
Sitkah 36:6dd30780bd8e 2583
Sitkah 36:6dd30780bd8e 2584 moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
Sitkah 36:6dd30780bd8e 2585
Sitkah 36:6dd30780bd8e 2586 return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
Sitkah 36:6dd30780bd8e 2587 }
Sitkah 36:6dd30780bd8e 2588