CRAC Team
Programme carte strategie (disco)
Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Diff: Strategie/Strategie.cpp
- Revision:
- 32:1c9ab15c740e
- Parent:
- 31:833fc481b002
- Child:
- 33:388aa0bf6af4
diff -r 833fc481b002 -r 1c9ab15c740e Strategie/Strategie.cpp
--- a/Strategie/Strategie.cpp Tue Apr 24 18:09:51 2018 +0000
+++ b/Strategie/Strategie.cpp Wed Apr 25 12:36:38 2018 +0000
@@ -99,7 +99,7 @@
float cptf;
int cpt,cpt1;
-typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_CAPTEURS, TEST_SERVO, TEST_TIR, DEMO_IMMEUBLE, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
+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;
T_etat etat = INIT;
E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
@@ -114,10 +114,11 @@
Button MATCH (0, 50, 400, 320, "Match");
Button DEMONSTRATION (0, 400, 400, 320, "Demo");
Button TEST_HERKULEX(0, 25, 400, 100, "Test servos");
- Button TEST_LASER(0, 150, 400, 100, "Test telemetre");
- Button TEST_COULEURS(0,275,400,100,"Test capteurs");
- Button TEST_TIR_BALLE(0,400,400,100,"Test Lanceur");
- Button TEST_IMMEUBLE(0,525,400,100,"Test immeuble");
+ Button TEST_LASER(0, 135, 400, 100, "Test telemetre");
+ Button TEST_COULEURS(0,245,400,100,"Test capteurs");
+ Button TEST_TIR_BALLE(0,355,400,100,"Test Lanceur");
+ Button TEST_IMMEUBLE(0,465,400,100,"Test immeuble");
+ Button TEST_TRIEUR(0,575,400,100,"Test aiguilleur");
Button TIR_CHATEAU(0, 25, 400, 100, "Tir chateau");
Button EPURATION(0, 150, 400, 100, "epuration");
Button LANCEUR_ON(0,275,400,100,"allumer le lanceur");
@@ -125,10 +126,14 @@
Button ABAISSE_BLOC(0, 25, 400, 100, "Ramasser blocs");
Button RELEVE_BLOC(0, 135, 400, 100, "lacher blocs");
Button BRAS_ABEILLE_ON(0,245,400,100,"bras abeille");
- Button BRAS_ABEILLE_OFF(0,355,400,100,"lever bras interrupt");
+ Button BRAS_ABEILLE_OFF(0,355,400,100,"baisser bras abeille");
Button INTERRUPTEUR_ON(0,465,400,100,"baisser bras interrupt");
Button INTERRUPTEUR_OFF(0,575,400,100,"baisser bras interrupt");
Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
+ Button TRI(0, 25, 400, 100, "Test tri");
+ Button AIGUILLEUR_D(0, 150, 400, 100, "aiguilleur droite");
+ Button AIGUILLEUR_G(0,275,400,100,"aiguilleur gauche");
+ Button AIGUILLEUR_CTRE(0,400,400,100,"aiguilleur centre");
Button SUIVANT(0,380,200,100,"Suivant");
Button COLOR_ORANGE (0, 230, 190, 110,"");
Button COLOR_JAUNE (210, 230, 190, 110,"");
@@ -313,10 +318,7 @@
ts.GetState(&TS_State);
canProcessRx();
- CANMessage trame_Tx = CANMessage();
- trame_Tx.len = 1;
- trame_Tx.format = CANStandard;
- trame_Tx.type = CANData;
+
lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -400,6 +402,7 @@
TEST_COULEURS.Draw(BLEU, 0);
TEST_TIR_BALLE.Draw(BLEU, 0);
TEST_IMMEUBLE.Draw(BLEU,0);
+ TEST_TRIEUR.Draw(BLEU,0);
if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config //
InversStrat = 0;//Pas d'inversion de la couleur // A changer , discussion avec l'ihm
}
@@ -410,8 +413,12 @@
{
//Strat = 0x10;
while(TEST_HERKULEX.Touched());
+ CANMessage trame_Tx = CANMessage();
+ trame_Tx.len = 1;
+ trame_Tx.format = CANStandard;
+ trame_Tx.type = CANData;
trame_Tx.id=CHOICE_COLOR;
- trame_Tx.data[0]=2;
+ trame_Tx.data[0]=0x2;
can2.write(trame_Tx);
TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
etat = TEST_SERVO;
@@ -436,8 +443,12 @@
TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
etat =TEST_TIR ;
lcd.Clear(LCD_COLOR_WHITE);
+ CANMessage trame_Tx = CANMessage();
+ trame_Tx.len = 1;
+ trame_Tx.format = CANStandard;
+ trame_Tx.type = CANData;
trame_Tx.id=CHOICE_COLOR;
- trame_Tx.data[0]=2;
+ trame_Tx.data[0]=0x2;
can2.write(trame_Tx);
ModeDemo=1;
}
@@ -447,6 +458,13 @@
etat =DEMO_IMMEUBLE;
lcd.Clear(LCD_COLOR_WHITE);
}
+ else if(TEST_TRIEUR.Touched()){
+ while(TEST_TRIEUR.Touched());
+ etat=DEMO_TRIEUR;
+ lcd.Clear(LCD_COLOR_WHITE);
+ }
+
+
if(RETOUR.Touched())
{
etat = CHOIX;
@@ -467,6 +485,54 @@
//SelectionStrat(Strategie);
}
break;
+ case DEMO_TRIEUR:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
+ TRI.Draw(VERT, 0);
+ AIGUILLEUR_D.Draw(VERT, 0);
+ AIGUILLEUR_G.Draw(VERT, 0);
+ AIGUILLEUR_CTRE.Draw(VERT, 0);
+ while(etat==DEMO_TRIEUR){
+ if(RETOUR.Touched()){
+ while (RETOUR.Touched());
+ etat=DEMO;
+ }
+ else if(TRI.Touched()){
+ while (TRI.Touched());
+ SendRawId(AIGUILLEUR_CENTRE);
+ wait(0.5);
+ SendRawId(AIGUILLEUR_DROITE);
+ wait(0.5);
+ SendRawId(AIGUILLEUR_GAUCHE);
+ wait(0.5);
+ SendRawId(AIGUILLEUR_CENTRE);
+
+ break;
+ }
+ else if(AIGUILLEUR_D.Touched()){
+ while (AIGUILLEUR_D.Touched());
+ SendRawId(AIGUILLEUR_DROITE);
+ break;
+ }
+ else if(AIGUILLEUR_G.Touched()){
+ while (AIGUILLEUR_G.Touched());
+ SendRawId(AIGUILLEUR_GAUCHE);
+ break;
+
+ }
+ else if(BRAS_ABEILLE_OFF.Touched()){
+ while (BRAS_ABEILLE_OFF.Touched());
+ SendRawId(BRAS_ABEILLE_DOWN);
+ break;
+ }
+ else if(AIGUILLEUR_CTRE.Touched()){
+ while (AIGUILLEUR_CTRE.Touched());
+ SendRawId(AIGUILLEUR_CENTRE);
+ break;
+ }
+
+ }
+ break;
case DEMO_IMMEUBLE:
int color=0;
lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -731,6 +797,7 @@
if(RETOUR.Touched()){
while( RETOUR.Touched());
etat=DEMO;
+ lcd.Clear(LCD_COLOR_WHITE);
}
}
break;
@@ -756,6 +823,10 @@
Cote = 0x0;
InversStrat = Cote;
etat = TACTIQUE;
+ CANMessage trame_Tx = CANMessage();
+ trame_Tx.len = 1;
+ trame_Tx.format = CANStandard;
+ trame_Tx.type = CANData;
trame_Tx.id=CHOICE_COLOR;
trame_Tx.data[0]=Cote;
can2.write(trame_Tx);
@@ -768,6 +839,10 @@
Cote = 0x1;
InversStrat= Cote;
etat = TACTIQUE;
+ CANMessage trame_Tx = CANMessage();
+ trame_Tx.len = 1;
+ trame_Tx.format = CANStandard;
+ trame_Tx.type = CANData;
trame_Tx.id=CHOICE_COLOR;
trame_Tx.data[0]=Cote;
can2.write(trame_Tx);