CRAC Team
code avec modifs, programme mit dans les robots pour les derniers matchs
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Diff: Strategie/Strategie.cpp
- Revision:
- 10:1964bb91b925
- Parent:
- 7:44eec996a76e
- Child:
- 11:848ea39838bf
--- a/Strategie/Strategie.cpp Mon Feb 10 08:07:17 2020 +0000
+++ b/Strategie/Strategie.cpp Tue Mar 03 16:41:33 2020 +0000
@@ -118,7 +118,7 @@
float cptf;
int cpt,cpt1;
-typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
+typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, TEST_ELECTROV, 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 memGameEtat= gameEtat;
@@ -133,15 +133,21 @@
Button CHECK (0, 420, 400, 200, "Valider");
Button MATCH (0, 50, 400, 320, "Match");
Button DEMONSTRATION (0, 400, 400, 320, "Demo");
-
+//menu demo
Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
Button TEST_TELE(0, 135, 400, 100, "Test telemetre");
Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
Button TEST_BRAS(0,355,400,100,"Test Bras");
-
-Button TEST_BRAS_GABARIT(0,25,400,100,"Test Gabarit");
-Button TEST_BRAS_GABARITD(0,135,400,100,"Test Gabarit deploye");
-Button TEST_BRAS_PRESENTOIR(0,245,400,100,"Test Presentoir");
+Button TEST_AUDIO(0,465,400,100,"Test Audio");
+Button TEST_ELECTRV(0,465,400,100,"Test Electro Vannes");
+//menu demo/demo/
+Button TEST_A(0,25,195,100,"A");
+Button TEST_B(205,25,195,100,"B");
+Button TEST_C(0,135,195,100,"C");
+Button TEST_D(205,135,195,100,"D");
+Button TEST_NUM(0,245,400,100,"Bras num");
+Button TEST_PLUS(205,355,195,100,"+");
+Button TEST_MOINS(0,355,195,100,"-");
Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
@@ -275,7 +281,7 @@
void Setflag(void)
{
- flagSendCan = 1;
+ flagSendCan = 1;//gab le zgeg
}
@@ -325,7 +331,9 @@
/****************************************************************************************/
void automate_etat_ihm(void)
{
+ char toto[2];
int j;
+ unsigned char maximilien=1;
if (j==0) {
ts.Init(lcd.GetXSize(), lcd.GetYSize());
j++;
@@ -390,6 +398,8 @@
break;
case DEMO :
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
RETOUR.Draw(0xFFFF0000, 0);
@@ -397,6 +407,8 @@
TEST_TELE.Draw(VERT, 0);
TEST_COUL.Draw(VERT, 0);
TEST_BRAS.Draw(VERT, 0);
+ TEST_AUDIO.Draw(VERT, 0);
+ TEST_ELECTRV.Draw(VERT, 0);
while (etat == DEMO) {
canProcessRx();
if(TEST_VENT.Touched()) {
@@ -405,12 +417,19 @@
} else if(TEST_TELE.Touched()) {
while(TEST_TELE.Touched());
etat = TEST_TELEMETRE;
+ } else if(TEST_ELECTRV.Touched()) {
+ while(TEST_ELECTRV.Touched());
+ etat = TEST_ELECTROV;
} else if (TEST_COUL.Touched()) {
while(TEST_COUL.Touched());
etat =TEST_COULEUR ;
} else if (TEST_BRAS.Touched()) {
while(TEST_BRAS.Touched());
etat =TEST_SERVO_BRAS ;
+ } else if(TEST_AUDIO.Touched()) {
+ while(TEST_AUDIO.Touched());
+ TEST_AUDIO.Draw(VERT, 0);
+ Debug_Audio(3,2);
} else if(RETOUR.Touched()) {
while(RETOUR.Touched());
etat = CHOIX;
@@ -419,38 +438,210 @@
break;
- case TEST_VENTOUSE:
+ case TEST_VENTOUSE:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
lcd.Clear (LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
+ sprintf(toto,"%hd",maximilien);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
RETOUR.Draw(0xFFFF0000,0);
- while(etat==TEST_VENTOUSE) {
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_NUM.Draw(BLEU, BLANC);
+ TEST_PLUS.Draw(BLEU, BLANC);
+ TEST_MOINS.Draw(BLEU, BLANC);
+ while(etat==TEST_SERVO_BRAS) {
if(RETOUR.Touched()) {
while (RETOUR.Touched());
etat=DEMO;
- }
+ } else if(TEST_A.Touched()) {
+ while (TEST_A.Touched());
+ SendRawId(TEST_VENT_A);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_NUM.Touched()) {
+ while (TEST_NUM.Touched());
+ TEST_NUM.Draw(BLEU, BLANC);
+ switch(maximilien){
+ case 1:
+ SendRawId(TEST_VENT_1);
+ break;
+ case 2:
+ SendRawId(TEST_VENT_2);
+ break;
+ case 3:
+ SendRawId(TEST_VENT_3);
+ break;
+ case 4:
+ SendRawId(TEST_VENT_4);
+ break;
+ case 5:
+ SendRawId(TEST_VENT_5);
+ break;
+ case 6:
+ SendRawId(TEST_VENT_6);
+ break;
+ }
+ } else if(TEST_PLUS.Touched()) {
+ while (TEST_PLUS.Touched());
+ TEST_PLUS.Draw(BLEU, BLANC);
+ if(maximilien!=6)maximilien++;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ } else if(TEST_MOINS.Touched()) {
+ while (TEST_MOINS.Touched());
+ TEST_MOINS.Draw(BLEU, BLANC);
+ if(maximilien!=1)maximilien--;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ }
}
break;
-
- case TEST_SERVO_BRAS:
+
+ case TEST_ELECTROV:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
lcd.Clear (LCD_COLOR_WHITE);
- lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Electro Vannes", LEFT_MODE);
+ sprintf(toto,"%hd",maximilien);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
RETOUR.Draw(0xFFFF0000,0);
- TEST_BRAS_PRESENTOIR.Draw(BLEU, BLANC);
- TEST_BRAS_GABARIT.Draw(BLEU, BLANC);
- TEST_BRAS_GABARITD.Draw(BLEU, BLANC);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_NUM.Draw(BLEU, BLANC);
+ TEST_PLUS.Draw(BLEU, BLANC);
+ TEST_MOINS.Draw(BLEU, BLANC);
while(etat==TEST_SERVO_BRAS) {
if(RETOUR.Touched()) {
while (RETOUR.Touched());
etat=DEMO;
- } else if(TEST_BRAS_PRESENTOIR.Touched()) {
- while (TEST_BRAS_PRESENTOIR.Touched());
- SendRawId(PRESENTOIR);
- } else if(TEST_BRAS_GABARIT.Touched()) {
- while (TEST_BRAS_GABARIT.Touched());
- SendRawId(GABARIT);
- } else if(TEST_BRAS_GABARITD.Touched()) {
- while (TEST_BRAS_GABARITD.Touched());
- SendRawId(GABARIT_D);
+ } else if(TEST_A.Touched()) {
+ while (TEST_A.Touched());
+ SendRawId(TEST_ELECTROV_A);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_NUM.Touched()) {
+ while (TEST_NUM.Touched());
+ TEST_NUM.Draw(BLEU, BLANC);
+ switch(maximilien){
+ case 1:
+ SendRawId(TEST_ELECTROV_1);
+ break;
+ case 2:
+ SendRawId(TEST_ELECTROV_2);
+ break;
+ case 3:
+ SendRawId(TEST_ELECTROV_3);
+ break;
+ case 4:
+ SendRawId(TEST_ELECTROV_4);
+ break;
+ case 5:
+ SendRawId(TEST_ELECTROV_5);
+ break;
+ case 6:
+ SendRawId(TEST_ELECTROV_6);
+ break;
+ }
+ } else if(TEST_PLUS.Touched()) {
+ while (TEST_PLUS.Touched());
+ TEST_PLUS.Draw(BLEU, BLANC);
+ if(maximilien!=6)maximilien++;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ } else if(TEST_MOINS.Touched()) {
+ while (TEST_MOINS.Touched());
+ TEST_MOINS.Draw(BLEU, BLANC);
+ if(maximilien!=1)maximilien--;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ }
+ }
+ break;
+
+ case TEST_SERVO_BRAS:
+
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
+ sprintf(toto,"%hd",maximilien);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_B.Draw(BLEU, BLANC);
+ TEST_C.Draw(BLEU, BLANC);
+ TEST_D.Draw(BLEU, BLANC);
+ TEST_NUM.Draw(BLEU, BLANC);
+ TEST_PLUS.Draw(BLEU, BLANC);
+ TEST_MOINS.Draw(BLEU, BLANC);
+ while(etat==TEST_SERVO_BRAS) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ etat=DEMO;
+ } else if(TEST_A.Touched()) {
+ while (TEST_A.Touched());
+ SendRawId(TEST_BRAS_A);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_B.Touched()) {
+ while (TEST_B.Touched());
+ SendRawId(TEST_BRAS_B);
+ TEST_B.Draw(BLEU, BLANC);
+ } else if(TEST_C.Touched()) {
+ while (TEST_C.Touched());
+ SendRawId(TEST_BRAS_C);
+ TEST_C.Draw(BLEU, BLANC);
+ } else if(TEST_D.Touched()) {
+ while (TEST_D.Touched());
+ SendRawId(TEST_BRAS_D);
+ TEST_D.Draw(BLEU, BLANC);
+ } else if(TEST_NUM.Touched()) {
+ while (TEST_NUM.Touched());
+ TEST_NUM.Draw(BLEU, BLANC);
+ switch(maximilien){
+ case 1:
+ SendRawId(TEST_BRAS_1);
+ break;
+ case 2:
+ SendRawId(TEST_BRAS_2);
+ break;
+ case 3:
+ SendRawId(TEST_BRAS_3);
+ break;
+ case 4:
+ SendRawId(TEST_BRAS_4);
+ break;
+ case 5:
+ SendRawId(TEST_BRAS_5);
+ break;
+ case 6:
+ SendRawId(TEST_BRAS_6);
+ break;
+ }
+ } else if(TEST_PLUS.Touched()) {
+ while (TEST_PLUS.Touched());
+ TEST_PLUS.Draw(BLEU, BLANC);
+ if(maximilien!=6)maximilien++;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ } else if(TEST_MOINS.Touched()) {
+ while (TEST_MOINS.Touched());
+ TEST_MOINS.Draw(BLEU, BLANC);
+ if(maximilien!=1)maximilien--;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
}
}
break;
@@ -772,6 +963,7 @@
SendRawId(GLOBAL_START);
gameEtat = ETAT_GAME_WAIT_FOR_JACK;
+ Debug_Audio(3,7);
if (etat == TEST_TELEMETRE|| etat ==TEST_VENTOUSE || etat == TEST_COULEUR || etat ==TEST_SERVO_BRAS) {
SendRawId(DEBUG_FAKE_JAKE);
} else {
@@ -905,7 +1097,7 @@
break;
case ETAT_GAME_START:
-
+ Debug_Audio(3,3);
gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
if (ModeDemo == 0) {
@@ -1016,6 +1208,7 @@
break;
}
case MV_COURBURE://C'est un rayon de courbure
+ Debug_Audio(3,6);
float alpha=0, theta=0;
unsigned short alph=0;
actionPrecedente = MV_COURBURE;
@@ -1169,6 +1362,7 @@
case MV_LINE://Ligne droite
+ Debug_Audio(3,8);
waitingAckID = ASSERVISSEMENT_RECALAGE;
waitingAckFrom = ACKNOWLEDGE_MOTEUR;
if(instruction.nextActionType == ENCHAINEMENT) {
@@ -1191,6 +1385,7 @@
break;
case MV_TURN: //Rotation sur place
+ Debug_Audio(3,9);
target_x_robot = x_robot;
target_y_robot = y_robot;
target_theta_robot = theta_robot + localData2;
@@ -1217,6 +1412,7 @@
break;
case MV_XYT:
+ Debug_Audio(3,10);
if(instruction.direction == BACKWARD) {
localData1 = -1;
} else {
@@ -1286,11 +1482,10 @@
waitingAckID_FIN = 0;
waitingAckFrom_FIN = 0;
-
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);
+ //tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
// unsigned char test=(unsigned char) tempo;
// SendMsgCan(0x5BD, &test,1);
if(tempo == 1) {
@@ -1486,6 +1681,7 @@
break;
case ETAT_END:
+ Debug_Audio(3,4);
if (ModeDemo) {
gameEtat = ETAT_CHECK_CARTE_SCREEN;
ModeDemo = 1;
@@ -1752,6 +1948,10 @@
}
break;
+ case SOMO:
+ break;
+ default:
+ break;
/*
case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
actual_instruction = instruction.nextLineError;