CRAC Team
Programme carte strategie (disco)
Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Diff: Strategie/Strategie.cpp
- Revision:
- 31:833fc481b002
- Parent:
- 30:a1e37af4bbde
- Child:
- 32:1c9ab15c740e
diff -r a1e37af4bbde -r 833fc481b002 Strategie/Strategie.cpp
--- a/Strategie/Strategie.cpp Fri Apr 20 09:16:13 2018 +0000
+++ b/Strategie/Strategie.cpp Tue Apr 24 18:09:51 2018 +0000
@@ -1,5 +1,6 @@
#include "global.h"
-
+#include <string.h>
+#include <sstream>
//#include "StrategieManager.h"
@@ -10,6 +11,8 @@
#define VERT 0xFF00FF00
#define JAUNE 0xFFFEFE00
#define BLANC 0xFF000000
+#define ORANGE 0xFFFFA500
+#define NOIR 0xFF000000
#define DIY_GREY 0xFFDFDFDF
char tableau_aff[10][50];
@@ -96,7 +99,7 @@
float cptf;
int cpt,cpt1;
-typedef enum {INIT, ATT, CHOIX, DEMO, DEMO_EN_COURS, 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, 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;
@@ -110,10 +113,28 @@
Button CHECK (0, 420, 400, 200, "Valider");
Button MATCH (0, 50, 400, 320, "Match");
Button DEMONSTRATION (0, 400, 400, 320, "Demo");
- Button TEST_MOTEUR(0, 25, 400, 200, "Demo immeuble");
- Button TEST_BRAS(0, 250, 400, 200, "Demo Bluetooth");
+ 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 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");
+ Button LANCEUR_OFF(0,400,400,100,"eteindre le lanceur");
+ 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 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 SUIVANT(0,380,200,100,"Suivant");
+ Button COLOR_ORANGE (0, 230, 190, 110,"");
+ Button COLOR_JAUNE (210, 230, 190, 110,"");
+ Button COLOR_BLEU (0, 350, 190, 110,"");
+ Button COLOR_VERT (210, 350, 190, 110,"");
+ Button COLOR_NOIR (105, 470, 190, 110,"");
////////////////////////////////////////////////////////////
void SendRawId (unsigned short id);
@@ -137,13 +158,13 @@
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};
-InterruptIn jack(PA_6); // entrée analogique en interruption pour le jack
+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};
-InterruptIn jack(PA_6); // entrée analogique en interruption pour le jack
+InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
#endif
@@ -373,38 +394,64 @@
case DEMO :
lcd.Clear(LCD_COLOR_WHITE);
-
- TEST_MOTEUR.Draw(0xFFF0F0F0, 0);
- TEST_BRAS.Draw(0xFFF0F0F0, 0);
RETOUR.Draw(0xFFFF0000, 0);
+ TEST_HERKULEX.Draw(BLEU, 0);
+ TEST_LASER.Draw(BLEU, 0);
+ TEST_COULEURS.Draw(BLEU, 0);
+ TEST_TIR_BALLE.Draw(BLEU, 0);
+ TEST_IMMEUBLE.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
}
while (etat == DEMO)
{
canProcessRx();
- if(TEST_MOTEUR.Touched())
+ if(TEST_HERKULEX.Touched())
{
//Strat = 0x10;
- while(TEST_MOTEUR.Touched());
- TEST_MOTEUR.Draw(0xFFF0F0F0, 0);
- etat = DEMO_EN_COURS;
- ModeDemo=0;
- }
-
- if(TEST_BRAS.Touched())
- {
- //Strat = 0x11;
- while(TEST_BRAS.Touched());
- TEST_MOTEUR.Draw(0xFFF0F0F0, 0);
- etat = DEMO_EN_COURS;
+ while(TEST_HERKULEX.Touched());
+ trame_Tx.id=CHOICE_COLOR;
+ trame_Tx.data[0]=2;
+ can2.write(trame_Tx);
+ TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
+ etat = TEST_SERVO;
+ lcd.Clear(LCD_COLOR_WHITE);
ModeDemo=1;
}
+ else if(TEST_LASER.Touched())
+ {
+ //Strat = 0x11;
+ while(TEST_LASER.Touched());
+ TEST_LASER.Draw(0xFFF0F0F0, 0);
+ etat = TEST_TELEMETRE;
+ }
+ else if (TEST_COULEURS.Touched()){
+ while(TEST_COULEURS.Touched());
+ TEST_LASER.Draw(0xFFF0F0F0, 0);
+ etat =TEST_CAPTEURS ;
+ }
+ else if (TEST_TIR_BALLE.Touched()){
+ while(TEST_TIR_BALLE.Touched());
+ TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
+ etat =TEST_TIR ;
+ lcd.Clear(LCD_COLOR_WHITE);
+ trame_Tx.id=CHOICE_COLOR;
+ trame_Tx.data[0]=2;
+ can2.write(trame_Tx);
+ ModeDemo=1;
+ }
+ else if(TEST_IMMEUBLE.Touched()){
+ while(TEST_IMMEUBLE.Touched());
+ TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
+ etat =DEMO_IMMEUBLE;
+ lcd.Clear(LCD_COLOR_WHITE);
+ }
if(RETOUR.Touched())
{
etat = CHOIX;
while(RETOUR.Touched());
+
}
if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
/*if (Strat< 0x10){ // Si la strat est une strat de match, on desactive le mode demo
@@ -413,7 +460,6 @@
else { // sinon, on active le mode demo, utile pour la fin de la demo
ModeDemo = 1;
}*/
-
Ack_strat = 1;
wait_ms(10);
//tactile_printf("Strat %d, Asser desactive",Strat);
@@ -421,62 +467,275 @@
//SelectionStrat(Strategie);
}
break;
+ case DEMO_IMMEUBLE:
+ int color=0;
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"Choix du code couleur", LEFT_MODE);
- case DEMO_EN_COURS:
- lcd.Clear(LCD_COLOR_WHITE);
- lcd.SetBackColor(LCD_COLOR_WHITE);
- lcd.DisplayStringAt(20, LINE(10), (uint8_t *)"DEMONSTRATION EN COURS", LEFT_MODE);
+ CANMessage msgTx=CANMessage();
+ msgTx.id=MONTER_IMMEUBLE; // Monter immeuble
+ msgTx.len=3;
+ msgTx.format=CANStandard;
+ msgTx.type=CANData;
- while(etat == DEMO_EN_COURS)
- {
- canProcessRx();
-
- /*if (Ack_strat == 1)
- {
- if(gameEtat == ETAT_CONFIG) {
- gameEtat = ETAT_GAME_INIT;
- }
- while (flag_strat != 1)
- {
- canProcessRx();
- }
- etat = DEMO;
- flag_strat = 0;
- }*/
- if(ModeDemo==0){
- CANMessage msgTx=CANMessage();
- msgTx.id=0x090; // Monter immeuble
- msgTx.len=3;
- msgTx.format=CANStandard;
- msgTx.type=CANData;
- // Rayon sur 2 octets
- msgTx.data[0]=4;
- msgTx.data[1]=3;
- msgTx.data[2]=2;
- can2.write(msgTx);
- ModeDemo==3;
- while(1);
+ while(etat==DEMO_IMMEUBLE){
+ switch(color){
+ case 0:
+
+ RETOUR.Draw(ROUGE,0);
+ COLOR_NOIR.Draw(NOIR,1);
+ COLOR_ORANGE.Draw(ORANGE,0);
+ COLOR_JAUNE.Draw(JAUNE,0);
+ COLOR_BLEU.Draw(BLEU,0);
+ COLOR_VERT.Draw(VERT,0);
+
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(NOIR);
+ lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 1", LEFT_MODE);
+ while(color==0){
+ if(COLOR_ORANGE.Touched()){
+ while(COLOR_ORANGE.Touched());
+ COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=1;
+ color++;
+ }
+ else if (COLOR_NOIR.Touched()){
+ while(COLOR_NOIR.Touched());
+ COLOR_NOIR.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=2;
+ color++;
+ }
+ else if (COLOR_VERT.Touched()){
+ while(COLOR_VERT.Touched());
+ COLOR_VERT.Draw(LCD_COLOR_WHITE);
+
+ msgTx.data[color]=3;
+ color++;
+ }
+ else if (COLOR_JAUNE.Touched()){
+ while(COLOR_JAUNE.Touched());
+ COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=4;
+ color++;
+ }
+ else if (COLOR_BLEU.Touched()){
+ while(COLOR_BLEU.Touched());
+ COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=5;
+ color++;
+ }
+ }
+ break;
+
+ case 1:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(NOIR);
+ lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 2", LEFT_MODE);
+ if(COLOR_ORANGE.Touched()){
+ while(COLOR_ORANGE.Touched());
+ COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=1;
+ color++;
+ }
+ else if (COLOR_NOIR.Touched()){
+ while(COLOR_NOIR.Touched());
+ COLOR_NOIR.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=2;
+ color++;
+ }
+ else if (COLOR_VERT.Touched()){
+ while(COLOR_VERT.Touched());
+ COLOR_VERT.Draw(LCD_COLOR_WHITE);
+
+ msgTx.data[color]=3;
+ color++;
+ }
+ else if (COLOR_JAUNE.Touched()){
+ while(COLOR_JAUNE.Touched());
+ COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=4;
+ color++;
+ }
+ else if (COLOR_BLEU.Touched()){
+ while(COLOR_BLEU.Touched());
+ COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=5;
+ color++;
+ }
+ break;
+
+ case 2:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(NOIR);
+ lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 3", LEFT_MODE);
+ if(COLOR_ORANGE.Touched()){
+ while(COLOR_ORANGE.Touched());
+ COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=1;
+ color++;
+ }
+ else if (COLOR_NOIR.Touched()){
+ while(COLOR_NOIR.Touched());
+ COLOR_NOIR.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=2;
+ color++;
+ }
+ else if (COLOR_VERT.Touched()){
+ while(COLOR_VERT.Touched());
+ COLOR_VERT.Draw(LCD_COLOR_WHITE);
+
+ msgTx.data[color]=3;
+ color++;
+ }
+ else if (COLOR_JAUNE.Touched()){
+ while(COLOR_JAUNE.Touched());
+ COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=4;
+ color++;
+ }
+ else if (COLOR_BLEU.Touched()){
+ while(COLOR_BLEU.Touched());
+ COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
+ msgTx.data[color]=5;
+ color++;
+ }
+ break;
+ case 3:
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(NOIR);
+
+ lcd.DisplayStringAt(0, LINE(4), (uint8_t *)"Immeuble en construction", LEFT_MODE);
+ RETOUR.Draw(ROUGE,0);
+ can2.write(msgTx);
+ color++;
+ break;
+
+ case 4:
+ if(RETOUR.Touched()){
+ while(RETOUR.Touched());
+ etat=DEMO;
+ }
+ break;
}
- else if (ModeDemo==1){
- CANMessage msgTx=CANMessage();
- msgTx.id=DATA_TELEMETRE; // Monter immeuble
- msgTx.len=1;
- msgTx.format=CANStandard;
- msgTx.type=CANData;
- // Rayon sur 2 octets
- msgTx.data[0]=0;
- can2.write(msgTx);
- wait(1);
+ if(RETOUR.Touched()){
+ while(RETOUR.Touched());
etat=DEMO;
}
+ }
+ break;
+
+
+
+
+
+ case TEST_SERVO:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
+ ABAISSE_BLOC.Draw(VERT, 0);
+ RELEVE_BLOC.Draw(VERT, 0);
+ BRAS_ABEILLE_ON.Draw(VERT, 0);
+ BRAS_ABEILLE_OFF.Draw(VERT, 0);
+ INTERRUPTEUR_ON.Draw(VERT, 0);
+ INTERRUPTEUR_OFF.Draw(VERT, 0);
+ RETOUR.Draw(0xFFFF0000,0);
+ while(etat==TEST_SERVO){
+ if(RETOUR.Touched()){
+ while (RETOUR.Touched());
+ etat=DEMO;
+ }
+ else if(ABAISSE_BLOC.Touched()){
+ while (ABAISSE_BLOC.Touched());
+ SendRawId(BAISSER_ATTRAPE_BLOC);
+ break;
+ }
+ else if(RELEVE_BLOC.Touched()){
+ while (RELEVE_BLOC.Touched());
+ SendRawId(RELEVER_ATTRAPE_BLOC);
+ break;
+ }
+ else if(BRAS_ABEILLE_ON.Touched()){
+ while (BRAS_ABEILLE_ON.Touched());
+ SendRawId(BRAS_ABEILLE_UP);
+ break;
+
+ }
+ else if(BRAS_ABEILLE_OFF.Touched()){
+ while (BRAS_ABEILLE_OFF.Touched());
+ SendRawId(BRAS_ABEILLE_DOWN);
+ break;
+ }
+ else if(INTERRUPTEUR_ON.Touched()){
+ while (INTERRUPTEUR_ON.Touched());
+ SendRawId(ALLUMER_PANNEAU_UP);
+ break;
+ }
+ else if(INTERRUPTEUR_OFF.Touched()){
+ while (INTERRUPTEUR_OFF.Touched());
+ SendRawId(ALLUMER_PANNEAU_DOWN);
+ break;
+ }
+ }
+ break;
+
+ case TEST_TIR:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
+ TIR_CHATEAU.Draw(VERT, 0);
+ EPURATION.Draw(VERT, 0);
+ LANCEUR_ON.Draw(VERT, 0);
+ LANCEUR_OFF.Draw(VERT, 0);
+ RETOUR.Draw(ROUGE, 0);
+ while(etat==TEST_TIR){
+ if(TIR_CHATEAU.Touched()){
+ while (TIR_CHATEAU.Touched());
+ SendRawId(INCLINAISON_CHATEAU);
+ break;
+ }
+ else if (EPURATION.Touched()){
+ while (EPURATION.Touched());
+ SendRawId(INCLINAISON_EPURATION);
+ break;
+ }
+ else if(LANCEUR_ON.Touched()){
+ while (LANCEUR_ON.Touched());
+ SendRawId(LANCEMENT_MOTEUR_TIR_ON);
+ break;
+ }
+ else if(LANCEUR_OFF.Touched()){
+ while (LANCEUR_OFF.Touched());
+ SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
+ break;
+ }
+ else if (RETOUR.Touched()){
+ while (RETOUR.Touched());
+ etat=DEMO;
+
+ }
+ }
+ break;
-
+
+ case TEST_TELEMETRE:
+ ModeDemo=1;
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000, 0);
+ while(etat==TEST_TELEMETRE){
+ SendRawId(DATA_RECALAGE);
+ wait(0.1);
+ canProcessRx();
+ if(RETOUR.Touched()){
+ while( RETOUR.Touched());
+ etat=DEMO;
+ }
}
- Ack_strat = 0;
break;
-
+
+
case SELECT_SIDE :
lcd.Clear(LCD_COLOR_WHITE);
lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -493,6 +752,7 @@
canProcessRx();
if(COTE_BLEU.Touched())
{
+ liaison_Tx.envoyer(0x30,3,"123");
Cote = 0x0;
InversStrat = Cote;
etat = TACTIQUE;
@@ -758,7 +1018,7 @@
led3=1;
gameEtat = ETAT_GAME_WAIT_FOR_JACK;
- if (etat == DEMO_EN_COURS)
+ if (etat == TEST_TELEMETRE|| etat ==TEST_CAPTEURS || etat == TEST_SERVO || etat ==TEST_TIR || etat == DEMO_IMMEUBLE)
{
SendRawId(DEBUG_FAKE_JAKE);
}
@@ -1105,7 +1365,7 @@
if (modeTelemetre == 0){
if (telemetreDistance == 0){
- waitingAckID = ACK_ACTION;// ack de type action
+ waitingAckID = ACK_FIN_ACTION;// ack de type action
waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
}else if(telemetreDistance == 5000){
// on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
@@ -1135,8 +1395,8 @@
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
}
else {
- gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
- //gameEtat=ETAT_GAME_WAIT_END_INSTRUCTION;
+ //gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
+ gameEtat=ETAT_GAME_WAIT_END_INSTRUCTION;
}
}
break;
@@ -1318,7 +1578,10 @@
{
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";
+ char message3[10]="toto";
FIFO_occupation=FIFO_ecriture-FIFO_lecture;
if(FIFO_occupation<0)
FIFO_occupation=FIFO_occupation+SIZE_FIFO;
@@ -1382,7 +1645,7 @@
/////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
case INSTRUCTION_END_BALISE:
case INSTRUCTION_END_MOTEUR:
- case INSTRUCTION_END_HERKULEX:
+ 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)) {
//SendRawId(waitingAckID);
waitingAckFrom = 0;
@@ -1484,28 +1747,35 @@
waitingAckID = 0;
break;
- case RECEPTION_RECALAGE: // BEURK
+ case RECEPTION_RECALAGE:
telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
telemetreDistance1=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
telemetreDistance2=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
telemetreDistance3=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
- /*telemetreDistance= (float)telemetreDistance*3.3*1159.6-687.5+98;
- telemetreDistance1= (float)telemetreDistance1*3.3*1159.6-687.5+98;
- telemetreDistance2= (float)telemetreDistance2*3.3*1159.6-687.5+98;
- telemetreDistance3= (float)telemetreDistance3*3.3*1159.6-687.5+98;
- telemetreDistance-=170;
- telemetreDistance1-=170;
- telemetreDistance2-=170;
- telemetreDistance3-=170;*/
-
- /*telemetreDistance= (float)telemetreDistance*100*35.5+50;
- telemetreDistance1= (float)telemetreDistance1*100*35.5+50;
- telemetreDistance2= (float)telemetreDistance2*100*35.5+50;
- telemetreDistance3= (float)telemetreDistance3*100*35.5+50;*/
-
-
waitingAckFrom = 0;
waitingAckID = 0;
+ if(ModeDemo==1){
+ sprintf(message,"%04d mm",telemetreDistance);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER ARD : ",LEFT_MODE);
+ lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message, LEFT_MODE);
+
+ sprintf(message1,"%04d mm",telemetreDistance1);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(12),(unsigned char *)"LASER AVD : ",LEFT_MODE);
+ lcd.DisplayStringAt(200, LINE(12),(unsigned char *)message1, LEFT_MODE);
+
+ sprintf(message2,"%04d mm",telemetreDistance2);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(14),(unsigned char *)"LASER ARG : ",LEFT_MODE);
+ lcd.DisplayStringAt(200, LINE(14),(unsigned char *)message2, LEFT_MODE);
+
+ sprintf(message3,"%04d mm",telemetreDistance3);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER AVG : ",LEFT_MODE);
+ lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message3, LEFT_MODE);
+
+ }
break;
case RECEPTION_COULEUR: