CRAC Team
carte_strategie_2019
Dependencies: mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Strategie/Strategie.cpp
- Committer:
- Villanut
- Date:
- 2019-05-27
- Revision:
- 75:1db1b929f13d
- Parent:
- 73:bf4d6d9db13b
- Child:
- 76:b5eb99354389
File content as of revision 75:1db1b929f13d:
#include "global.h"
#include <string.h>
#include <sstream>
#include <math.h>
#include <vector>
//#include "StrategieManager.h"
#define M_PI 3.14159265358979323846
#define VERT 0xFF00FF00
#define ROUGE 0xFFFF0000
#define BLEU 0xFF0000FF
#define JAUNE 0xFFFDD835//FEFE00
#define BLANC 0xFF000000
#define ORANGE 0xFFFFA500
#define NOIR 0xFF000000
#define DIY_GREY 0xFFDFDFDF
#define VIOLET 0xFF4527A0
char tableau_aff[10][50];
char tableau_etat[22][50]= {
"Check_carte_screen",
"Check_carte_screen_wait_ack",
"Check_cartes",
"Check_cartes_wait_ack",
"Wait_force",
"Config",
"Game_init",
"Game_wait_for_jack",
"Game_start",
"Game_next_instruction",
"Game_instruction",
"Game_wait_ack",
"Game_jump_time",
"Game_jump_config",
"Game_jump_position",
"Game_wait_end_instruction",
"Warning_timeout",
"Waring_end_balise_wait",
"Warning_end_last_instruction",
"Warning_switch_strategie",
"End",
"End_loop",
};
int waitingAckID_FIN;
int waitingAckFrom_FIN;
Ticker ticker;
TS_DISCO_F469NI ts;
LCD_DISCO_F469NI lcd;
TS_StateTypeDef TS_State;
Ticker chrono;
Timeout AffTime;
Timer timer;
Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
Timer gameTimer;
Timer debugetatTimer;
Timer timeoutWarning;
Timer timeoutWarningWaitEnd;
Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
unsigned char screenChecktry = 0;
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};
char counter = 0;
char check;
char Jack = 1;
short SCORE_GLOBAL=0;
short SCORE_GR=40;
short SCORE_PR=0;
int flag = 0, flag_strat = 0, flag_timer;
char Ack_strat = 0;
signed char Strat = 0;
signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
signed short x_robot,y_robot,theta_robot;//La position du robot
signed short target_x_robot, target_y_robot, target_theta_robot;
E_InstructionType actionPrecedente;
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
//unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
int flagSendCan=1;
unsigned char Cote = 0; //0 -> VERT | 1 -> jaune
unsigned short angleRecalage = 0;
unsigned char checkCurrent = 0;
unsigned char countAliveCard = 0;
unsigned char ligne=0;
int Fevitement=0;
int EvitEtat= 0;
int stop_evitement=0;
float angle_moyen_balise_IR = 0.0;
signed char Strategie = 0; //N° de la strategie (1-10)
unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
unsigned char countRobotNear = 0;//Le nombre de robot à proximité
unsigned char ingnorBaliseOnce = 0;//une fois détecté réinitialise
unsigned char ingnorBalise = 0;//0:balise ignore 1:on ecoute la balise
unsigned char robot_arrete = 0;
unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
struct S_Instruction instruction;
char couleur1, couleur2, couleur3;
float cptf;
int cpt,cpt1;
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;
E_Stratposdebut etat_pos=RECALAGE_1;
/////////////////DEFINITION DES BOUTONS////////////////////
Button COTE_VERT(0, 25, 400, 300, "JAUNE");
Button COTE_ORANGE(0, 350, 400, 300, "VIOLET");
Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
Button RETOUR (0, 680, 400, 110, "--Precedent--");
Button LANCER (0, 200, 400, 200, "--LANCER--");
Button CHECK (0, 420, 400, 200, "Valider");
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, 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");
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,"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,"");
Button COLOR_VERT (0, 350, 190, 110,"");
Button COLOR_BLEU (210, 350, 190, 110,"");
Button COLOR_NOIR (105, 470, 190, 110,"");
////////////////////////////////////////////////////////////
void SendRawId (unsigned short id);
void SelectionStrat (unsigned char numeroStrat);
void Setflag(void);
void can2Rx_ISR(void);
signed char Bouton_Strat (void);
signed char blocage_balise;
void print_segment(int nombre, int decalage);
void affichage_compteur (int nombre);
void effacer_segment(long couleur);
unsigned short telemetreDistance=0;
unsigned short telemetreDistance_avant_gauche=0;
unsigned short telemetreDistance_avant_droite=0;
unsigned short telemetreDistance_arriere_gauche=0;
unsigned short telemetreDistance_arriere_droite=0;
unsigned char DT_AVD_interrupt=0;
unsigned char DT_AVG_interrupt=0;
unsigned char DT_ARD_interrupt=0;
unsigned char DT_ARG_interrupt=0;
#ifdef ROBOT_BIG
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 numerique en interruption pour le jack
#else
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 numerique en interruption pour le jack
#endif
/****************************************************************************************/
/* FUNCTION NAME: chronometre_ISR */
/* DESCRIPTION : Interruption à la fin des 90s du match */
/****************************************************************************************/
void chronometre_ISR (void)
{
SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
SendRawId(GLOBAL_GAME_END);//Indication fin de match
etat=FIN;
gameTimer.stop();//Arret du timer
while(1);//On bloque la programme dans l'interruption
}
/****************************************************************************************/
/* FUNCTION NAME: jack_ISR */
/* DESCRIPTION : Interruption en changement d'état sur le Jack */
/****************************************************************************************/
void jack_ISR (void)
{
if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gameEtat = ETAT_GAME_START;//On débute le match
etat=COMPTEUR;
blocage_balise=1;
}
}
/****************************************************************************************/
/* FUNCTION NAME: SelectionStrat */
/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
/****************************************************************************************/
void SelectionStrat (unsigned char Strategie)
{
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
switch (Strategie+1) {
case 0x1 :
//description de Strategie n°1
lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x2 :
//description de Strategie n°2
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x3 :
//description de Strategie n°3
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x4 :
//description de Strategie n°4
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x5 :
//description de Strategie n°5
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x6 :
//description de Strategie n°5
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x7 :
//description de Strategie n°5
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x8 :
//description de Strategie n°5
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0x9 :
//description de Strategie n°5
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
case 0xA :
//description de Strategie n°5
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
}
}
void Setflag(void)
{
flagSendCan = 1;
}
//Affiche une variable sur l'écran tactile//
void affichage_var(double Var)
{
if(ligne==7)
ligne=0;
char aff[10]="toto";
sprintf(aff,"%lf ",Var);
lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
//ligne++;
}
/****************************************************************************************/
/* FUNCTION NAME: affichage_debug */
/* DESCRIPTION : Affiche l'état de gameEtat sur l'écran lcd */
/****************************************************************************************/
void affichage_debug(int Var)
{
int i;
int conv=(int)Var;
SUIVANT.Draw(ROUGE, 0);
for(i=0; i<9; i++) {
strcpy(tableau_aff[i],"");
strcpy(tableau_aff[i],tableau_aff[i+1]);
}
strcpy(tableau_aff[9],tableau_etat[conv]);
for(i=0; i<10; i++) {
lcd.SetBackColor(VERT);
lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
}
/*while(!ack_bluetooth){ // mode pas à pas en bluetooth ou via écran
//liaison_bluetooth();
}
ack_bluetooth=0;*/
/*while(SUIVANT.Touched()==0);
while(SUIVANT.Touched());*/
}
/****************************************************************************************/
/* FUNCTION NAME: automate_etat_ihm */
/* DESCRIPTION : Automate de gestion de l'affichage */
/****************************************************************************************/
void automate_etat_ihm(void)
{
int j;
if (j==0) {
ts.Init(lcd.GetXSize(), lcd.GetYSize());
j++;
}
ts.GetState(&TS_State);
switch (etat) {
case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
ts.GetState(&TS_State);
canProcessRx();
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
wait(0.15);
lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
//cartes non verifiées////////////////
lcd.SetTextColor(DIY_GREY);
lcd.FillRect(0,400,400,150); //carte moteur
lcd.FillRect(0,600,400,150); //Balise
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.SetBackColor(DIY_GREY);
lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
lcd.DisplayStringAt(110,650, (uint8_t *)"Balise", LEFT_MODE);
////////////////////////////////////////
FORCE_LAUNCH.Draw(0xFFFF0000, 0);
etat=ATT;
break;
case ATT : //Si les cartes sont présentes passe directement à choix sinon attente de force Launch (cette partie est encore buggée mais les cartes affichent bien leur présence donc faut juste force launch tout le temps...)
if (flag==1) {
etat = CHOIX;
gameEtat = ETAT_CONFIG;
} else if (FORCE_LAUNCH.Touched()) {
etat = CHOIX;
gameEtat = ETAT_CONFIG;
while(FORCE_LAUNCH.Touched());
}
break;
case CHOIX : //Match ou DEMO
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
MATCH.Draw(0xFFF01010, 0);
while(etat == CHOIX) {
canProcessRx();
if(DEMONSTRATION.Touched()) {
etat = DEMO;
while(DEMONSTRATION.Touched());
}
if(MATCH.Touched()) {
etat = SELECT_SIDE;
while(MATCH.Touched());
}
}
break;
case DEMO :
lcd.Clear(LCD_COLOR_WHITE);
RETOUR.Draw(0xFFFF0000, 0);
TEST_HERKULEX.Draw(VERT, 0);
TEST_LASER.Draw(VERT, 0);
TEST_COULEURS.Draw(VERT, 0);
TEST_TIR_BALLE.Draw(VERT, 0);
TEST_IMMEUBLE.Draw(VERT,0);
TEST_TRIEUR.Draw(VERT,0);
if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config//
InversStrat = 0;//Pas d'inversion de la couleur
}
while (etat == DEMO) { ////////////////////////////LISTE DES DIFFERENTES DEMOS POSSIBLES///////////////////////////////////////////
canProcessRx();
if(TEST_HERKULEX.Touched()) {
//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]=0x2;
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());
while(1) {
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]=0x2;
can2.write(trame_Tx);*/
rn42_Tx.printf("A");
pc.printf("electron\r");
}
//ModeDemo=1;
} else if(TEST_IMMEUBLE.Touched()) {
while(TEST_IMMEUBLE.Touched());
TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
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;
while(RETOUR.Touched());
}
if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
Ack_strat = 1;
wait_ms(10);
}
}
break;
case TEST_SERVO: //TEST DU RESTE DES SERVOS DISPO HORS TIR
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(GABARIT_PETIT_ROBOT);
break;
} else if(RELEVE_BLOC.Touched()) {
while (RELEVE_BLOC.Touched());
SendRawId(PRESENTOIR_AVANT);
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: // TEST DES FONCTIONS LIEES AUX TIRS
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);
etat=DEMO;
break;
case TEST_TELEMETRE: //AFFICHAGE DE LA VALEUR LUE PAR LES 4 TELEMETRES
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);
SendRawId(DATA_TELEMETRE_LOGIQUE);
wait_ms(100);
canProcessRx();
if(RETOUR.Touched()) {
while( RETOUR.Touched());
etat=DEMO;
lcd.Clear(LCD_COLOR_WHITE);
}
}
break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
case SELECT_SIDE : // CHOIX DU COTE DU TERRAIN + INVERSION DE LA STRAT SI COTE ORANGE+ ENVOI DU COTE A LA CARTE CAPTEUR/ACTIONNEURS
lcd.Clear(LCD_COLOR_WHITE);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
COTE_JAUNE.Draw(JAUNE, 0);
COTE_VIOLET.Draw(VIOLET, 0);
RETOUR.Draw(LCD_COLOR_RED, 0);
while (etat == SELECT_SIDE) {
canProcessRx();
if(COTE_JAUNE.Touched()) {
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);
while(COTE_JAUNE.Touched());
}
if(COTE_VIOLET.Touched()) {
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);
while(COTE_VIOLET.Touched());
}
if(RETOUR.Touched()) {
etat = CHOIX;
while(RETOUR.Touched());
}
}
break;
case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
if (Cote == 0) {
lcd.Clear(JAUNE);
lcd.SetBackColor(JAUNE);
} else if (Cote == 1) {
lcd.Clear(VIOLET);
lcd.SetBackColor(VIOLET);
} else {
lcd.Clear(BLEU);
lcd.SetBackColor(BLEU);
}
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
if (Strategie == -1) {
etat = SELECT_SIDE;
} else {
etat = DETAILS;
}
wait(0.1);
break;
case DETAILS : //SECONDE VALIDATION DE LA STRAT
lcd.Clear(LCD_COLOR_WHITE);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
CHECK.Draw(VERT);
RETOUR.Draw(LCD_COLOR_RED);
SelectionStrat(Strategie); //affiche la stratégie selectionnée
while (etat == DETAILS) {
canProcessRx();
if (CHECK.Touched()) {
if(gameEtat == ETAT_CONFIG) {
gameEtat = ETAT_GAME_INIT;
etat=LECTURE;
}
while(CHECK.Touched());
}
if(RETOUR.Touched()) {
etat = TACTIQUE;
while(RETOUR.Touched());
}
}
break;
case LECTURE :
break;
case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
lcd.Clear(BLANC);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
if (Cote == 0) {
lcd.Clear(VERT);
lcd.SetBackColor(VERT);
} else if (Cote == 1) {
lcd.Clear(ORANGE);
lcd.SetBackColor(ORANGE);
} else {
lcd.Clear(VERT);
lcd.SetBackColor(VERT);
}
canProcessRx();
lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
etat=WAIT_JACK;
break;
case WAIT_JACK: //VERITABLE ATTENTE DU JACK
break;
case COMPTEUR: //PEUT AFFICHER UN COMPTEUR DU TEMPS RESTANT AVANT LA FIN DE LA PARTIE OU BIEN TRES UTILE POUR PRINT DES VARIABLES CHAQUE SEC EX: gameEtat
cptf=gameTimer.read();
lcd.SetTextColor(LCD_COLOR_BLACK);
cpt=(int)cptf;
if(cpt != cpt1) {
lcd.Clear(VERT);
// 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);
lcd.SetBackColor(LCD_COLOR_WHITE);
break;
case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
lcd.Clear (LCD_COLOR_WHITE);
lcd.SetBackColor(LCD_COLOR_WHITE);
#ifdef ROBOT_BIG
// affichage_compteur(SCORE_GR);
affichage_var(SCORE_GR);
//liaison_Tx.envoyer_short(PAQUET_IDENTIFIANT_FINMATCH,SCORE_GLOBAL);
#else
//affichage_compteur(SCORE_PR);
affichage_var(SCORE_PR);
#endif
while(1); // force le redemarage du robot
//break;
}
}
/****************************************************************************************/
/* FUNCTION NAME: automate_process */
/* DESCRIPTION : Automate de gestion de la stratégie du robot */
/****************************************************************************************/
void automate_process(void)
{
static unsigned char AX12_enchainement = 0;
static unsigned char MV_enchainement = 0;
signed char localData1 = 0;
signed short localData2 = 0;
unsigned short localData3 = 0;
//signed short localData4 = 0;
unsigned char localData5 = 0;
if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
gameTimer.stop();
gameTimer.reset();
gameEtat = ETAT_END;//Fin du temps
etat=FIN;
}
if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
lastEtat = gameEtat;
debugetatTimer.reset();
sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
}
switch(gameEtat) {
case ETAT_CHECK_CARTES:
/*
Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
*/
waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
screenChecktry++;//On incrèment le conteur de tentative de 1
cartesCheker.reset();//On reset le timeOut
cartesCheker.start();//On lance le timer pour le timeout
gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
break;
case ETAT_CHECK_CARTES_WAIT_ACK:
/*
On attend l'ack de la carte en cours de vérification
*/
//printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
cartesCheker.stop();
screenChecktry = 0;
countAliveCard++;
checkCurrent++;
if(checkCurrent >= NOMBRE_CARTES) {
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 {
gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
waitingAckFrom = ECRAN_ALL_CHECK;
}
} else
gameEtat = ETAT_CHECK_CARTES;
} else if(cartesCheker.read_ms () > 100) {
cartesCheker.stop();
if(screenChecktry >=3) {
//printf("missing card %d\n",id_check[checkCurrent]);
screenChecktry = 0;
checkCurrent++;
if(checkCurrent >= NOMBRE_CARTES) {
if(countAliveCard == NOMBRE_CARTES) {
gameEtat = ETAT_CONFIG;
flag=1;
} else {
gameEtat = ETAT_WAIT_FORCE;
waitingAckFrom = ECRAN_ALL_CHECK;
}
} else
gameEtat = ETAT_CHECK_CARTES;
} else
gameEtat = ETAT_CHECK_CARTES;
}
break;
case ETAT_WAIT_FORCE:
/*
Attente du forçage de la part de la carte IHM
*/
if(waitingAckFrom == 0) {
gameEtat = ETAT_CONFIG;
}
break;
case ETAT_CONFIG:
/*
Attente de l'odre de choix de mode,
Il est possible de modifier la couleur et l'id de la stratégie
Il est aussi possible d'envoyer les ordres de debug
*/
modeTelemetre = 0;
break;
case ETAT_GAME_INIT:
//On charge la liste des instructions
loadAllInstruction(Strategie);//Mise en cache de toute les instructions
led3=1;
SendRawId(GLOBAL_START);
gameEtat = ETAT_GAME_WAIT_FOR_JACK;
if (etat == TEST_TELEMETRE|| etat ==TEST_CAPTEURS || etat == TEST_SERVO || etat ==TEST_TIR || etat == DEMO_IMMEUBLE) {
SendRawId(DEBUG_FAKE_JAKE);
} else {
etat = AFF_WAIT_JACK;
}
//tactile_printf("Attente du JACK.");
setAsservissementEtat(1);//On réactive l'asservissement
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
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,1800,localData2);
instruction = strat_instructions[actual_instruction];
//On effectue le traitement de l'instruction
break;
case ETAT_GAME_WAIT_FOR_JACK:
if(instruction.order==POSITION_DEBUT) {
switch(etat_pos) { // AUTOMATE PERMETTANT AU ROBOT DE SE POSITIONNER TOUT SEUL AU DEBUT DE LA PARTIE (Ne PAS RETIRER LE JACK PENDANT CE TEMPS !!!)
case RECALAGE_1:
waitingAckID = ASSERVISSEMENT_RECALAGE;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
#ifdef ROBOT_SMALL
GoStraight(3000, 1,MOITIEE_ROBOT, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot (les -5 qui trainent sont dus au tables pourraves sur place)
#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(-100, 0, 0, 0);//-450
#else
GoStraight(250, 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(-100, 0, 0, 0);
#else
GoStraight(250, 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:
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
if (ModeDemo == 0) {
chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
gameTimer.start();
}
gameTimer.reset();
jack.fall(NULL);//On désactive l'interruption du jack
//SendRawId(GLOBAL_START);
Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
//tactile_printf("Start");//Pas vraiment utile mais bon
break;
case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
/*
Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
*/
//printf("load next instruction\n");
if(actual_instruction >= nb_instructions || actual_instruction == 255) {
gameEtat = ETAT_END;
//Il n'y a plus d'instruction, fin du jeu
} else {
instruction = strat_instructions[actual_instruction];
//On effectue le traitement de l'instruction
gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
}
screenChecktry = 0;
ingnorInversionOnce = 0;
break;
case ETAT_GAME_PROCESS_INSTRUCTION:
/*
Traitement de l'instruction, envoie de la trame CAN
*/
//debug_Instruction(instruction);
//affichage_debug(gameEtat);
rn42_Tx.printf("A");//lance l'electron
actionPrecedente = instruction.order;
switch(instruction.order) {
case MV_BEZIER: {
static vector< vector<short> >P1;
static vector< vector<short> >C1;
static vector< vector<short> >C2;
static int i = 0;
//Ajoute une ligne aux tableaux pour chaques courbes de la trajectoire
P1.push_back(vector<short>()); //Nouvelle ligne
C1.push_back(vector<short>()); //Nouvelle ligne
C2.push_back(vector<short>()); //Nouvelle ligne
P1[i].push_back(instruction.arg1); //Nouvelle colonne X
C1[i].push_back(instruction.arg3); //Nouvelle colonne X
C2[i].push_back(instruction.arg5); //Nouvelle colonne X
if(InversStrat == 1 && ingnorInversionOnce == 0) {
P1[i].push_back(3000-instruction.arg2); //Nouvelle colonne Y
C1[i].push_back(3000-instruction.arg4); //Nouvelle colonne Y
C2[i].push_back(3000-instruction.arg6); //Nouvelle colonne Y
} else {
P1[i].push_back(instruction.arg2); //Nouvelle colonne Y
C1[i].push_back(instruction.arg4); //Nouvelle colonne Y
C2[i].push_back(instruction.arg6); //Nouvelle colonne Y
}
i++;
if(instruction.nextActionType == WAIT) { //Si il n'y a qu'une seule courbe ou que c'est la dernière courbe de la trajectoire
//Passage des points dans des variables temporaires pour pouvoir clear les vector avant d'être bloqué dans l'attente de l'ack
//Empeche les vector de ne pas être reset si l'ack n'est pas reçu avant la fin du match
int nbCourbes = P1.size();
short P1_temp[nbCourbes][2];
short C1_temp[nbCourbes][2];
short C2_temp[nbCourbes][2];
for(int j=0; j<nbCourbes; j++) {
for(int i=0; i<2; i++) {
P1_temp[j][i] = P1[j][i];
C1_temp[j][i] = C1[j][i];
C2_temp[j][i] = C2[j][i];
}
}
//Clear des tableaux de points pour la prochaine trajectoire
P1.clear();
C1.clear();
C2.clear();
i = 0;
//Calcul de la courbe et envoi des valeurs
if(instruction.direction == FORWARD) {
courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 0);
} else if(instruction.direction == BACKWARD) {
courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 1);
}
waitingAckID = ASSERVISSEMENT_BEZIER;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
}
break;
}
case MV_COURBURE://C'est un rayon de courbure
actionPrecedente = MV_COURBURE;
waitingAckID = ASSERVISSEMENT_COURBURE;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
if(instruction.nextActionType == ENCHAINEMENT) {
MV_enchainement++;
localData5 = 1;
} else {
if(MV_enchainement > 0) {
localData5 = 2;
MV_enchainement = 0;
} else {
localData5 = 0;
}
}
localData1 = ((instruction.direction == LEFT)?1:-1);
localData2 = instruction.arg3;
if(InversStrat == 1 && ingnorInversionOnce == 0) {
localData1 = -localData1;//Inversion de la direction
}
BendRadius(instruction.arg1, localData2, localData1, localData5);
target_theta_robot = localData2 - theta_robot;
/*
if(instruction.direction == LEFT){
}else{
target_theta_robot = theta_robot + localData2;
}*/
break;
case MV_LINE://Ligne droite
waitingAckID = ASSERVISSEMENT_RECALAGE;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
if(instruction.nextActionType == ENCHAINEMENT) {
MV_enchainement++;
localData5 = 1;
} else {
if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
localData5 = 2;
MV_enchainement = 0;
} else {
localData5 = 0;
}
}
localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
GoStraight(localData2, 0, 0, localData5);
target_x_robot = x_robot + localData2*cos((double)theta_robot*M_PI/1800);
target_y_robot = y_robot + localData2*sin((double)theta_robot*M_PI/1800);
target_theta_robot = theta_robot;
break;
case MV_TURN: //Rotation sur place
/*if(instruction.direction == RELATIVE) {
localData2 = instruction.arg3;
} else {//C'est un rotation absolu, il faut la convertir en relative
localData2 = instruction.arg3;
localData2 = (localData2 - theta_robot)%3600;
if(localData2 > 1800) {
localData2 = localData2-3600;
}
else if(localData2 <-1800){
localData2 = localData2+3600;
}
}
if(InversStrat == 1 && ingnorInversionOnce == 0) {
localData2 = -localData2;
}*/
localData2 = instruction.arg3;
if(InversStrat == 1 && ingnorInversionOnce == 0) {
localData2 = -localData2;
}
if(instruction.direction == ABSOLUTE) {
//C'est un rotation absolu, il faut la convertir en relative
localData2 = (localData2 - theta_robot)%3600;
if(localData2 > 1800) localData2 = localData2-3600;
else if(localData2 <-1800) localData2 = localData2+3600;
}
waitingAckID = ASSERVISSEMENT_ROTATION;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Rotate(localData2);
break;
case MV_XYT:
if(instruction.direction == BACKWARD) {
localData1 = -1;
} else {
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;
target_x_robot = instruction.arg1;
target_y_robot = localData3;
target_theta_robot = localData2;
break;
case MV_RECALAGE:
if(instruction.nextActionType == MECANIQUE) {
instruction.nextActionType = WAIT;
waitingAckID = ASSERVISSEMENT_RECALAGE;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
localData2 = (((instruction.direction == FORWARD)?1:-1)*3000);//On indique une distance de 3000 pour etre sur que le robot va ce recaler
if(instruction.precision == RECALAGE_Y) {
localData5 = 2;
if(InversStrat == 1 && ingnorInversionOnce == 0) {
localData3 = 3000 - instruction.arg1;//Inversion du Y
} else {
localData3 = instruction.arg1;
}
} else {
localData5 = 1;
localData3 = instruction.arg1;
}
GoStraight(localData2, localData5, localData3, 0);
} else { //CAPTEUR
SendRawId(DATA_RECALAGE);
waitingAckID = RECEPTION_RECALAGE;
waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
// On attend que les variables soient actualisé
while(!(waitingAckID == 0 && waitingAckFrom == 0))
canProcessRx();
while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
canProcessRx();
if(instruction.precision == RECALAGE_Y) { // ((theta_robot < 1800 && theta_robot > 0) || (theta_robot < -1800 && theta_robot > -3600)) (theta_robot < 900 && theta_robot > -900)
SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
} else if(instruction.precision == RECALAGE_X) {
SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
} else if(instruction.precision == RECALAGE_T) {
SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
}
}
break;
case ACTION:
int tempo = 0;
waitingAckID= ACK_ACTION; //On veut un ack de type action
waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
unsigned char test=(unsigned char) tempo;
SendMsgCan(0x5BD, &test,1);
if(tempo == 1) {
//L'action est spécifique
if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
} else {
gameEtat = ETAT_GAME_WAIT_ACK;
}
#ifdef ROBOT_SMALL
/*actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;*/
#endif
return;
#ifdef ROBOT_SMALL
} else if (tempo == 2) {
// on est dans le cas de l'avance selon le telemetre
waitingAckID = ASSERVISSEMENT_RECALAGE;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
GoStraight(telemetreDistance, 0, 0, 0);
// on reset la distance du telemetre à 0
telemetreDistance = 5000;
#endif
} else {
//C'est un AX12 qu'il faut bouger
//AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
//AX12_enchainement++;
}
break;
default:
//Instruction inconnue, on l'ignore
break;
}
if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
screenChecktry++;//On incrèment le conteur de tentative de 1
cartesCheker.reset();//On reset le timeOut
cartesCheker.start();
if(AX12_enchainement > 0) {
//AX12_processChange();//Il faut lancer le déplacement des AX12
//AX12_enchainement = 0;
}
} else { //C'est un enchainement
if(instruction.order == MV_LINE) {
gameEtat = ETAT_GAME_WAIT_ACK;
} else {
actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
}
}
break;
case ETAT_GAME_WAIT_ACK:
canProcessRx();
if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
//if(true) {
cartesCheker.stop();
if(instruction.nextActionType == JUMP) {
if(instruction.jumpAction == JUMP_POSITION) {
gameEtat = ETAT_GAME_JUMP_POSITION;
} else { //Pour eviter les erreurs, on dit que c'est par défaut un jump time
gameEtat = ETAT_GAME_JUMP_TIME;
cartesCheker.reset();//On reset le timeOut
cartesCheker.start();
}
} else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
/*wait_ms(200);
#ifdef ROBOT_BIG
SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
#else
SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
#endif
wait_ms(200);*/
gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
switch(instruction.order) {
case MV_BEZIER:
waitingAckID_FIN = ASSERVISSEMENT_BEZIER;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
break;
case MV_COURBURE:
waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
break;
case MV_LINE:
waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
break;
case MV_TURN:
waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
break;
case MV_XYT:
waitingAckID_FIN = ASSERVISSEMENT_XYT;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
break;
case MV_RECALAGE:
waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
break;
case ACTION:
if (modeTelemetre == 0) {
if (telemetreDistance == 0) {
waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
waitingAckFrom_FIN = 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
waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
telemetreDistance = 0;
}
} else { // si on attend la reponse du telemetre
//modeTelemetre = 1;
waitingAckID_FIN = OBJET_SUR_TABLE;
waitingAckFrom_FIN = 0;
}
break;
default:
break;
}
} else {
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
}
} else if(cartesCheker.read_ms () > 1000) {
cartesCheker.stop();
if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
actual_instruction = instruction.nextLineError;
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
} else {
gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
}
}
break;
case ETAT_GAME_JUMP_TIME:
if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
cartesCheker.stop();//On arrete le timer
actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
}
break;
case ETAT_GAME_JUMP_CONFIG:
signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
// 1 si l'instruction est plus grande que la position du robot
// -1 si l'instruction est plus petite que la position du robot
// 0 si l'instruction et position du robot sont proche de moins de 1cm
if (abs(x_robot-instruction.JumpTimeOrX)<10) {
depasX = 0;
} else if(x_robot > instruction.JumpTimeOrX) {
depasX = -1;
}
if(abs(y_robot-instruction.JumpY)<10) {
depasY = 0;
} else if(y_robot > instruction.JumpY) {
depasY = -1;
}
gameEtat = ETAT_GAME_JUMP_POSITION;
break;
case ETAT_GAME_JUMP_POSITION:
bool Xok = false, Yok = false;
if (depasX == 0) {
Xok = true;
} else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5) {
Xok = true;
}
if (depasY == 0) {
Yok = true;
} else if ((instruction.JumpY - y_robot)*depasY < -5) {
Yok = true;
}
// on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
if (Xok && Yok) {
actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
}
break;
case ETAT_GAME_WAIT_END_INSTRUCTION:
canProcessRx();
if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
}
break;
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
if( needToStop()==2) {
gameEtat = ETAT_EVITEMENT;
/* if(Fevitement==1) {
EvitEtat=0;
Fevitement=0;
}*/
}
if( needToStop()==1) {
// code origine
if(instruction.nextLineOK != instruction.nextLineError) {
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
if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
//actual_instruction = instruction.nextLineError;
gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
}
break;
case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
switch(actionPrecedente) {
case MV_LINE:
if(instruction.direction == BACKWARD) {
localData1 = -1;
} else {
localData1 = 1;
}
GoToPosition(target_x_robot,target_y_robot,target_theta_robot,localData1);
debugXYTTarget(target_x_robot,target_y_robot,target_theta_robot);
waitingAckID = ASSERVISSEMENT_XYT;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gameEtat = ETAT_GAME_WAIT_ACK;
instruction.order = MV_XYT;
instruction.arg1 = target_x_robot;
instruction.arg2 = target_y_robot;
instruction.arg3 = target_theta_robot;
instruction.direction = (localData1)?FORWARD:BACKWARD;
ingnorInversionOnce = 1;//Pour éviter que l'ago recalcul l'inversion
return;
case MV_XYT:
gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
///////cv
break;
case MV_COURBURE:
//target_theta_robot = theta_robot - target_theta_robot;
//instruction.arg3 = instruction.arg3 - target_theta_robot;
if(instruction.direction == LEFT) {
target_theta_robot = target_theta_robot - theta_robot;
} else {
target_theta_robot = theta_robot + target_theta_robot;
}
target_theta_robot = (target_theta_robot)%3600;
if(target_theta_robot > 1800) {
target_theta_robot = target_theta_robot-3600;
}
if(InversStrat == 1) {
target_theta_robot = -target_theta_robot;
}
instruction.arg3 = target_theta_robot;
gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
break;
default:
actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
break;
}
//actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
//gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
break;
case ETAT_WARNING_SWITCH_STRATEGIE://Si à la fin du timeout il y a toujours un robot, passer à l'instruction d'erreur
actual_instruction = instruction.nextLineError;
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ingnorBaliseOnce = 1;
break;
case ETAT_EVITEMENT :
/*
90°
|
|Violet
|
|
|
|
|Jaune
|
|________________ 0° */
char message[10]="toto";
char message1[10]="toto";
char message2[10]="toto";
char message3[10]="toto";
/*
static short x_terrain=3000;
static short y_terrain=1500;
*/
static short y_terrain=3000;
static short x_terrain=1500;
static float x_cote_droit[3]= {0};
static float y_cote_droit[3]= {0};
static float x_cote_gauche[3]= {0};
static float y_cote_gauche[3]= {0};
static short cote=0;
//--------------------------
static float dist_robot_adversaire=650;//distance à laquelle on s'arrete grace à la balise
int proxy=400;//distance entre point de controle et obstacle/adversaire
int proximity=300;//distance entre l'objectif et obstacle/adversaire
short taille_petit=150;// distance proxymité max mur
//---------------------------*
static unsigned short distance=50000;//valeur impossible
static unsigned short distance_prev=50000;
static signed short theta_adversaire;
switch(EvitEtat) {
case 0:
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(2),(unsigned char *)"EVITEMENT ",LEFT_MODE);
ingnorBalise=1;
Rotate(450); //on tourne a gauche pour scanner
waitingAckID = ASSERVISSEMENT_ROTATION;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
while(waitingAckID !=0 && waitingAckFrom !=0)
canProcessRx();
waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
while(waitingAckID_FIN !=0 && waitingAckFrom_FIN !=0)
canProcessRx();
SendSpeed(50);
SendAccel(1500,1500);
waitingAckID = ASSERVISSEMENT_CONFIG;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
while(waitingAckID !=0 && waitingAckFrom !=0)
canProcessRx();
Rotate(-900);//on tourne a droite pour scanner
waitingAckID = ASSERVISSEMENT_ROTATION;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
wait_us(150);
while(waitingAckID !=0 && waitingAckFrom !=0)
canProcessRx();
waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
waitingId = RECEPTION_RECALAGE;
SendRawId(DATA_RECALAGE);
wait_us(150);
while(waitingAckID_FIN !=0 && waitingAckFrom_FIN !=0) {
canProcessRx();
wait_ms(10);
if(waitingId == 0) {
distance=telemetreDistance_avant_droite; //on sauvegarde notre distance au robot
if(distance<=distance_prev) {
distance_prev=distance;
dist_robot_adversaire=distance+100;
theta_adversaire=theta_robot;
}
waitingId = RECEPTION_RECALAGE;
SendRawId(DATA_RECALAGE);
wait_us(150);
}
}
SendSpeed(300);//vitesse inintiale SendSpeed(600,5000,5000)
SendAccel(5000,5000);
waitingAckID = ASSERVISSEMENT_CONFIG;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
wait_us(150);
while(waitingAckID !=0 && waitingAckFrom !=0)
canProcessRx();
/* Rotate(theta_adversaire); //on tourne a gauche pour scanner
waitingAckID = ASSERVISSEMENT_ROTATION;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
while(waitingAckID !=0 && waitingAckFrom !=0)
canProcessRx();
waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
while(waitingAckID_FIN !=0 && waitingAckFrom_FIN !=0)
canProcessRx();*/
EvitEtat=1;
break;
case 1:
short ang_target = (short)((atan2((float)(target_y_robot - y_robot), (float)(target_x_robot - x_robot)) * 1800 / M_PI) - theta_robot + 7200) % 3600;
// On passe le résultat entre -1800 et 1800
if (ang_target > 1800) ang_target = (ang_target - 3600);
// float dist_target = (short)sqrt((target_x_robot - x_robot)*(target_x_robot - x_robot)+(target_y_robot - y_robot)*(target_y_robot - y_robot));
/*
float x_robot_adversaire = x_robot + (dist_robot_adversaire)*cos((float)(theta_adversaire)* M_PI/1800);
float y_robot_adversaire = y_robot + (dist_robot_adversaire)*sin((float)(theta_adversaire)*M_PI/1800);
x_cote_droit[0] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target+1300)*M_PI/1800);
y_cote_droit[0] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target+1300)*M_PI/1800);
x_cote_gauche[0] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target-1300)*M_PI/1800);
y_cote_gauche[0] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target-1300)*M_PI/1800);
x_cote_droit[1] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target+900)*M_PI/1800);
y_cote_droit[1] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target+900)*M_PI/1800);
x_cote_gauche[1] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target-900)*M_PI/1800);
y_cote_gauche[1] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target-900)*M_PI/1800);
x_cote_droit[2] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target+500)*M_PI/1800);
y_cote_droit[2] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target+500)*M_PI/1800);
x_cote_gauche[2] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target-500)*M_PI/1800);
y_cote_gauche[2] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target-500)*M_PI/1800);
*/
float x_robot_adversaire = x_robot + (dist_robot_adversaire)*cos((float)(theta_adversaire)* M_PI/1800);
float y_robot_adversaire = y_robot + (dist_robot_adversaire)*sin((float)(theta_adversaire)*M_PI/1800);
x_cote_droit[0] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target-1300.0)*M_PI/1800);
y_cote_droit[0] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target-1300)*M_PI/1800);
x_cote_gauche[0] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target+1300)*M_PI/1800);
y_cote_gauche[0] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target+1300)*M_PI/1800);
x_cote_droit[1] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target-900)*M_PI/1800);
y_cote_droit[1] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target-900)*M_PI/1800);
x_cote_gauche[1] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target+900)*M_PI/1800);
y_cote_gauche[1] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target+900)*M_PI/1800);
x_cote_droit[2] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target-500)*M_PI/1800);
y_cote_droit[2] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target-500)*M_PI/1800);
x_cote_gauche[2] = x_robot_adversaire + (proxy)*cos((float)(theta_adversaire+ang_target+500)*M_PI/1800);
y_cote_gauche[2] = y_robot_adversaire + (proxy)*sin((float)(theta_adversaire+ang_target+500)*M_PI/1800);
SendRawId(0x0D0);//calcul
//for(int i=0; i<3; i++) printf("point:%d | gauche(%.1f , %.1f) | droite(%.1f , %.1f)\n\r",i,x_cote_gauche[i],y_cote_gauche[i],x_cote_droit[i],y_cote_droit[i]) ;
//printf("------------\n\r");
//-------------------------process------------------------------------------------
bool cote_droit=false, cote_gauche=false;
for (int i=0; i<3; i++) {
if (x_cote_droit[i]>taille_petit && x_cote_droit[i]<x_terrain-taille_petit && y_cote_droit[i] >taille_petit && y_cote_droit[i] < y_terrain-taille_petit) {
cote_droit=true;
cote=1;
} else {
cote_droit=false;
break;
}
if (x_cote_gauche[i]>taille_petit && x_cote_gauche[i]<x_terrain-taille_petit && y_cote_gauche[i] >taille_petit && y_cote_gauche[i] < y_terrain-taille_petit) {
cote_gauche=true;
cote=-1;
} else {
cote_gauche=false;
break;
}
}
if(!cote_droit && !cote_gauche)cote=0;
if (cote_droit && cote_gauche) {
if (ang_target<=0) {
cote = -1;// cote gauche
SendRawId(0x1D0);
} else if (ang_target>0) {
cote = 1; //cote droite
SendRawId(0x2D0);
}
}
if ( ang_target>600 || ang_target<-600)cote=0;
if (!cote_droit && !cote_gauche)cote=0;
//--------------------test target --------------------------------------
if ((x_robot_adversaire >= target_x_robot-proximity && x_robot_adversaire <= target_x_robot+proximity)&&(y_robot_adversaire >= target_y_robot-proximity && y_robot_adversaire <= target_y_robot+proximity)) cote=0;
EvitEtat = 2;
break;
case 2 ://on attend la fin de la première rotation pour activer la balise
//ingnorBalise=1;
SendRawId(0x0D1);//init evitement
if(cote!=0) {
for(int i=0; i<3; i++) {
if(cote==-1) {
GoToPosition(x_cote_droit[i],y_cote_droit[i],theta_robot,1);
//GoToPosition(y_cote_droit[i],x_cote_droit[i],theta_robot,1);//
SendRawId(0x1D1);//evitement a gauche
} else if(cote==1) {
GoToPosition(x_cote_gauche[i],y_cote_gauche[i],theta_robot,1);
//GoToPosition(y_cote_gauche[i],x_cote_gauche[i],theta_robot,1);
SendRawId(0x2D1);//evitement a droite
}
waitingAckID = ASSERVISSEMENT_XYT;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
while(waitingAckID !=0 && waitingAckFrom !=0)
canProcessRx();
Fevitement=1;
ingnorBalise=1;
waitingAckID_FIN = ASSERVISSEMENT_XYT_ROTATE;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
canProcessRx();
ingnorBalise=0;
waitingAckID_FIN = ASSERVISSEMENT_XYT_LINE;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
while(waitingAckID_FIN !=0 && waitingAckFrom_FIN !=0)
canProcessRx();
ingnorBalise=1;
waitingAckID_FIN = ASSERVISSEMENT_XYT;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
while(waitingAckID_FIN !=0 && waitingAckFrom_FIN !=0)
canProcessRx();
}
} else {
SendRawId(0x3D1);//cote=0 evitement non possible
EvitEtat=0;
gameEtat=ETAT_WARNING_END_LAST_INSTRUCTION;
ingnorBalise=0;
Fevitement=0;
}
EvitEtat=3;
break;
case 3://on va vers l'objectif initial
SendRawId(0x0D2);
GoToPosition(target_x_robot,target_y_robot,target_theta_robot,1);
waitingAckID = ASSERVISSEMENT_XYT;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
while(waitingAckID !=0 && waitingAckFrom !=0)
canProcessRx();
Fevitement=1;
waitingAckID_FIN = ASSERVISSEMENT_XYT;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
while(waitingAckID_FIN !=0 && waitingAckFrom_FIN !=0)
canProcessRx();
EvitEtat=4;
break;
case 4: //on charge l'instruction suivante et sort de l'evitement
actual_instruction++;//on charge l'instruction suivante
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
EvitEtat = 0;
ingnorBalise=0;
Fevitement=0;
break;
case 10:
wait(0.2);
sprintf(message,"%d ",theta_adversaire);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"Theta_adv : ",LEFT_MODE);
lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE);
sprintf(message1,"%04d mm",(short)dist_robot_adversaire);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(12),(unsigned char *)"Dist_adv : ",LEFT_MODE);
lcd.DisplayStringAt(200, LINE(12),(unsigned char *)message1, LEFT_MODE);
break;
}
break;
case ETAT_END:
if (ModeDemo) {
gameEtat = ETAT_CHECK_CARTE_SCREEN;
ModeDemo = 1;
} else {
gameEtat = ETAT_END_LOOP;
}
break;
case ETAT_END_LOOP:
//Rien, on tourne en rond
break;
default:
break;
}
}
/****************************************************************************************/
/* FUNCTION NAME: canProcessRx */
/* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
/****************************************************************************************/
void canProcessRx(void)
{
static signed char FIFO_occupation=0,FIFO_max_occupation=0;
char message[10]="toto";
char message1[10]="toto";
char message2[10]="toto";
char message3[10]="toto";
char message4[10]="toto";
FIFO_occupation=FIFO_ecriture-FIFO_lecture;
if(FIFO_occupation<0)
FIFO_occupation=FIFO_occupation+SIZE_FIFO;
if(FIFO_max_occupation<FIFO_occupation) {
FIFO_max_occupation=FIFO_occupation;
//SendRawId(
}
if(FIFO_occupation!=0) {
int identifiant=msgRxBuffer[FIFO_lecture].id;
if (waitingId == identifiant) waitingId = 0;
switch(identifiant) {
case ALIVE_MOTEUR:
if (etat == ATT) {
lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
lcd.FillRect(0,400,400,150);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
}
break;
case ALIVE_BALISE:
if (etat == ATT) {
lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
lcd.FillRect(0,600,400,150); //carte AX12
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
}
break;
case RESET_IHM:
etat = CHOIX;
break;
case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
case GLOBAL_JACK:
if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gameEtat = ETAT_GAME_START;
SendRawId(ACKNOWLEDGE_JACK);
}
break;
case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
case ALIVE_ACTIONNEURS_ARRIERE:
case ALIVE_HERKULEX:
case ECRAN_ALL_CHECK:
if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
}
flag=1;
break;
/////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
case ACKNOWLEDGE_HERKULEX:
case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans ACK_FIN_ACTION mais conserve l'ident initial
case ACKNOWLEDGE_TELEMETRE:
/////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
case ACKNOWLEDGE_MOTEUR:
case INSTRUCTION_END_BALISE:
case ACK_FIN_ACTION:
case INSTRUCTION_END_MOTEUR:
unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] | ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_XYT==recieveAckID)ingnorBalise=1;
if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_XYT_ROTATE==recieveAckID)ingnorBalise=0;
if( waitingAckFrom == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID ) {
waitingAckFrom = 0;
waitingAckID = 0;
}
if( waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID_FIN ) {
waitingAckFrom_FIN = 0;
waitingAckID_FIN = 0;
}
/*
if((waitingAckFrom == msgRxBuffer[FIFO_lecture].id) &&
((unsigned short)msgRxBuffer[FIFO_lecture].data[0] | (((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID) )
{
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))
{
waitingAckFrom_FIN = 0;
waitingAckID_FIN = 0;
}
*/
break;
case ODOMETRIE_BIG_POSITION:
case ODOMETRIE_SMALL_POSITION:
x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
break;
case ACK_ACTION:
if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
waitingAckFrom = 0;
waitingAckID = 0;
}
break;
case BALISE_DANGER :
SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
break;
case BALISE_STOP:
SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
signed char fin_angle_detection = msgRxBuffer[FIFO_lecture].data[0] & 0x0F;
signed char debut_angle_detection = (msgRxBuffer[FIFO_lecture].data[0] & 0xF0) >> 4;
if(debut_angle_detection > fin_angle_detection) {
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;*/
float seuil_bas_avant = 13.0;
float seuil_haut_avant = 15.0;
float seuil_bas_arriere = 5.0;
float seuil_haut_arriere = 7.0;
#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_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 <= seuil_haut_arriere
|| instruction.order == MV_COURBURE && instruction.direction == FORWARD && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
|| instruction.order == MV_COURBURE && instruction.direction == BACKWARD && angle_moyen_balise_IR >= seuil_bas_arriere && angle_moyen_balise_IR <= seuil_haut_arriere
|| instruction.order == MV_XYT && instruction.direction == FORWARD && angle_moyen_balise_IR >= seuil_bas_avant && angle_moyen_balise_IR <= seuil_haut_avant
|| instruction.order == MV_XYT && instruction.direction == BACKWARD && 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 && ingnorBalise==0) {
if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT) {
SendRawId(ASSERVISSEMENT_STOP);
/*waitingAckID_FIN = ASSERVISSEMENT_STOP;
waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
while(waitingAckID_FIN !=0 && waitingAckFrom_FIN !=0)
canProcessRx();*/
//while(1); // ligne à décommenter si on est en homologation
if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
timeoutWarning.reset();
timeoutWarning.start();//Reset du timer utiliser par le timeout
}
gameEtat = ETAT_WARNING_TIMEOUT;
}
}
}
ingnorBaliseOnce = 0;
break;
case BALISE_END_DANGER:
SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
if(gameEtat == ETAT_WARNING_TIMEOUT) {
timeoutWarningWaitEnd.reset();
timeoutWarningWaitEnd.start();
gameEtat = ETAT_WARING_END_BALISE_WAIT;
}
break;
case RECEPTION_DATA:
telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
telemetreDistance= (float)telemetreDistance*100.0f*35.5f+50.0f;
waitingAckFrom = 0;
waitingAckID = 0;
break;
case RECEPTION_RECALAGE:
wait_us(150);
// telemetreDistance_avant_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]); //on récupère la distance traité par l'autre micro
memcpy(&telemetreDistance_avant_droite,msgRxBuffer[FIFO_lecture].data,2);
telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
if(ModeDemo==1) {
sprintf(message,"%04dmm L:%d",telemetreDistance_avant_droite,DT_AVD_interrupt);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"LASER AVD : ",LEFT_MODE);
lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE);
sprintf(message1,"%04dmm L:%d",telemetreDistance_avant_gauche,DT_AVG_interrupt);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER AVG : ",LEFT_MODE);
lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message1, LEFT_MODE);
sprintf(message4,"%04d",theta_robot);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(13),(unsigned char *)"THETA: ",LEFT_MODE);
lcd.DisplayStringAt(200, LINE(13),(unsigned char *)message4, LEFT_MODE);
sprintf(message2,"%04dmm L:%d",telemetreDistance_arriere_gauche,DT_ARG_interrupt);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER ARG : ",LEFT_MODE);
lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message2, LEFT_MODE);
sprintf(message3,"%04dmm L:%d",telemetreDistance_arriere_droite,DT_ARD_interrupt);
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(18),(unsigned char *)"LASER ARD : ",LEFT_MODE);
lcd.DisplayStringAt(200, LINE(18),(unsigned char *)message3, LEFT_MODE);
}
break;
case RECEPTION_TELEMETRE_LOGIQUE:
DT_AVD_interrupt=msgRxBuffer[FIFO_lecture].data[0];
DT_AVG_interrupt=msgRxBuffer[FIFO_lecture].data[1];
DT_ARG_interrupt=msgRxBuffer[FIFO_lecture].data[2];
DT_ARD_interrupt=msgRxBuffer[FIFO_lecture].data[3];
break;
case RECEPTION_COULEUR:
if (blocage_balise==0) {
couleur1=msgRxBuffer[FIFO_lecture].data[0];
couleur2=msgRxBuffer[FIFO_lecture].data[1];
couleur3=msgRxBuffer[FIFO_lecture].data[2];
/*lcd.DisplayStringAt(0,LINE(16),(unsigned char *)couleur1+'0',LEFT_MODE);
lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE);
lcd.DisplayStringAt(0,LINE(16+2),(unsigned char *)couleur3+'0',LEFT_MODE);*/
}
break;
/*
case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
actual_instruction = instruction.nextLineError;
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
// waitingAckID_FIN=0;
// waitingAckFrom_FIN=0;
SendRawId(0x40);
break;*/
}
FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
}
}
/****************************************************************************************/
/* FUNCTION NAME: Bouton_Strat */
/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
/****************************************************************************************/
signed char Bouton_Strat (void)
{
Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
Button RETOUR (0, 680, 400, 110, "--Precedent--");
//Definition des boutons
Ack_strat = 0;
Strat = 0;
STRAT_1.Draw(0xFFF0F0F0, 0);
STRAT_2.Draw(0xFFF0F0F0, 0);
STRAT_3.Draw(0xFFF0F0F0, 0);
STRAT_4.Draw(0xFFF0F0F0, 0);
STRAT_5.Draw(0xFFF0F0F0, 0);
STRAT_6.Draw(0xFFF0F0F0, 0);
STRAT_7.Draw(0xFFF0F0F0, 0);
STRAT_8.Draw(0xFFF0F0F0, 0);
STRAT_9.Draw(0xFFF0F0F0, 0);
STRAT_10.Draw(0xFFF0F0F0, 0);
RETOUR.Draw(0xFFFF0000, 0);
while(Ack_strat == 0) {
canProcessRx();
CANMessage msgTx=CANMessage();
//msgTx.id=ECRAN_CHOICE_STRAT;
if (RETOUR.Touched())
return -1;
while(RETOUR.Touched());
//////////////////////////////STRATEGIE N°1
if (STRAT_1.Touched()) {
Strat = 0;
//msgTx.data[0] = 0x1;
//can2.write(msgTx);
while(STRAT_1.Touched());
Ack_strat =1;
}
/////////////////////////////STRATEGIE N°2
if (STRAT_2.Touched()) {
Strat = 1;
//msgTx.data[0] = 0x2;
//can2.write(msgTx);
while(STRAT_2.Touched());
Ack_strat =1;
}
//////////////////////////////STRATEGIE N°3
if (STRAT_3.Touched()) {
Strat = 2;
//msgTx.data[0] = 0x3;
//can2.write(msgTx);
while(STRAT_3.Touched());
Ack_strat =1;
}
/////////////////////////////STRATEGIE N°4
if (STRAT_4.Touched()) {
Strat = 3;
//msgTx.data[0] = 0x4;
//can2.write(msgTx);
while(STRAT_4.Touched());
Ack_strat =1;
}
///////////////////////////////STRATEGIE N°5
if (STRAT_5.Touched()) {
Strat = 4;
//msgTx.data[0] = 0x5;
//can2.write(msgTx);
while(STRAT_5.Touched());
Ack_strat =1;
}
////////////////////////////////STRATEGIE N°6
if (STRAT_6.Touched()) {
Strat = 5;
//msgTx.data[0] = 0x6;
//can2.write(msgTx);
while(STRAT_6.Touched());
Ack_strat =1;
}
/////////////////////////////////STRATEGIE N°7
if (STRAT_7.Touched()) {
Strat = 6;
//msgTx.data[0] = 0x7;
//can2.write(msgTx);
while(STRAT_7.Touched());
Ack_strat =1;
}
/////////////////////////////////STRATEGIE N°8
if (STRAT_8.Touched()) {
Strat = 7;
//msgTx.data[0] = 0x8;
//can2.write(msgTx);
while(STRAT_8.Touched());
Ack_strat =1;
}
/////////////////////////////////STRATEGIE N°9
if (STRAT_9.Touched()) {
Strat = 8;
//msgTx.data[0] = 0x9;
//can2.write(msgTx);
while(STRAT_9.Touched());
Ack_strat =1;
}
///////////////////////////////////STRATEGIE N°10
if (STRAT_10.Touched()) {
Strat = 9;
//msgTx.data[0] = 0xA;
//can2.write(msgTx);
while(STRAT_10.Touched());
Ack_strat =1;
}
}
return Strat;
}
void affichage_compteur (int nombre)
{
int dizaine=0,unite=0,centaine=0;
centaine=nombre/100;
dizaine = nombre/10;
unite = nombre-(10*dizaine);
print_segment(unite,-50);
print_segment(dizaine,100);
if(centaine!=0) {
print_segment(centaine,350);
}
}
//****print_segment***
//Dessine en 7 segment le nombre en parametre
// A
// =====
// | |
// B | G | E
// |=====|
// C | | F
// | |
// =====
// D
/*
position pour le chiffre des unites
lcd.FillRect(460,75,120,25);// A
lcd.FillRect(435,100,25,120);// B
lcd.FillRect(435,245,25,120);// C
lcd.FillRect(460,365,120,25);// D
lcd.FillRect(580,100,25,120);// E
lcd.FillRect(580,245,25,120);// F
lcd.FillRect(460,220,120,25);// G
position pour le chiffre des dizaines
lcd.FillRect(260,75,120,25);// A
lcd.FillRect(235,100,25,120);// B
lcd.FillRect(235,245,25,120);// C
lcd.FillRect(260,365,120,25);// D
lcd.FillRect(380,100,25,120);// E
lcd.FillRect(380,245,25,120);// F
lcd.FillRect(260,220,120,25);// G
*/
void print_segment(int nombre, int decalage)
{
switch(nombre) {
case 0:
lcd.FillRect(240-decalage,75,120,25);
lcd.FillRect(215-decalage,100,25,120);
lcd.FillRect(215-decalage,245,25,120);
lcd.FillRect(360-decalage,245,25,120);
lcd.FillRect(360-decalage,100,25,120);
lcd.FillRect(240-decalage,365,120,25);
break;
case 1:
lcd.FillRect(360-decalage,100,25,120);// E
lcd.FillRect(360-decalage,245,25,120);// F
break;
case 2:
lcd.FillRect(240-decalage,75,120,25);// A
lcd.FillRect(215-decalage,245,25,120);// C
lcd.FillRect(240-decalage,365,120,25);// D
lcd.FillRect(360-decalage,100,25,120);// E
lcd.FillRect(240-decalage,220,120,25);// G
break;
case 3:
lcd.FillRect(240-decalage,75,120,25);// A
lcd.FillRect(360-decalage,100,25,120);// E
lcd.FillRect(240-decalage,220,120,25);// G
lcd.FillRect(240-decalage,365,120,25);// D
lcd.FillRect(360-decalage,245,25,120);// F
break;
case 4:
lcd.FillRect(215-decalage,100,25,120);// B
lcd.FillRect(360-decalage,100,25,120);// E
lcd.FillRect(360-decalage,245,25,120);// F
lcd.FillRect(240-decalage,220,120,25);// G
break;
case 5:
lcd.FillRect(240-decalage,75,120,25);// A
lcd.FillRect(215-decalage,100,25,120);// B
lcd.FillRect(240-decalage,220,120,25);// G
lcd.FillRect(240-decalage,365,120,25);// D
lcd.FillRect(360-decalage,245,25,120);// F
break;
case 6:
lcd.FillRect(240-decalage,75,120,25);// A
lcd.FillRect(215-decalage,100,25,120);// B
lcd.FillRect(215-decalage,245,25,120);// C
lcd.FillRect(240-decalage,365,120,25);// D
lcd.FillRect(360-decalage,245,25,120);// F
lcd.FillRect(240-decalage,220,120,25);// G
break;
case 7:
lcd.FillRect(240-decalage,75,120,25);// A
lcd.FillRect(360-decalage,100,25,120);// E
lcd.FillRect(360-decalage,245,25,120);// F
break;
case 8:
lcd.FillRect(240-decalage,75,120,25); // A
lcd.FillRect(215-decalage,100,25,120);
lcd.FillRect(215-decalage,245,25,120);
lcd.FillRect(360-decalage,245,25,120);//...
lcd.FillRect(360-decalage,100,25,120);
lcd.FillRect(240-decalage,365,120,25);
lcd.FillRect(240-decalage,220,120,25);// G
break;
case 9:
lcd.FillRect(240-decalage,75,120,25);// A
lcd.FillRect(215-decalage,100,25,120);// B
lcd.FillRect(240-decalage,365,120,25);// D
lcd.FillRect(360-decalage,100,25,120);// E
lcd.FillRect(360-decalage,245,25,120);// F
lcd.FillRect(240-decalage,220,120,25);// G
break;
}
}
void effacer_segment(long couleur)
{
lcd.SetTextColor(couleur);
lcd.FillRect(240-200,75,120,25); // A
lcd.FillRect(215-200,100,25,120);
lcd.FillRect(215-200,245,25,120);
lcd.FillRect(360-200,245,25,120);//...
lcd.FillRect(360-200,100,25,120);
lcd.FillRect(240-200,365,120,25);
lcd.FillRect(240-200,220,120,25);// G
lcd.FillRect(240,75,120,25); // A
lcd.FillRect(215,100,25,120);
lcd.FillRect(215,245,25,120);
lcd.FillRect(360,245,25,120);//...
lcd.FillRect(360,100,25,120);
lcd.FillRect(240,365,120,25);
lcd.FillRect(240,220,120,25);// G
}
short recalageAngulaireCapteur(void)
{
unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
unsigned int moyennageTelemetre = 0;
unsigned short angleAvant = 0;
unsigned short angleArriere = 0;
unsigned short orientationArrondie = 0;
unsigned short position_avant_gauche=0;
unsigned short position_avant_droite=0;
unsigned short position_arriere_gauche=0;
unsigned short position_arriere_droite=0;
unsigned short tempo= telemetreDistance_arriere_gauche;
telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
telemetreDistance_arriere_droite=tempo;
if(theta_robot >= 450 && theta_robot <= 1350)
orientationArrondie = 90;
else if(theta_robot <= -450 && theta_robot >= -1350)
orientationArrondie = 270;
else if(theta_robot <= 450 && theta_robot >= -450)
orientationArrondie = 0;
else if(theta_robot >= 1350 && theta_robot <= -1350)
orientationArrondie = 180;
// Calcul de position pour faire la vérification de cohérence
if(orientationArrondie == 90 || orientationArrondie == 270) {
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;
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;
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;
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;
} else if(orientationArrondie == 0 || orientationArrondie == 180) {
position_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
position_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
position_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
position_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
}
if(orientationArrondie == 90 || orientationArrondie == 270) { // Si il est en axe Y
if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1) {
if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double)ESPACE_INTER_TELEMETRE ))/M_PI;
else
angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += angleArriere;
}
}
} else if(orientationArrondie == 0 || orientationArrondie == 180) { // Si il est en axe X
if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1) {
if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double) ESPACE_INTER_TELEMETRE ))/M_PI;
else
angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += angleArriere;
}
}
}
if(orientationArrondie == 90 || orientationArrondie == 270) { // Si il est en axe Y
if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1) {
if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
else
angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += angleAvant;
}
}
} else if(orientationArrondie == 0 || orientationArrondie == 180) { // Si il est en axe X
if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1) {
if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
else
angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += angleAvant;
}
}
}
angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) {
if(orientationArrondie == 0) {
angleRecalage -= 900;
/*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
distanceRecalage = *);
else
distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
} else if(orientationArrondie == 90) {
angleRecalage += 0;
} else if(orientationArrondie == 180) {
angleRecalage += 900;
} else if(orientationArrondie == 270) {
angleRecalage += 1800;
}
}
return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
}
short recalageDistanceX(void)
{
unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
unsigned int moyennageTelemetre = 0;
telemetreDistance_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
telemetreDistance_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
telemetreDistance_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
telemetreDistance_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_avant_gauche;
}
if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_avant_droite;
}
if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_arriere_gauche;
}
if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_arriere_droite;
}
moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
}
short recalageDistanceY(void)
{
unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
unsigned int moyennageTelemetre = 0;
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;
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;
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;
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;
if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_avant_gauche;
}
if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_avant_droite;
}
if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_arriere_gauche;
}
if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1) {
nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
moyennageTelemetre += telemetreDistance_arriere_droite;
}
moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
}