CRAC Team
Programme carte strategie (disco)
Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Diff: Strategie/Strategie.cpp
- Revision:
- 38:76f886a1c8e6
- Parent:
- 37:fca332b64b42
- Child:
- 40:21bb685b553b
--- a/Strategie/Strategie.cpp Thu May 03 22:35:27 2018 +0000
+++ b/Strategie/Strategie.cpp Wed May 09 19:36:20 2018 +0000
@@ -67,6 +67,9 @@
char counter = 0;
char check;
char Jack = 1;
+short SCORE_GLOBAL=10;
+short SCORE_GR=0;
+short SCORE_PR=0;
int flag = 0, flag_strat = 0, flag_timer;
char Ack_strat = 0;
@@ -108,7 +111,7 @@
T_etat etat = INIT;
E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
-
+E_Stratposdebut etat_pos=RECALAGE_1;
/////////////////DEFINITION DES BOUTONS////////////////////
Button COTE_VERT(0, 25, 400, 300, "VERT");
@@ -166,15 +169,15 @@
#ifdef ROBOT_BIG
-unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE,CHECK_ACTIONNEURS_AVANT,CHECK_ACTIONNEURS_ARRIERE};
-unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE,ALIVE_ACTIONNEURS_AVANT,ALIVE_ACTIONNEURS_ARRIERE};
+unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
+unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
#else
-unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR};
-unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR};
+unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
+unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
@@ -293,8 +296,8 @@
ligne=0;
char aff[10]="toto";
sprintf(aff,"%lf ",Var);
- lcd.DisplayStringAt(120, LINE(5+(ligne)), (uint8_t *)aff, LEFT_MODE);
- ligne++;
+ lcd.DisplayStringAt(120, LINE(15+(ligne)), (uint8_t *)aff, LEFT_MODE);
+ //ligne++;
}
@@ -353,20 +356,7 @@
lcd.DisplayStringAt(110,650 , (uint8_t *)"Balise", LEFT_MODE);
////////////////////////////////////////
- FORCE_LAUNCH.Draw(0xFFFF0000, 0);
-
- /*while(flag == 0)
- {
- ts.GetState(&TS_State);
- canProcessRx();
- if (FORCE_LAUNCH.Touched())
- {
- etat = CHOIX;
- gameEtat = ETAT_CONFIG;
- flag = 1;
- while(FORCE_LAUNCH.Touched());
- }
- }*/
+ FORCE_LAUNCH.Draw(0xFFFF0000, 0);
etat=ATT;
break;
@@ -570,7 +560,7 @@
COLOR_ORANGE.Draw(ORANGE,0);
COLOR_JAUNE.Draw(JAUNE,0);
COLOR_VERT.Draw(VERT,0);
- COLOR_BLEU.Draw(VERT,0);
+ COLOR_BLEU.Draw(BLEU,0);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(NOIR);
@@ -842,7 +832,6 @@
canProcessRx();
if(COTE_VERT.Touched())
{
- liaison_Tx.envoyer(0x30,3,"123");
Cote = 0x0;
InversStrat = Cote;
etat = TACTIQUE;
@@ -887,12 +876,12 @@
lcd.SetBackColor(VERT);
}
else if (Cote == 1){
- lcd.Clear(JAUNE);
- lcd.SetBackColor(JAUNE);
+ lcd.Clear(ORANGE);
+ lcd.SetBackColor(ORANGE);
}
else {
- lcd.Clear(VERT);
- lcd.SetBackColor(VERT);
+ lcd.Clear(BLEU);
+ lcd.SetBackColor(BLEU);
}
lcd.SetTextColor(LCD_COLOR_BLACK);
@@ -954,8 +943,8 @@
lcd.SetBackColor(VERT);
}
else if (Cote == 1){
- lcd.Clear(JAUNE);
- lcd.SetBackColor(JAUNE);
+ lcd.Clear(ORANGE);
+ lcd.SetBackColor(ORANGE);
}
else {
lcd.Clear(VERT);
@@ -970,28 +959,43 @@
break;
case COMPTEUR:
- /*cptf=gameTimer.read();
+ cptf=gameTimer.read();
lcd.SetTextColor(LCD_COLOR_BLACK);
- cpt=int(cptf);
+ cpt=(int)cptf;
if(cpt != cpt1){
lcd.Clear(VERT);
- affichage_compteur(100-cpt);
+ // affichage_compteur(100-cpt);
+ affichage_compteur(SCORE_PR);
+ #ifdef ROBOT_BIG
+ affichage_var(SCORE_GR);
+ #else
+ affichage_var(SCORE_PR);
+ #endif
+ if(liaison_pr.paquet_en_attente()){
+ PaquetDomotique *paquet=liaison_pr.lire();
+ if(paquet->identifiant==PAQUET_IDENTIFIANT_AJOUTERSCORE){
+ SCORE_PR+=convertir_score(paquet);
+ }
+ delete paquet;
+ }
}
cpt1=cpt;
flag_timer=0;
- affichage_debug(gameEtat);
+ //affichage_debug(gameEtat);
lcd.SetBackColor(LCD_COLOR_WHITE);
- */
+
break;
case FIN :
lcd.Clear (LCD_COLOR_WHITE);
lcd.SetBackColor(LCD_COLOR_WHITE);
- lcd.DisplayStringAt(120, 190, (uint8_t *)"LANCEMENT", LEFT_MODE);
- lcd.SetTextColor(LCD_COLOR_BLACK);
- lcd.DisplayStringAt(120, 210, (uint8_t *)"REDEMARAGE", LEFT_MODE);
- lcd.DisplayStringAt(120, 230, (uint8_t *)"NECESSAIRE", LEFT_MODE);
+ #ifdef ROBOT_BIG
+ affichage_compteur(SCORE_GR);
+ liaison_Tx.envoyer_short(PAQUET_IDENTIFIANT_FINMATCH,SCORE_GLOBAL);
+ #else
+ affichage_compteur(SCORE_PR);
+ #endif
while(1); // force le redemarage du robot
//break;
@@ -1056,7 +1060,9 @@
printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
if(countAliveCard >= NOMBRE_CARTES) {
gameEtat = ETAT_CONFIG;
+ SendRawId(ECRAN_ALL_CHECK);
flag=1;
+
//tactile_printf("Selection couleur et strategie");
}
else {
@@ -1131,29 +1137,142 @@
jack.mode(PullDown); // désactivation de la résistance interne du jack
jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
-#ifdef ROBOT_BIG //le gros robot n'a pas de recalage bordure pour ce placer au début, on lui envoit donc ça position
- localData2 = POSITION_DEBUT_T;
- localData3 = POSITION_DEBUT_Y;
- if(InversStrat == 1) {
- localData2 = 1800-localData2;//Inversion theta
- if(localData2 > 1800) localData2 -= 3600;
- else if(localData2 <= -1800) localData2 += 3600;
- localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
- }
- SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
-#endif
-#ifdef ROBOT_SMALL
localData2 = POSITION_DEBUT_T;
localData3 = POSITION_DEBUT_Y;
if(InversStrat == 1) {
localData2 = -localData2;//Inversion theta
localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
}
- SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,localData3,localData2);
-#endif
+ SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
+
+ instruction = strat_instructions[actual_instruction];
+ //On effectue le traitement de l'instruction
+
break;
case ETAT_GAME_WAIT_FOR_JACK:
- //On attend le jack
+ if(instruction.order==POSITION_DEBUT){
+ switch(etat_pos){
+ case RECALAGE_1:
+ waitingAckID = ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom = ACKNOWLEDGE_MOTEUR;
+ #ifdef ROBOT_SMALL
+ GoStraight(3000, 1,MOITIEE_ROBOT-5, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
+ #else
+ GoStraight(-3000, 1,MOITIEE_ROBOT, 0);
+ #endif
+ while(waitingAckID !=0 && waitingAckFrom !=0)
+ canProcessRx();
+ waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
+ while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
+ canProcessRx();
+ etat_pos=RECULER_1;
+ break;
+
+ case RECULER_1:
+ waitingAckID = ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom = ACKNOWLEDGE_MOTEUR;
+ #ifdef ROBOT_SMALL
+ GoStraight(-450, 0, 0, 0);
+ #else
+ GoStraight(75, 0, 0, 0);
+ #endif
+ while(waitingAckID !=0 && waitingAckFrom !=0)
+ canProcessRx();
+ waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
+ while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
+ canProcessRx();
+ etat_pos=TOURNER;
+ break;
+
+ case TOURNER:
+ waitingAckID = ASSERVISSEMENT_ROTATION;
+ waitingAckFrom = ACKNOWLEDGE_MOTEUR;
+ if(Cote==0){
+ localData2 = 900;
+ }
+ else{
+ localData2=-900;
+ }
+ Rotate(localData2);
+ while(waitingAckID !=0 && waitingAckFrom !=0)
+ canProcessRx();
+ waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
+ waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
+ while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
+ canProcessRx();
+ etat_pos=RECALAGE_2;
+ break;
+
+ case RECALAGE_2:
+ waitingAckID = ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom = ACKNOWLEDGE_MOTEUR;
+ if(Cote==1)
+ localData3=3000-MOITIEE_ROBOT;
+ else
+ localData3=MOITIEE_ROBOT;
+ #ifdef ROBOT_SMALL
+ GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
+ #else
+ GoStraight(-3000, 2,localData3, 0);
+ #endif
+ while(waitingAckID !=0 && waitingAckFrom !=0)
+ canProcessRx();
+ waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
+ while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
+ canProcessRx();
+ etat_pos=RECULER_2;
+ break;
+
+ case RECULER_2:
+ waitingAckID = ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom = ACKNOWLEDGE_MOTEUR;
+ #ifdef ROBOT_SMALL
+ GoStraight(-200, 0, 0, 0);
+ #else
+ GoStraight(200, 0, 0, 0);
+ #endif
+ while(waitingAckID !=0 && waitingAckFrom !=0)
+ canProcessRx();
+ waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
+ waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
+ while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
+ canProcessRx();
+ etat_pos=GOTOPOS;
+ break;
+
+ case GOTOPOS:
+ localData1 = -1;
+
+ if(InversStrat == 1 && ingnorInversionOnce == 0) {
+ localData2 = -instruction.arg3;
+ localData3 = 3000 - instruction.arg2;//Inversion du Y
+ } else {
+ localData3 = instruction.arg2;
+ localData2 = instruction.arg3;
+ }
+
+ GoToPosition(instruction.arg1,localData3,localData2,localData1);
+ waitingAckID = ASSERVISSEMENT_XYT;
+ waitingAckFrom = ACKNOWLEDGE_MOTEUR;
+
+ while(waitingAckID !=0 && waitingAckFrom !=0)
+ canProcessRx();
+ waitingAckID_FIN=ASSERVISSEMENT_XYT;
+ waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
+ while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
+ canProcessRx();
+ etat_pos=FIN_POS;
+ break;
+ case FIN_POS:
+ actual_instruction = instruction.nextLineOK;
+ break;
+ }
+ }
+
+
break;
case ETAT_GAME_START:
@@ -1191,7 +1310,7 @@
Traitement de l'instruction, envoie de la trame CAN
*/
//debug_Instruction(instruction);
- affichage_debug(gameEtat);
+ //affichage_debug(gameEtat);
actionPrecedente = instruction.order;
switch(instruction.order)
{
@@ -1215,10 +1334,6 @@
if(InversStrat == 1 && ingnorInversionOnce == 0)
{
localData1 = -localData1;//Inversion de la direction
- #ifdef ROBOT_BIG
- localData2 = -localData2;
- localData1 = -localData1;//Inversion de la direction
- #endif
}
BendRadius(instruction.arg1, localData2, localData1, localData5);
@@ -1245,14 +1360,7 @@
} else {
localData5 = 0;
}
- }
- #ifdef ROBOT_BIG
- if(InversStrat == 1 && ingnorInversionOnce == 0) {
- /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
- else instruction.direction = FORWARD;*/
- instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
- }
- #endif
+ }
localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
GoStraight(localData2, 0, 0, localData5);
@@ -1273,29 +1381,9 @@
}
}
- #ifdef ROBOT_SMALL
if(InversStrat == 1 && ingnorInversionOnce == 0) {
localData2 = -localData2;
- }
- #endif
- #ifdef ROBOT_BIG
- if(InversStrat == 1 && ingnorInversionOnce == 0) {
- if(instruction.direction == RELATIVE) {
- localData2 = instruction.arg3;
- } else {//C'est un rotation absolu, il faut la convertir en relative
-
- localData2 = 1800-instruction.arg3;//Inversion theta
- if(localData2 > 1800) localData2 -= 3600;
- else if(localData2 <= -1800) localData2 += 3600;
-
- localData2 = (localData2 - theta_robot)%3600;
- if(localData2 > 1800) {
- localData2 = localData2-3600;
- }
-
- }
- }
- #endif
+ }
waitingAckID = ASSERVISSEMENT_ROTATION;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Rotate(localData2);
@@ -1317,15 +1405,6 @@
localData2 = instruction.arg3;
}
- #ifdef ROBOT_BIG
- if(InversStrat == 1 && ingnorInversionOnce == 0) {
- localData1 = -localData1;
- localData2 = 1800-instruction.arg3;//Inversion theta
- if(localData2 > 1800) localData2 -= 3600;
- else if(localData2 <= -1800) localData2 += 3600;
- }
- #endif
-
GoToPosition(instruction.arg1,localData3,localData2,localData1);
waitingAckID = ASSERVISSEMENT_XYT;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
@@ -1467,6 +1546,7 @@
}
}
else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
+ SetOdometrie(0x28, x_robot, y_robot, theta_robot);
gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
switch(instruction.order)
{
@@ -1591,7 +1671,13 @@
case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
{
- gameEtat = ETAT_EVITEMENT;
+ if(instruction.nextLineOK == instruction.nextLineError)
+ gameEtat = ETAT_EVITEMENT;
+ else
+ {
+ actual_instruction = instruction.nextLineError;
+ gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
+ }
}
break;
case ETAT_WARING_END_BALISE_WAIT://Attente d'une seconde apres la fin d'un End Balise pour etre sur que c'est bon
@@ -1689,28 +1775,32 @@
break;
case ETAT_ESTIMATION_POSITION :
- wait_ms(100);
+ /*wait_ms(100);
Rotate(3600);
EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK;
waitingAckID = ASSERVISSEMENT_ROTATION;
+ waitingAckFrom = ACKNOWLEDGE_MOTEUR;*/
+ GoToPosition(1400,300,0,1);
+ waitingAckID = ASSERVISSEMENT_XYT;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
break;
case ETAT_ESTIMATION_POSITION_ROTATION_ACK:
if(waitingAckID == 0 && waitingAckFrom == 0)
+ {
EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK_END;
+ waitingAckID_FIN = ASSERVISSEMENT_XYT;
+ waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
+ }
break;
case ETAT_ESTIMATION_POSITION_ROTATION_ACK_END:
- if(angle_moyen_balise_IR >= 13.5 && angle_moyen_balise_IR <= 14.5)
- {
- wait_ms(100);
- SendRawId(ASSERVISSEMENT_STOP);
- EvitEtat = ETAT_FIN_EVITEMENT;
- }
+ if(waitingAckID == 0 && waitingAckFrom == 0)
+ EvitEtat = ETAT_ESTIMATION_POSITION_ROTATION_ACK_END;
break;
case ETAT_FIN_EVITEMENT:
+ gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
break;
}
}
@@ -1749,7 +1839,6 @@
void canProcessRx(void)
{
static signed char FIFO_occupation=0,FIFO_max_occupation=0;
- char useless1 = 0;
char message[10]="toto";
char message1[10]="toto";
char message2[10]="toto";
@@ -1804,6 +1893,7 @@
if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
}
+ flag=1;
break;
@@ -1820,12 +1910,10 @@
case INSTRUCTION_END_MOTEUR:
case ACK_FIN_ACTION:
if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
- lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"ACK OK",LEFT_MODE);
waitingAckFrom = 0;
waitingAckID = 0;
}
if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN)) {
- //SendRawId(waitingAckID);
waitingAckFrom_FIN = 0;
waitingAckID_FIN = 0;
}
@@ -1841,28 +1929,6 @@
theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
break;
- //case SERVO_AX12_SETGOAL:
- //SendAck(0x114, SERVO_AX12_SETGOAL);
- //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
- //AX12_setGoal(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[2])<<8), msgRxBuffer[FIFO_lecture].data[3]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[4])<<8));
-
- //break;
-
- /*case SERVO_AX12_PROCESS:
- SendAck(0x114, SERVO_AX12_PROCESS);
- //AX12_processChange(1);
- break;
-
- case SERVO_AX12_DONE:
- SendRawId(POMPE_PWM);
- //SendAck(0x114, SERVO_AX12_DONE);
- AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
-
- gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
- waitingAckFrom = 0;
- waitingAckID = 0;*/
-
- //break;
case ACK_ACTION:
if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
waitingAckFrom = 0;
@@ -1882,15 +1948,31 @@
if(debut_angle_detection > fin_angle_detection)
{
- angle_moyen_balise_IR = (float)debut_angle_detection + ((15.0-(float)debut_angle_detection)+(float)fin_angle_detection)/2.0;
- if(angle_moyen_balise_IR > 15.0)
- angle_moyen_balise_IR-=15.0;
+ angle_moyen_balise_IR = (float)debut_angle_detection + ((15.0f-(float)debut_angle_detection)+(float)fin_angle_detection)/2.0f;
+ if(angle_moyen_balise_IR > 15.0f)
+ angle_moyen_balise_IR-=15.0f;
}
else
angle_moyen_balise_IR = debut_angle_detection + (fin_angle_detection-debut_angle_detection)/2;
+ #ifdef ROBOT_BIG
+ float seuil_bas_avant = 12.0; // >=
+ float seuil_haut_avant = 0.0; // <=
+ float seuil_bas_arriere = 4.0;
+ float seuil_haut_arriere = 8.0;
+ #else
+ float seuil_bas_avant = 13.0;
+ float seuil_haut_avant = 15.0;
+ float seuil_bas_arriere = 5.0;
+ float seuil_haut_arriere = 7.0;
+ #endif
- if (instruction.order != MV_TURN && instruction.order != ACTION ){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
+ if (instruction.order == MV_LINE && instruction.direction == FORWARD && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
+ || instruction.order == MV_LINE && instruction.direction == BACKWARD && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= 7
+ || instruction.order == MV_COURBURE && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
+ || instruction.order == MV_COURBURE && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= seuil_haut_arriere
+ || instruction.order == MV_XYT && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
+ || 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,
if(needToStop() != 0 && ingnorBaliseOnce ==0) {
if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
{
@@ -1903,7 +1985,11 @@
gameEtat = ETAT_WARNING_TIMEOUT;
}
}
+
}
+
+
+
ingnorBaliseOnce = 0;
break;
@@ -1934,7 +2020,7 @@
case RECEPTION_DATA:
telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
- telemetreDistance= (float)telemetreDistance*100*35.5+50;
+ telemetreDistance= (float)telemetreDistance*100.0f*35.5f+50.0f;
waitingAckFrom = 0;
waitingAckID = 0;
break;
@@ -2122,11 +2208,15 @@
void affichage_compteur (int nombre)
{
- int dizaine=0,unite=0;
+ int dizaine=0,unite=0,centaine=0;
+ centaine=nombre/100;
dizaine = nombre/10;
unite = nombre-(10*dizaine);
- print_segment(unite,0);
- print_segment(dizaine,200);
+ print_segment(unite,-50);
+ print_segment(dizaine,125);
+ if(centaine!=0){
+ print_segment(centaine,350);
+ }
}
@@ -2164,6 +2254,7 @@
void print_segment(int nombre, int decalage)
{
+
switch(nombre)
{
case 0: