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:
- 1:7e925468f9d9
- Child:
- 5:81aac085516f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Strategie/Strategie.cpp Thu Jan 30 16:48:59 2020 +0000
@@ -0,0 +1,2389 @@
+#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=0;
+short SCORE_PR=0;
+
+int flag = 0, flag_strat = 0, flag_timer;
+int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
+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 -> JAUNE | 1 -> VIOLET
+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;
+
+
+
+
+
+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
+short direction;
+
+unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
+
+struct S_Instruction instruction;
+struct S_Dodge_queue dodgeq;
+
+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 memGameEtat= gameEtat;
+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);
+ // rn42_Tx.printf("A");//experience
+#ifdef ROBOT_SMALL
+ liaison_Tx.envoyer_short(0x30,666);
+ pc.printf("data\r");
+#else
+
+ // lire();
+ /* if (bluetooth.readable())
+ pc.putc(bluetooth.getc());
+
+ if (pc.readable()) {
+ char c = pc.getc();
+ if (c == 'A') {
+ liaison.envoyer_short(PAQUET_IDENTIFIANT_RAFRAICHIRSCORE, 20);
+ pc.printf("rafraichir\n");
+ }
+ }*/
+#endif
+ }
+ //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:
+ SendRawId(RECALAGE_START);
+ 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:
+ flagNonRepriseErrorMot = 0;
+ /*
+ Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
+ */
+ //printf("load next instruction\n");
+ if(dodgeq.nb > 0){//dodge q
+ instruction.order=dodgeq.inst[dodgeq.nb-1].order;
+ instruction.arg1=dodgeq.inst[dodgeq.nb-1].arg1;
+ instruction.arg2=dodgeq.inst[dodgeq.nb-1].arg2;
+ instruction.arg3=dodgeq.inst[dodgeq.nb-1].arg3;
+ gameEtat=ETAT_GAME_PROCESS_INSTRUCTION;
+ dodgeq.nb--;
+ }//end dodge q
+ else{// no dodge q
+ 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;
+ }
+ }//end no dodge q
+ 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
+ float alpha=0, theta=0;
+ unsigned short alph=0;
+ 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;
+ }
+ }
+ if(InversStrat == 1 && ingnorInversionOnce == 0) {
+ if(instruction.direction == LEFT) instruction.direction = RIGHT;
+ else instruction.direction = LEFT;
+ }
+
+ 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);
+#ifdef ROBOT_SMALL
+ if(localData2>0) {
+ direction=1;
+ } else {
+ direction=-1;
+ }
+#else
+ if(localData2>0) {
+ direction=-1;
+ } else {
+ direction=1;
+ }
+#endif
+ if(localData2>0)alph=localData2;
+ else alph=-localData2;
+ alpha = localData2*M_PI/1800.0f;
+ theta = theta_robot*M_PI/1800.0f;
+
+ if(instruction.direction == LEFT) { //-------------LEFT
+ if(alph<450){ // 1 XYT
+ dodgeq.inst[0].order = MV_XYT;
+ dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
+ dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
+ dodgeq.inst[0].arg3 = theta_robot + alph;// T
+ }
+ else if(alph<900){
+ for(int c=0;c<2;c++){ // 2 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot + alph;// T
+ alpha-=alpha/2.0f;
+ alph-=alph/2;
+ }
+ }
+ else if(alph<1350){
+ for(int c=0;c<3;c++){ // 3 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot + alph;// T
+ alpha-=alpha/3.0f;
+ alph-=alph/3;
+ }
+ }
+ else if(alph<1800){
+ for(int c=0;c<4;c++){ // 4 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot + alph;// T
+ alpha-=alpha/4.0f;
+ alph-=alph/4;
+ }
+ }
+ else if(alph<2250){
+ for(int c=0;c<5;c++){ // 5 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot + alph;// T
+ alpha-=alpha/5.0f;
+ alph-=alph/5;
+ }
+ }
+ else {
+ for(int c=0;c<6;c++){ // 6 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot + alph;// T
+ alpha-=alpha/6.0f;
+ alph-=alph/6;
+ }
+ }
+ } else { //-----------------------------------------RIGHT
+ if(alph<450){ // 1 XYT
+ dodgeq.inst[0].order = MV_XYT;
+ dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
+ dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
+ dodgeq.inst[0].arg3 = theta_robot - alph;// T
+ }
+ else if(alph<900){
+ for(int c=0;c<2;c++){ // 2 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot - alph;// T
+ alpha-=alpha/2.0f;
+ }
+ }
+ else if(alph<1350){
+ for(int c=0;c<3;c++){ // 3 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot - alph;// T
+ alpha-=alpha/3.0f;
+ }
+ }
+ else if(alph<1800){
+ for(int c=0;c<4;c++){ // 4 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot - alph;// T
+ alpha-=alpha/4.0f;
+ }
+ }
+ else if(alph<2250){
+ for(int c=0;c<5;c++){ // 5 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot - alph;// T
+ alpha-=alpha/5.0f;
+ }
+ }
+ else {
+ for(int c=0;c<6;c++){ // 6 points de passages
+ dodgeq.inst[c].order = MV_XYT;
+ dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
+ dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
+ dodgeq.inst[c].arg3 = theta_robot - alph;// T
+ alpha-=alpha/6.0f;
+ }
+ }
+ }
+ 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
+ target_x_robot = x_robot;
+ target_y_robot = y_robot;
+ target_theta_robot = theta_robot + 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:
+
+ 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);
+ // 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();
+ //SendSpeed(200);//--------------------------------------------------MODE RALENTI !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ 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_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;
+
+ case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
+ {
+
+ 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(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR)
+ {
+ if(flagNonRepriseErrorMot) {
+ actual_instruction = instruction.nextLineError;
+ gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
+ flagNonRepriseErrorMot = 0;
+ } else {
+ flagNonRepriseErrorMot = 1;
+ timeoutWarningWaitEnd.reset();
+ timeoutWarningWaitEnd.start();
+ //gameEtat = ETAT_WARING_END_BALISE_WAIT;
+ }
+ }
+ /*
+ if(flagNonRepriseErrorMot) {
+ actual_instruction = instruction.nextLineError;
+ gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
+ flagNonRepriseErrorMot = 0;
+ } else {
+ flagNonRepriseErrorMot = 1;
+ gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
+ }*/
+ } 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);
+ /*
+//on desactive la balise dans les rotations XYT
+ 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;
+
+//on desactive la balise dans les rotations
+ if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1;
+ if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0;
+ */
+
+ // SendMsgCan(0x666,&ingnorBalise,1);
+
+ 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;
+
+
+#ifdef ROBOT_BIG
+#define point_balance 12
+#define point_accelerateur 10
+ case NB_PALETS_BLEU: //nb de palets bleu mis dans l'accelerateur
+ unsigned short palets_bleu=(unsigned short)msgRxBuffer[FIFO_lecture].data[0];
+ SCORE_GR+=palets_bleu*point_balance;
+ //SCORE_GLOBAL=SCORE_GR+SCORE_PR;
+ //liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
+ break;
+
+ case NB_PALETS_VERTS://nb de palets vert/rouge mis dans l'accelerateur
+ unsigned short palets_verts=(unsigned short)msgRxBuffer[FIFO_lecture].data[0];
+ SCORE_GR+=palets_verts*point_accelerateur;
+ //SCORE_GLOBAL=SCORE_GR+SCORE_PR;
+ //liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
+ break;
+#endif
+ 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);
+ balise_danger();
+ break;
+
+ case BALISE_STOP:
+ SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
+ balise_stop(FIFO_lecture);
+ break;
+
+ case BALISE_END_DANGER:
+ SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
+ balise_end_danger(&instruction,&dodgeq,&gameEtat,target_x_robot,target_y_robot,target_theta_robot, theta_robot,x_robot,y_robot);
+ 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);
+ flagReceptionTelemetres = 1;
+ // 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;
+
+ unsigned short tempo= telemetreDistance_arriere_gauche;
+ telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
+ telemetreDistance_arriere_droite=tempo;
+
+ 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;
+
+ unsigned short tempo= telemetreDistance_arriere_gauche;
+ telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
+ telemetreDistance_arriere_droite=tempo;
+
+ 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);
+}
+