Diff: Strategie/Strategie.cpp

Revision:

24:1a13c998c7ac

Parent:

22:c7763a7ec6c7

Child:

27:ff70537a7619

--- a/Strategie/Strategie.cpp	Fri Jun 26 13:08:54 2020 +0000
+++ b/Strategie/Strategie.cpp	Wed Jul 08 08:19:16 2020 +0000
@@ -37,7 +37,7 @@
 unsigned short x;
 unsigned short y;
 unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
-unsigned short flag_check_carte1 = 0,flag_check_carte2 = 0, flag_strat = 0, flag_timer;
+unsigned short flag_check_carte = 0, flag_strat = 0, flag_timer;
 int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
 
 
@@ -199,7 +199,7 @@
                     if(countAliveCard >= NOMBRE_CARTES) {
                         gameEtat = ETAT_CONFIG;
                         SendRawId(ECRAN_ALL_CHECK);
-                        flag_check_carte1=1;
+                        flag_check_carte=1;
 
                         //tactile_printf("Selection couleur et strategie");
                     } else {
@@ -218,7 +218,7 @@
                     if(checkCurrent >= NOMBRE_CARTES) {
                         if(countAliveCard == NOMBRE_CARTES) {
                             gameEtat = ETAT_CONFIG;
-                            flag_check_carte1=1;
+                            flag_check_carte=1;
                         } else {
                             gameEtat = ETAT_WAIT_FORCE;
                             waitingAckFrom = ECRAN_ALL_CHECK;
@@ -963,15 +963,25 @@
         switch(identifiant) {
 
             case ALIVE_MOTEUR:
-                if (strat_etat_s == INIT2)
-                    demarrage(3);
-                flag_check_carte1=1;
+                if (strat_etat_s == 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 (strat_etat_s == INIT2)
-                    demarrage(4);
-                flag_check_carte2=1;
+                if (strat_etat_s == 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:
@@ -993,7 +1003,7 @@
                 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
                     waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
                 }
-                flag_check_carte1=1;
+                flag_check_carte=1;
                 break;
 
             case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
@@ -1074,6 +1084,10 @@
                      */
                 break;
             case ODOMETRIE_BIG_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 ODOMETRIE_SMALL_POSITION:
 
                 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);