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.h@60:c7632af62d21, 2019-05-23 (annotated)

Committer:
kyxstark
Date:
Thu May 23 15:53:48 2019 +0000
Revision:
60:c7632af62d21
Parent:
38:76f886a1c8e6 
Carte strat plus lib , mais programme

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #ifndef CRAC_STRATEGIE
antbig 0:ad97421fb1fb 2 #define CRAC_STRATEGIE
antbig 0:ad97421fb1fb 3
ClementBreteau 14:c8fc06c4887f 4 // codeur droit A maron bleu, B maron
Sitkah 38:76f886a1c8e6 5 typedef enum
Sitkah 38:76f886a1c8e6 6 {
Sitkah 38:76f886a1c8e6 7 RECALAGE_1,
Sitkah 38:76f886a1c8e6 8 RECULER_1,
Sitkah 38:76f886a1c8e6 9 TOURNER,
Sitkah 38:76f886a1c8e6 10 RECALAGE_2,
Sitkah 38:76f886a1c8e6 11 RECULER_2,
Sitkah 38:76f886a1c8e6 12 GOTOPOS,
Sitkah 38:76f886a1c8e6 13 FIN_POS,
Sitkah 38:76f886a1c8e6 14 }E_Stratposdebut;
Sitkah 38:76f886a1c8e6 15
antbig 0:ad97421fb1fb 16 typedef enum
antbig 0:ad97421fb1fb 17 {
antbig 0:ad97421fb1fb 18 ETAT_CHECK_CARTE_SCREEN, //Envoie check carte screen
antbig 0:ad97421fb1fb 19 ETAT_CHECK_CARTE_SCREEN_WAIT_ACK, //Time out de 1s si erreur clignotement des led et fin prog
antbig 0:ad97421fb1fb 20 ETAT_CHECK_CARTES, //Envoie check toutes les carte
antbig 0:ad97421fb1fb 21 ETAT_CHECK_CARTES_WAIT_ACK, //Time out de 1s
antbig 0:ad97421fb1fb 22 ETAT_WAIT_FORCE,//Attente du forçage du lancement
antbig 0:ad97421fb1fb 23 ETAT_CONFIG, //attente reception du choix du mode( debug ou game)
antbig 0:ad97421fb1fb 24
antbig 1:116040d14164 25 ETAT_GAME_INIT,//Mise en mémoire du fichier de stratégie
antbig 4:88431b537477 26 ETAT_GAME_WAIT_FOR_JACK,//Attente du retrait du jack
antbig 4:88431b537477 27 ETAT_GAME_START,//Lancement du timer 90s
antbig 0:ad97421fb1fb 28 ETAT_GAME_LOAD_NEXT_INSTRUCTION,
antbig 0:ad97421fb1fb 29 ETAT_GAME_PROCESS_INSTRUCTION,
antbig 0:ad97421fb1fb 30 ETAT_GAME_WAIT_ACK,
antbig 0:ad97421fb1fb 31 ETAT_GAME_JUMP_TIME,
ClementBreteau 15:c2fc239e85df 32 ETAT_GAME_JUMP_CONFIG,
antbig 0:ad97421fb1fb 33 ETAT_GAME_JUMP_POSITION,
antbig 0:ad97421fb1fb 34 ETAT_GAME_WAIT_END_INSTRUCTION,
antbig 0:ad97421fb1fb 35
antbig 5:dcd817534b57 36 ETAT_WARNING_TIMEOUT,//Attente de la trame fin de danger ou du timeout de 2s
antbig 5:dcd817534b57 37 ETAT_WARING_END_BALISE_WAIT,//Attente d'une seconde apres la fin d'un End Balise pour etre sur que c'est bon
antbig 5:dcd817534b57 38 ETAT_WARNING_END_LAST_INSTRUCTION,//trouver le meilleur moyen de reprendre l'instruction en cours
antbig 5:dcd817534b57 39 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 40
Sitkah 37:fca332b64b42 41 ETAT_EVITEMENT,
Sitkah 37:fca332b64b42 42
antbig 0:ad97421fb1fb 43 ETAT_END,
Sitkah 29:41e02746041d 44 ETAT_END_LOOP,
Sitkah 29:41e02746041d 45
antbig 0:ad97421fb1fb 46 } E_stratGameEtat;
antbig 0:ad97421fb1fb 47
Sitkah 29:41e02746041d 48
Sitkah 37:fca332b64b42 49 typedef enum
Sitkah 37:fca332b64b42 50 {
Sitkah 37:fca332b64b42 51 ETAT_INIT_EVITEMENT,
Sitkah 37:fca332b64b42 52 ETAT_ESTIMATION_POSITION,
Sitkah 37:fca332b64b42 53 ETAT_ESTIMATION_POSITION_ROTATION_ACK,
Sitkah 37:fca332b64b42 54 ETAT_ESTIMATION_POSITION_ROTATION_ACK_END,
Sitkah 37:fca332b64b42 55 ETAT_CALCUL_CHEMIN,
Sitkah 37:fca332b64b42 56 ETAT_FIN_EVITEMENT
Sitkah 37:fca332b64b42 57 } E_Evitement;
Sitkah 37:fca332b64b42 58
Sitkah 37:fca332b64b42 59
antbig 0:ad97421fb1fb 60
antbig 4:88431b537477 61 /****************************************************************************************/
antbig 4:88431b537477 62 /* FUNCTION NAME: canProcessRx */
antbig 4:88431b537477 63 /* DESCRIPTION : Fonction de traitement des messages CAN */
antbig 4:88431b537477 64 /****************************************************************************************/
antbig 0:ad97421fb1fb 65 void canProcessRx(void);
Sitkah 29:41e02746041d 66 void automate_process(void);
Sitkah 29:41e02746041d 67 void automate_etat_ihm(void);
Sitkah 29:41e02746041d 68 void init_lcd(void);
Sitkah 30:a1e37af4bbde 69
Sitkah 30:a1e37af4bbde 70 void affichage_debug(int var);
Sitkah 36:6dd30780bd8e 71
Sitkah 36:6dd30780bd8e 72 short recalageAngulaireCapteur(void);
Sitkah 36:6dd30780bd8e 73 short recalageDistanceX(void);
Sitkah 36:6dd30780bd8e 74 short recalageDistanceY(void);
Sitkah 36:6dd30780bd8e 75
Sitkah 29:41e02746041d 76 #endif