code_carte_IHM_avec_modifs - code avec modifs, programme mit dans les robots p…

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CRAC Team / Mbed 2 deprecated code_carte_IHM_avec_modifs

code avec modifs, programme mit dans les robots pour les derniers matchs

Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait

IHM/ihm.cpp@36:c37dbe2be916, 2021-05-31 (annotated)

Committer:: goldmas
Date:: Mon May 31 13:36:03 2021 +0000
Revision:: 36:c37dbe2be916
Parent:: 35:2a745eeb7922
Child:: 37:ee2c72e76d9c
Child:: 38:9d6a3ccc0582

dernier code vallable;

Who changed what in which revision?

User	Revision	Line number	New contents of line
gabrieltetar	21:d137ec53c3a9	1	#include "global.h"
gabrieltetar	21:d137ec53c3a9	2
goldmas	35:2a745eeb7922	3	#define M_PI 3.14159265358979323846
goldmas	35:2a745eeb7922	4
gabrieltetar	21:d137ec53c3a9	5	#define VERT 0xFF00FF00
gabrieltetar	21:d137ec53c3a9	6	#define ROUGE 0xFFFF0000
gabrieltetar	21:d137ec53c3a9	7	#define BLEU 0xFF0000FF
gabrieltetar	21:d137ec53c3a9	8	#define JAUNE 0xFFFDD835//FEFE00
gabrieltetar	21:d137ec53c3a9	9	#define BLANC 0xFF000000
gabrieltetar	21:d137ec53c3a9	10	#define ORANGE 0xFFFFA500
gabrieltetar	21:d137ec53c3a9	11	#define NOIR 0xFF000000
gabrieltetar	21:d137ec53c3a9	12	#define DIY_GREY 0xFFDFDFDF
gabrieltetar	21:d137ec53c3a9	13	#define VIOLET 0xFF4527A0
gabrieltetar	27:ff70537a7619	14	#define VERT_F 0xFF00C400
goldmas	35:2a745eeb7922	15	#define VIOLET_F 0x788000FF
gabrieltetar	21:d137ec53c3a9	16	TS_DISCO_F469NI ts;
gabrieltetar	21:d137ec53c3a9	17	LCD_DISCO_F469NI lcd;
gabrieltetar	21:d137ec53c3a9	18
gabrieltetar	21:d137ec53c3a9	19
gabrieltetar	21:d137ec53c3a9	20	TS_StateTypeDef TS_State;
gabrieltetar	21:d137ec53c3a9	21
gabrieltetar	21:d137ec53c3a9	22
gabrieltetar	21:d137ec53c3a9	23	/////////////////DEFINITION DES BOUTONS////////////////////
gabrieltetar	21:d137ec53c3a9	24	Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
goldmas	33:c54841d11156	25	Button COTE_VIOLET(0, 350, 400, 300, "BLEU");
goldmas	36:c37dbe2be916	26	Button COTE_HAUT(0, 25, 400, 300, "ROBOT DU HAUT");
goldmas	36:c37dbe2be916	27	Button COTE_BAS(0, 350, 400, 300, "ROBOT DU BAS");
gabrieltetar	21:d137ec53c3a9	28	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	21:d137ec53c3a9	29	Button LANCER (0, 200, 400, 200, "--LANCER--");
gabrieltetar	21:d137ec53c3a9	30	Button CHECK (0, 420, 400, 200, "Valider");
gabrieltetar	21:d137ec53c3a9	31	Button MATCH (0, 50, 400, 320, "Match");
gabrieltetar	21:d137ec53c3a9	32	Button DEMONSTRATION (0, 400, 400, 320, "Demo");
gabrieltetar	21:d137ec53c3a9	33	//menu demo
gabrieltetar	21:d137ec53c3a9	34	Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
gabrieltetar	21:d137ec53c3a9	35	Button TEST_MOT(0, 135, 400, 100, "Test moteur");
gabrieltetar	21:d137ec53c3a9	36	Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
gabrieltetar	21:d137ec53c3a9	37	Button TEST_BRAS(0,355,400,100,"Test Bras");
gabrieltetar	21:d137ec53c3a9	38	Button TEST_AUDIO(0,465,400,100,"Test Audio");
gabrieltetar	22:c7763a7ec6c7	39
gabrieltetar	22:c7763a7ec6c7	40	Button TEST_NEXT(0,575,400,100,"------>");
gabrieltetar	22:c7763a7ec6c7	41	Button TEST_DIV(0,25,400,100,"Test Divers");
gabrieltetar	22:c7763a7ec6c7	42	Button TEST_ASSERV(0, 135, 400, 100, "Test asserv");
gabrieltetar	21:d137ec53c3a9	43	//menu demo/demo/
gabrieltetar	21:d137ec53c3a9	44	Button TEST_A(0,25,195,100,"A");
gabrieltetar	21:d137ec53c3a9	45	Button TEST_B(205,25,195,100,"B");
gabrieltetar	21:d137ec53c3a9	46	Button TEST_C(0,135,195,100,"C");
gabrieltetar	21:d137ec53c3a9	47	Button TEST_D(205,135,195,100,"D");
gabrieltetar	22:c7763a7ec6c7	48	Button TEST_NUM(0,245,400,100,"Num");
goldmas	32:7f8e3ee2adac	49	Button TEST_ATTRAPER(0,300,400,100,"Attraper");
goldmas	32:7f8e3ee2adac	50	Button TEST_RELACHER(0,450,400,100,"Relacher");
goldmas	32:7f8e3ee2adac	51
gabrieltetar	21:d137ec53c3a9	52	Button TEST_PLUS(205,355,195,100,"+");
gabrieltetar	21:d137ec53c3a9	53	Button TEST_MOINS(0,355,195,100,"-");
goldmas	34:c314feaa0d3e	54	Button TEST_SERVO_0(280,50,120,100,"Bras 0");
goldmas	32:7f8e3ee2adac	55	Button TEST_SERVO_1(140,50,120,100,"Bras 1");
goldmas	34:c314feaa0d3e	56	Button TEST_SERVO_2(0,50,120,100,"Bras 2");
goldmas	32:7f8e3ee2adac	57	Button TEST_SERVO_3(0,160,120,100,"Bras 3");
goldmas	32:7f8e3ee2adac	58	Button TEST_SERVO_4(140,160,120,100,"Bras 4");
goldmas	32:7f8e3ee2adac	59	Button TEST_SERVO_5(280,160,120,100,"Bras 5");
goldmas	34:c314feaa0d3e	60
goldmas	34:c314feaa0d3e	61	Button TEST_VENT_0(280,50,120,100,"Vent 0");
goldmas	34:c314feaa0d3e	62	Button TEST_VENT_1(140,50,120,100,"Vent 1");
goldmas	34:c314feaa0d3e	63	Button TEST_VENT_2(0,50,120,100,"Vent 2");
goldmas	34:c314feaa0d3e	64	Button TEST_VENT_3(0,160,120,100,"Vent 3");
goldmas	34:c314feaa0d3e	65	Button TEST_VENT_4(140,160,120,100,"Vent 4");
goldmas	34:c314feaa0d3e	66	Button TEST_VENT_5(280,160,120,100,"Vent 5");
goldmas	34:c314feaa0d3e	67
gabrieltetar	22:c7763a7ec6c7	68	Button FORCE_LAUNCH(0, 600, 400, 100, "Force Launch");
gabrieltetar	21:d137ec53c3a9	69	Button SUIVANT(0,380,200,100,"Suivant");
gabrieltetar	21:d137ec53c3a9	70	////////////////////////////////////////////////////////////
gabrieltetar	24:1a13c998c7ac	71
gabrieltetar	21:d137ec53c3a9	72	signed char Bouton_Strat (void);
gabrieltetar	27:ff70537a7619	73	void DrawC (int l,int h,int x, int y, unsigned char fill);
gabrieltetar	27:ff70537a7619	74	void DrawR (int l,int h,int x, int y, unsigned char fill);
gabrieltetar	27:ff70537a7619	75	void DrawA (int l,int h,int x, int y, unsigned char fill);
gabrieltetar	24:1a13c998c7ac	76
gabrieltetar	21:d137ec53c3a9	77	void SelectionStrat (unsigned char numeroStrat);
gabrieltetar	21:d137ec53c3a9	78
gabrieltetar	21:d137ec53c3a9	79	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	80	/* FUNCTION NAME: automate_etat_ihm */
gabrieltetar	21:d137ec53c3a9	81	/* DESCRIPTION : Automate de gestion de l'affichage */
gabrieltetar	21:d137ec53c3a9	82	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	83	void automate_etat_ihm(void)
gabrieltetar	21:d137ec53c3a9	84	{
goldmas	32:7f8e3ee2adac	85	char toto[12];
goldmas	35:2a745eeb7922	86	int j, old_time=0, actual_time=0, old_score=0, actual_score=0, unique=0;
goldmas	32:7f8e3ee2adac	87	unsigned char maximilien=1, choix_groupe;
gabrieltetar	21:d137ec53c3a9	88	if (j==0) {
gabrieltetar	21:d137ec53c3a9	89	ts.Init(lcd.GetXSize(), lcd.GetYSize());
gabrieltetar	21:d137ec53c3a9	90	j++;
gabrieltetar	21:d137ec53c3a9	91	}
gabrieltetar	21:d137ec53c3a9	92	ts.GetState(&TS_State);
gabrieltetar	21:d137ec53c3a9	93	switch (strat_etat_s) {
gabrieltetar	24:1a13c998c7ac	94	case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
gabrieltetar	21:d137ec53c3a9	95	ts.GetState(&TS_State);
gabrieltetar	22:c7763a7ec6c7	96	canProcessRx();
gabrieltetar	24:1a13c998c7ac	97	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	98	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	24:1a13c998c7ac	99	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	100	wait(0.15);
gabrieltetar	27:ff70537a7619	101	DrawC(95,150,0,50,0);
gabrieltetar	27:ff70537a7619	102	DrawR(95,150,105,50,0);
gabrieltetar	27:ff70537a7619	103	DrawA(95,150,210,50,0);
gabrieltetar	27:ff70537a7619	104	DrawC(95,150,315,50,0);
gabrieltetar	27:ff70537a7619	105	DrawCheck(30,30,50,243,0);
gabrieltetar	27:ff70537a7619	106	DrawCheck(30,30,50,293,0);
gabrieltetar	27:ff70537a7619	107	DrawCheck(30,30,50,343,0);
gabrieltetar	27:ff70537a7619	108	DrawCheck(30,30,50,393,0);
gabrieltetar	27:ff70537a7619	109	lcd.DisplayStringAt(100, 250, (uint8_t *)"Init CAN", LEFT_MODE);
slowness	29:ff575aff301f	110	DrawCheck(30,30,50,243,can_present);
gabrieltetar	27:ff70537a7619	111	lcd.DisplayStringAt(100, 300, (uint8_t *)"Micro SD", LEFT_MODE);
slowness	29:ff575aff301f	112	DrawCheck(30,30,50,293,sd_present);
gabrieltetar	27:ff70537a7619	113	lcd.DisplayStringAt(100, 350, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	27:ff70537a7619	114	lcd.DisplayStringAt(100, 400, (uint8_t *)"Balise IR", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	115	FORCE_LAUNCH.Draw(0xFFFF0000, 0);
gabrieltetar	24:1a13c998c7ac	116
gabrieltetar	24:1a13c998c7ac	117	strat_etat_s=ATT;
gabrieltetar	24:1a13c998c7ac	118	break;
gabrieltetar	24:1a13c998c7ac	119
gabrieltetar	24:1a13c998c7ac	120	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...)
gabrieltetar	24:1a13c998c7ac	121	if (flag_check_carte==1) {
gabrieltetar	24:1a13c998c7ac	122	strat_etat_s = CHOIX;
gabrieltetar	24:1a13c998c7ac	123	gameEtat = ETAT_CONFIG;
gabrieltetar	24:1a13c998c7ac	124	} else if (FORCE_LAUNCH.Touched()) {
gabrieltetar	24:1a13c998c7ac	125	strat_etat_s = CHOIX;
gabrieltetar	24:1a13c998c7ac	126	gameEtat = ETAT_CONFIG;
gabrieltetar	24:1a13c998c7ac	127	while(FORCE_LAUNCH.Touched());
gabrieltetar	21:d137ec53c3a9	128	}
gabrieltetar	24:1a13c998c7ac	129
gabrieltetar	21:d137ec53c3a9	130	break;
gabrieltetar	24:1a13c998c7ac	131
gabrieltetar	24:1a13c998c7ac	132
gabrieltetar	21:d137ec53c3a9	133	case CHOIX : //Match ou DEMO
gabrieltetar	21:d137ec53c3a9	134	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	135	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	136	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	137	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	138	DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
gabrieltetar	21:d137ec53c3a9	139	MATCH.Draw(0xFFF01010, 0);
gabrieltetar	21:d137ec53c3a9	140	while(strat_etat_s == CHOIX) {
gabrieltetar	21:d137ec53c3a9	141	canProcessRx();
gabrieltetar	21:d137ec53c3a9	142	if(DEMONSTRATION.Touched()) {
gabrieltetar	21:d137ec53c3a9	143	strat_etat_s = DEMO;
gabrieltetar	21:d137ec53c3a9	144	while(DEMONSTRATION.Touched());
gabrieltetar	21:d137ec53c3a9	145	}
gabrieltetar	21:d137ec53c3a9	146
gabrieltetar	21:d137ec53c3a9	147	if(MATCH.Touched()) {
gabrieltetar	21:d137ec53c3a9	148	strat_etat_s = SELECT_SIDE;
gabrieltetar	21:d137ec53c3a9	149	while(MATCH.Touched());
gabrieltetar	21:d137ec53c3a9	150	}
gabrieltetar	21:d137ec53c3a9	151
gabrieltetar	21:d137ec53c3a9	152	}
gabrieltetar	21:d137ec53c3a9	153	break;
gabrieltetar	21:d137ec53c3a9	154
gabrieltetar	21:d137ec53c3a9	155	case DEMO :
gabrieltetar	21:d137ec53c3a9	156	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	157	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	158	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	22:c7763a7ec6c7	159	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 1/2", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	160	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	21:d137ec53c3a9	161	TEST_VENT.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	162	TEST_MOT.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	163	TEST_COUL.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	164	TEST_BRAS.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	165	TEST_AUDIO.Draw(VERT, 0);
gabrieltetar	22:c7763a7ec6c7	166	TEST_NEXT.Draw(BLEU, 0);
gabrieltetar	21:d137ec53c3a9	167	maximilien=0;
gabrieltetar	21:d137ec53c3a9	168	while (strat_etat_s == DEMO) {
gabrieltetar	21:d137ec53c3a9	169	canProcessRx();
gabrieltetar	21:d137ec53c3a9	170	if(TEST_VENT.Touched()) {
gabrieltetar	21:d137ec53c3a9	171	while(TEST_VENT.Touched());
gabrieltetar	21:d137ec53c3a9	172	strat_etat_s = TEST_VENTOUSE;
gabrieltetar	21:d137ec53c3a9	173	} else if(TEST_MOT.Touched()) {
gabrieltetar	21:d137ec53c3a9	174	while(TEST_MOT.Touched());
gabrieltetar	21:d137ec53c3a9	175	strat_etat_s = TEST_MOTEUR;
gabrieltetar	22:c7763a7ec6c7	176	} else if(TEST_NEXT.Touched()) {
gabrieltetar	22:c7763a7ec6c7	177	while(TEST_NEXT.Touched());
gabrieltetar	22:c7763a7ec6c7	178	strat_etat_s = DEMO2;
gabrieltetar	21:d137ec53c3a9	179	} else if (TEST_COUL.Touched()) {
gabrieltetar	21:d137ec53c3a9	180	while(TEST_COUL.Touched());
gabrieltetar	21:d137ec53c3a9	181	strat_etat_s =TEST_COULEUR ;
gabrieltetar	21:d137ec53c3a9	182	} else if (TEST_BRAS.Touched()) {
gabrieltetar	21:d137ec53c3a9	183	while(TEST_BRAS.Touched());
gabrieltetar	21:d137ec53c3a9	184	strat_etat_s =TEST_SERVO_BRAS ;
gabrieltetar	21:d137ec53c3a9	185	} else if(TEST_AUDIO.Touched()) {
gabrieltetar	21:d137ec53c3a9	186	while(TEST_AUDIO.Touched());
gabrieltetar	21:d137ec53c3a9	187	strat_etat_s=TEST_AUD;
gabrieltetar	21:d137ec53c3a9	188	} else if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	189	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	190	strat_etat_s = CHOIX;
gabrieltetar	21:d137ec53c3a9	191	}
gabrieltetar	21:d137ec53c3a9	192	}
gabrieltetar	21:d137ec53c3a9	193	break;
gabrieltetar	24:1a13c998c7ac	194
gabrieltetar	24:1a13c998c7ac	195	case DEMO2 :
gabrieltetar	22:c7763a7ec6c7	196	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	22:c7763a7ec6c7	197	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	22:c7763a7ec6c7	198	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	22:c7763a7ec6c7	199	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 2/2", LEFT_MODE);
gabrieltetar	22:c7763a7ec6c7	200	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	22:c7763a7ec6c7	201	TEST_DIV.Draw(VERT, 0);
gabrieltetar	22:c7763a7ec6c7	202	TEST_ASSERV.Draw(VERT, 0);
gabrieltetar	22:c7763a7ec6c7	203	TEST_NEXT.Draw(BLEU, 0);
gabrieltetar	22:c7763a7ec6c7	204	maximilien=0;
gabrieltetar	22:c7763a7ec6c7	205	while (strat_etat_s == DEMO2) {
gabrieltetar	22:c7763a7ec6c7	206	canProcessRx();
gabrieltetar	22:c7763a7ec6c7	207	if(TEST_NEXT.Touched()) {
gabrieltetar	22:c7763a7ec6c7	208	while(TEST_NEXT.Touched());
gabrieltetar	22:c7763a7ec6c7	209	strat_etat_s = DEMO;
gabrieltetar	22:c7763a7ec6c7	210	} else if(TEST_DIV.Touched()) {
gabrieltetar	22:c7763a7ec6c7	211	while(TEST_DIV.Touched());
gabrieltetar	22:c7763a7ec6c7	212	strat_etat_s = TEST_DIVE;
gabrieltetar	22:c7763a7ec6c7	213	} else if(TEST_ASSERV.Touched()) {
gabrieltetar	22:c7763a7ec6c7	214	while(TEST_ASSERV.Touched());
gabrieltetar	22:c7763a7ec6c7	215	strat_etat_s = TEST_ASSERVE;
gabrieltetar	22:c7763a7ec6c7	216	} else if(RETOUR.Touched()) {
gabrieltetar	22:c7763a7ec6c7	217	while(RETOUR.Touched());
gabrieltetar	22:c7763a7ec6c7	218	strat_etat_s = CHOIX;
gabrieltetar	22:c7763a7ec6c7	219	}
gabrieltetar	22:c7763a7ec6c7	220	}
gabrieltetar	24:1a13c998c7ac	221	break;
gabrieltetar	24:1a13c998c7ac	222
gabrieltetar	24:1a13c998c7ac	223	case TEST_ASSERVE:
gabrieltetar	24:1a13c998c7ac	224	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	225	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	24:1a13c998c7ac	226	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	227	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Asservissements", LEFT_MODE);
goldmas	35:2a745eeb7922	228
gabrieltetar	24:1a13c998c7ac	229	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	24:1a13c998c7ac	230	TEST_A.Draw(BLEU, BLANC);
goldmas	35:2a745eeb7922	231	TEST_B.Draw(BLEU, BLANC);
goldmas	35:2a745eeb7922	232	TEST_C.Draw(BLEU, BLANC) ;
goldmas	35:2a745eeb7922	233
gabrieltetar	24:1a13c998c7ac	234	while(strat_etat_s==TEST_ASSERVE) {
gabrieltetar	24:1a13c998c7ac	235	if(RETOUR.Touched()) {
gabrieltetar	24:1a13c998c7ac	236	while (RETOUR.Touched());
gabrieltetar	24:1a13c998c7ac	237	strat_etat_s=DEMO2;
gabrieltetar	24:1a13c998c7ac	238	} else if(TEST_A.Touched()) {
gabrieltetar	24:1a13c998c7ac	239	while (TEST_A.Touched());
gabrieltetar	24:1a13c998c7ac	240	GoToPosition(2000,0,0,0);
gabrieltetar	24:1a13c998c7ac	241	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	242	} else if(TEST_B.Touched()) {
gabrieltetar	24:1a13c998c7ac	243	while (TEST_B.Touched());
gabrieltetar	24:1a13c998c7ac	244	Rotate(3599);
gabrieltetar	24:1a13c998c7ac	245	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	246	}
goldmas	35:2a745eeb7922	247	else if(TEST_C.Touched())
goldmas	35:2a745eeb7922	248	{
goldmas	35:2a745eeb7922	249	while (TEST_C.Touched());
goldmas	35:2a745eeb7922	250	BendRadius(1000,900,1,0);
goldmas	35:2a745eeb7922	251	TEST_B.Draw(BLEU, BLANC);
goldmas	35:2a745eeb7922	252	}
gabrieltetar	24:1a13c998c7ac	253	}
gabrieltetar	24:1a13c998c7ac	254	break;
gabrieltetar	24:1a13c998c7ac	255
gabrieltetar	24:1a13c998c7ac	256	case TEST_DIVE:
gabrieltetar	24:1a13c998c7ac	257
gabrieltetar	24:1a13c998c7ac	258	while(strat_etat_s==TEST_DIVE) {
gabrieltetar	24:1a13c998c7ac	259	canProcessRx();
gabrieltetar	24:1a13c998c7ac	260	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	261	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	24:1a13c998c7ac	262	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	263	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Coordonnees", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	264	sprintf(toto,"%hd",x_robot);
gabrieltetar	24:1a13c998c7ac	265	lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"X :", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	266	lcd.DisplayStringAt(50, LINE(10), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	267	sprintf(toto,"%hd",y_robot);
gabrieltetar	24:1a13c998c7ac	268	lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"Y :", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	269	lcd.DisplayStringAt(50, LINE(11), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	270	sprintf(toto,"%hd",theta_robot);
gabrieltetar	24:1a13c998c7ac	271	lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"T :", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	272	lcd.DisplayStringAt(50, LINE(12), (unsigned char *) toto, LEFT_MODE);
goldmas	35:2a745eeb7922	273	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	24:1a13c998c7ac	274	if(RETOUR.Touched()) {
gabrieltetar	24:1a13c998c7ac	275	while (RETOUR.Touched());
gabrieltetar	24:1a13c998c7ac	276	strat_etat_s=DEMO2;
gabrieltetar	24:1a13c998c7ac	277	}
gabrieltetar	24:1a13c998c7ac	278	wait(0.2);
gabrieltetar	24:1a13c998c7ac	279	}
gabrieltetar	24:1a13c998c7ac	280	break;
gabrieltetar	21:d137ec53c3a9	281
gabrieltetar	21:d137ec53c3a9	282	case TEST_VENTOUSE:
goldmas	34:c314feaa0d3e	283	char vent_select_0 = 7, vent_select_1 = 0, vent_select_2 = 0, vent_select_3 = 0, vent_select_4 = 0, vent_select_5 = 0 ;
goldmas	34:c314feaa0d3e	284	unsigned char choix_vent;
gabrieltetar	21:d137ec53c3a9	285	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	286	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	287	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	288	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	289	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	290	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	291	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	292	RETOUR.Draw(0xFFFF0000,0);
goldmas	34:c314feaa0d3e	293	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	294	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	295	TEST_VENT_0.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	296	TEST_VENT_1.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	297	TEST_VENT_2.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	298	TEST_VENT_3.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	299	TEST_VENT_4.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	300	TEST_VENT_5.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	301	while(strat_etat_s==TEST_VENTOUSE)
goldmas	34:c314feaa0d3e	302	{
goldmas	34:c314feaa0d3e	303	if(RETOUR.Touched())
goldmas	34:c314feaa0d3e	304	{
goldmas	34:c314feaa0d3e	305	while (RETOUR.Touched());
goldmas	34:c314feaa0d3e	306	strat_etat_s=DEMO;
goldmas	34:c314feaa0d3e	307	}
goldmas	34:c314feaa0d3e	308	else if(TEST_VENT_0.Touched())
goldmas	34:c314feaa0d3e	309	{
goldmas	34:c314feaa0d3e	310	while (TEST_VENT_0.Touched());
goldmas	34:c314feaa0d3e	311	if(vent_select_0 == 0)
goldmas	34:c314feaa0d3e	312	{
goldmas	34:c314feaa0d3e	313	vent_select_0 = 7 ;
goldmas	34:c314feaa0d3e	314	TEST_VENT_0.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	315	}
goldmas	34:c314feaa0d3e	316	else
goldmas	34:c314feaa0d3e	317	{
goldmas	34:c314feaa0d3e	318	vent_select_0 = 0 ;
goldmas	34:c314feaa0d3e	319	TEST_VENT_0.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	320	}
goldmas	34:c314feaa0d3e	321	}
goldmas	34:c314feaa0d3e	322	else if(TEST_VENT_1.Touched())
goldmas	34:c314feaa0d3e	323	{
goldmas	34:c314feaa0d3e	324	while (TEST_VENT_1.Touched());
goldmas	34:c314feaa0d3e	325	if(vent_select_1 == 1)
goldmas	34:c314feaa0d3e	326	{
goldmas	34:c314feaa0d3e	327	vent_select_1 = 0 ;
goldmas	34:c314feaa0d3e	328	TEST_VENT_1.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	329	}
goldmas	34:c314feaa0d3e	330	else
goldmas	34:c314feaa0d3e	331	{
goldmas	34:c314feaa0d3e	332	vent_select_1 = 1 ;
goldmas	34:c314feaa0d3e	333	TEST_VENT_1.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	334	}
goldmas	34:c314feaa0d3e	335	}
goldmas	34:c314feaa0d3e	336	else if(TEST_VENT_2.Touched())
goldmas	34:c314feaa0d3e	337	{
goldmas	34:c314feaa0d3e	338	while (TEST_VENT_2.Touched());
goldmas	34:c314feaa0d3e	339	if(vent_select_2 == 2)
goldmas	34:c314feaa0d3e	340	{
goldmas	34:c314feaa0d3e	341	vent_select_2 = 0 ;
goldmas	34:c314feaa0d3e	342	TEST_VENT_2.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	343	}
goldmas	34:c314feaa0d3e	344	else
goldmas	34:c314feaa0d3e	345	{
goldmas	34:c314feaa0d3e	346	vent_select_2 = 2 ;
goldmas	34:c314feaa0d3e	347	TEST_VENT_2.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	348	}
goldmas	34:c314feaa0d3e	349	}
goldmas	34:c314feaa0d3e	350	else if(TEST_VENT_3.Touched())
goldmas	34:c314feaa0d3e	351	{
goldmas	34:c314feaa0d3e	352	while (TEST_VENT_3.Touched());
goldmas	34:c314feaa0d3e	353	if(vent_select_3 == 3)
goldmas	34:c314feaa0d3e	354	{
goldmas	34:c314feaa0d3e	355	vent_select_3 = 0 ;
goldmas	34:c314feaa0d3e	356	TEST_VENT_3.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	357	}
goldmas	34:c314feaa0d3e	358	else
goldmas	34:c314feaa0d3e	359	{
goldmas	34:c314feaa0d3e	360	vent_select_3 = 3 ;
goldmas	34:c314feaa0d3e	361	TEST_VENT_3.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	362	}
goldmas	34:c314feaa0d3e	363	}
goldmas	34:c314feaa0d3e	364	else if(TEST_VENT_4.Touched())
goldmas	34:c314feaa0d3e	365	{
goldmas	34:c314feaa0d3e	366	while (TEST_VENT_4.Touched());
goldmas	34:c314feaa0d3e	367	if(vent_select_4 == 4)
goldmas	34:c314feaa0d3e	368	{
goldmas	34:c314feaa0d3e	369	vent_select_4 = 0 ;
goldmas	34:c314feaa0d3e	370	TEST_VENT_4.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	371	}
goldmas	34:c314feaa0d3e	372	else
goldmas	34:c314feaa0d3e	373	{
goldmas	34:c314feaa0d3e	374	vent_select_4 = 4 ;
goldmas	34:c314feaa0d3e	375	TEST_VENT_4.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	376	}
goldmas	34:c314feaa0d3e	377	}
goldmas	34:c314feaa0d3e	378	else if(TEST_VENT_5.Touched())
goldmas	34:c314feaa0d3e	379	{
goldmas	34:c314feaa0d3e	380	while (TEST_VENT_5.Touched());
goldmas	34:c314feaa0d3e	381	if(vent_select_5 == 5)
goldmas	34:c314feaa0d3e	382	{
goldmas	34:c314feaa0d3e	383	vent_select_5 = 0 ;
goldmas	34:c314feaa0d3e	384	TEST_VENT_5.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	385	}
goldmas	34:c314feaa0d3e	386	else
goldmas	34:c314feaa0d3e	387	{
goldmas	34:c314feaa0d3e	388	vent_select_5 = 5 ;
goldmas	34:c314feaa0d3e	389	TEST_VENT_5.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	390	}
goldmas	34:c314feaa0d3e	391	}
goldmas	34:c314feaa0d3e	392	else if (TEST_ATTRAPER.Touched())
goldmas	34:c314feaa0d3e	393	{
goldmas	34:c314feaa0d3e	394	while(TEST_ATTRAPER.Touched()) ;
goldmas	34:c314feaa0d3e	395	unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche; //chager pour un short et remettre les valeurs correct (char utiliser pour les test)
goldmas	34:c314feaa0d3e	396	message_droit_at = 100 * vent_select_2 + 10 * vent_select_1 + vent_select_0 ;
goldmas	34:c314feaa0d3e	397	message_gauche_at = 100 * vent_select_5 + 10 * vent_select_4 + vent_select_3 ;
goldmas	34:c314feaa0d3e	398
goldmas	34:c314feaa0d3e	399	switch (message_gauche_at)
goldmas	34:c314feaa0d3e	400	{
goldmas	34:c314feaa0d3e	401	case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	402	choix_vent = 66 ;
goldmas	34:c314feaa0d3e	403	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	404	break ;
goldmas	34:c314feaa0d3e	405	case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	406	choix_vent = 54 ;
goldmas	34:c314feaa0d3e	407	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	408	break ;
goldmas	34:c314feaa0d3e	409	case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	410	choix_vent = 53 ;
goldmas	34:c314feaa0d3e	411	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	412	break ;
goldmas	34:c314feaa0d3e	413	case 43 :
goldmas	34:c314feaa0d3e	414	choix_vent = 43 ;
goldmas	34:c314feaa0d3e	415	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	416	break ;
goldmas	34:c314feaa0d3e	417	case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	418	choix_vent = 5 ;
goldmas	34:c314feaa0d3e	419	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	420	break ;
goldmas	34:c314feaa0d3e	421	case 40 :
goldmas	34:c314feaa0d3e	422	choix_vent = 4 ;
goldmas	34:c314feaa0d3e	423	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	424	break ;
goldmas	34:c314feaa0d3e	425	case 3 :
goldmas	34:c314feaa0d3e	426	choix_vent = 3 ;
goldmas	34:c314feaa0d3e	427	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	428	break ;
goldmas	34:c314feaa0d3e	429	}
goldmas	34:c314feaa0d3e	430
goldmas	34:c314feaa0d3e	431	switch (message_droit_at)
goldmas	34:c314feaa0d3e	432	{
goldmas	34:c314feaa0d3e	433	case 210 :
goldmas	34:c314feaa0d3e	434	choix_vent = 210 ;
goldmas	34:c314feaa0d3e	435	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	436	break ;
goldmas	34:c314feaa0d3e	437	case 217 :
goldmas	34:c314feaa0d3e	438	choix_vent = 21 ;
goldmas	34:c314feaa0d3e	439	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	440	break ;
goldmas	34:c314feaa0d3e	441	case 200 :
goldmas	34:c314feaa0d3e	442	choix_vent = 20 ;
goldmas	34:c314feaa0d3e	443	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	444	break ;
goldmas	34:c314feaa0d3e	445	case 10 :
goldmas	34:c314feaa0d3e	446	choix_vent = 10 ;
goldmas	34:c314feaa0d3e	447	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	448	break ;
goldmas	34:c314feaa0d3e	449	case 207 :
goldmas	34:c314feaa0d3e	450	choix_vent = 2 ;
goldmas	34:c314feaa0d3e	451	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	452	break ;
goldmas	34:c314feaa0d3e	453	case 17 :
goldmas	34:c314feaa0d3e	454	choix_vent = 1 ;
goldmas	34:c314feaa0d3e	455	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	456	break ;
goldmas	34:c314feaa0d3e	457	case 0 :
goldmas	34:c314feaa0d3e	458	choix_vent = 0 ;
goldmas	34:c314feaa0d3e	459	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	460	break ;
goldmas	34:c314feaa0d3e	461	}
goldmas	34:c314feaa0d3e	462
goldmas	34:c314feaa0d3e	463	message_droit_at = 0 ;
goldmas	34:c314feaa0d3e	464	message_gauche_at = 0 ;
goldmas	34:c314feaa0d3e	465
goldmas	34:c314feaa0d3e	466	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	467	}
goldmas	34:c314feaa0d3e	468	else if (TEST_RELACHER.Touched())
goldmas	34:c314feaa0d3e	469	{
goldmas	34:c314feaa0d3e	470	while(TEST_RELACHER.Touched());
goldmas	34:c314feaa0d3e	471	unsigned char message_droit_re, message_gauche_re;
goldmas	34:c314feaa0d3e	472	message_droit_re = 100 * vent_select_2 + 10 * vent_select_1 + vent_select_0 ;
goldmas	34:c314feaa0d3e	473	message_gauche_re = 100 * vent_select_5 + 10 * vent_select_4 + vent_select_3 ;
goldmas	34:c314feaa0d3e	474	switch (message_droit_re)
goldmas	34:c314feaa0d3e	475	{
goldmas	34:c314feaa0d3e	476	case 210 :
goldmas	34:c314feaa0d3e	477	choix_vent = 210 ;
goldmas	34:c314feaa0d3e	478	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	479	break ;
goldmas	34:c314feaa0d3e	480	case 217 :
goldmas	34:c314feaa0d3e	481	choix_vent = 21 ;
goldmas	34:c314feaa0d3e	482	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	483	break ;
goldmas	34:c314feaa0d3e	484	case 200 :
goldmas	34:c314feaa0d3e	485	choix_vent = 20 ;
goldmas	34:c314feaa0d3e	486	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	487	break ;
goldmas	34:c314feaa0d3e	488	case 10 :
goldmas	34:c314feaa0d3e	489	choix_vent = 10 ;
goldmas	34:c314feaa0d3e	490	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	491	break ;
goldmas	34:c314feaa0d3e	492	case 207 :
goldmas	34:c314feaa0d3e	493	choix_vent = 2 ;
goldmas	34:c314feaa0d3e	494	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	495	break ;
goldmas	34:c314feaa0d3e	496	case 17 :
goldmas	34:c314feaa0d3e	497	choix_vent = 1 ;
goldmas	34:c314feaa0d3e	498	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	499	break ;
goldmas	34:c314feaa0d3e	500	case 0 :
goldmas	34:c314feaa0d3e	501	choix_vent = 0 ;
goldmas	34:c314feaa0d3e	502	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	503	break ;
goldmas	34:c314feaa0d3e	504	}
goldmas	34:c314feaa0d3e	505
goldmas	34:c314feaa0d3e	506	switch (message_gauche_re)
goldmas	34:c314feaa0d3e	507	{
goldmas	34:c314feaa0d3e	508	case 31 :
goldmas	34:c314feaa0d3e	509	choix_vent = 66 ;
goldmas	34:c314feaa0d3e	510	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	511	break ;
goldmas	34:c314feaa0d3e	512	case 28 :
goldmas	34:c314feaa0d3e	513	choix_vent = 54 ;
goldmas	34:c314feaa0d3e	514	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	515	break ;
goldmas	34:c314feaa0d3e	516	case 247 :
goldmas	34:c314feaa0d3e	517	choix_vent = 53 ;
goldmas	34:c314feaa0d3e	518	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	519	break ;
goldmas	34:c314feaa0d3e	520	case 43 :
goldmas	34:c314feaa0d3e	521	choix_vent = 43 ;
goldmas	34:c314feaa0d3e	522	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	523	break ;
goldmas	34:c314feaa0d3e	524	case 244 :
goldmas	34:c314feaa0d3e	525	choix_vent = 5 ;
goldmas	34:c314feaa0d3e	526	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	527	break ;
goldmas	34:c314feaa0d3e	528	case 40 :
goldmas	34:c314feaa0d3e	529	choix_vent = 4 ;
goldmas	34:c314feaa0d3e	530	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	531	break ;
goldmas	34:c314feaa0d3e	532	case 3 :
goldmas	34:c314feaa0d3e	533	choix_vent = 3 ;
goldmas	34:c314feaa0d3e	534	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	535	break ;
goldmas	34:c314feaa0d3e	536	}
goldmas	34:c314feaa0d3e	537	message_droit_re = 0 ;
goldmas	34:c314feaa0d3e	538	message_gauche_re = 0 ; //on remet les variables de calcul à 0 pour qu'on puisse recalculer correctement
goldmas	34:c314feaa0d3e	539
goldmas	34:c314feaa0d3e	540	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	541
goldmas	34:c314feaa0d3e	542	}
goldmas	34:c314feaa0d3e	543	}
goldmas	34:c314feaa0d3e	544	break;
goldmas	34:c314feaa0d3e	545
goldmas	34:c314feaa0d3e	546	/*
gabrieltetar	21:d137ec53c3a9	547	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	548	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	549	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	550	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	551	while(strat_etat_s==TEST_VENTOUSE) {
gabrieltetar	21:d137ec53c3a9	552	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	553	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	554	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	555	} else if(TEST_A.Touched()) {
gabrieltetar	21:d137ec53c3a9	556	while (TEST_A.Touched());
maximilienlv	28:7f2990747e09	557	SendRawId(VENT_ETAT);
gabrieltetar	21:d137ec53c3a9	558	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	559	} else if(TEST_NUM.Touched()) {
gabrieltetar	21:d137ec53c3a9	560	while (TEST_NUM.Touched());
gabrieltetar	21:d137ec53c3a9	561	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	562	switch(maximilien){
gabrieltetar	21:d137ec53c3a9	563	case 1:
goldmas	32:7f8e3ee2adac	564	choix_groupe = 0 ;
goldmas	32:7f8e3ee2adac	565	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	566	break;
gabrieltetar	21:d137ec53c3a9	567	case 2:
goldmas	32:7f8e3ee2adac	568	choix_groupe = 0 ;
goldmas	32:7f8e3ee2adac	569	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	570	break;
gabrieltetar	21:d137ec53c3a9	571	case 3:
goldmas	32:7f8e3ee2adac	572	choix_groupe = 1 ;
goldmas	32:7f8e3ee2adac	573	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	574	break;
gabrieltetar	21:d137ec53c3a9	575	case 4:
goldmas	32:7f8e3ee2adac	576	choix_groupe = 1 ;
goldmas	32:7f8e3ee2adac	577	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	578	break;
gabrieltetar	21:d137ec53c3a9	579	case 5:
goldmas	32:7f8e3ee2adac	580	choix_groupe = 2 ;
goldmas	32:7f8e3ee2adac	581	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	582	break;
gabrieltetar	21:d137ec53c3a9	583	case 6:
goldmas	32:7f8e3ee2adac	584	choix_groupe = 2 ;
goldmas	32:7f8e3ee2adac	585	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	586	break;
goldmas	32:7f8e3ee2adac	587	case 7:
goldmas	32:7f8e3ee2adac	588	choix_groupe = 3 ;
goldmas	32:7f8e3ee2adac	589	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	590	break;
goldmas	32:7f8e3ee2adac	591	case 8:
goldmas	32:7f8e3ee2adac	592	choix_groupe = 3 ;
goldmas	32:7f8e3ee2adac	593	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	594	break;
goldmas	32:7f8e3ee2adac	595	case 9:
goldmas	32:7f8e3ee2adac	596	choix_groupe = 4 ;
goldmas	32:7f8e3ee2adac	597	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	598	break;
goldmas	32:7f8e3ee2adac	599	case 10:
goldmas	32:7f8e3ee2adac	600	choix_groupe = 4 ;
goldmas	32:7f8e3ee2adac	601	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	602	break;
goldmas	32:7f8e3ee2adac	603	case 11:
goldmas	32:7f8e3ee2adac	604	choix_groupe = 5 ;
goldmas	32:7f8e3ee2adac	605	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	606	break;
goldmas	32:7f8e3ee2adac	607	case 12:
goldmas	32:7f8e3ee2adac	608	choix_groupe = 5 ;
goldmas	32:7f8e3ee2adac	609	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	610	break;
gabrieltetar	21:d137ec53c3a9	611	}
gabrieltetar	21:d137ec53c3a9	612	} else if(TEST_PLUS.Touched()) {
gabrieltetar	21:d137ec53c3a9	613	while (TEST_PLUS.Touched());
gabrieltetar	21:d137ec53c3a9	614	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	615	if(maximilien!=6)maximilien++;
gabrieltetar	21:d137ec53c3a9	616	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	617	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	618	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	619	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	620	} else if(TEST_MOINS.Touched()) {
gabrieltetar	21:d137ec53c3a9	621	while (TEST_MOINS.Touched());
gabrieltetar	21:d137ec53c3a9	622	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	623	if(maximilien!=1)maximilien--;
gabrieltetar	21:d137ec53c3a9	624	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	625	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	626	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	627	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	628	}
gabrieltetar	21:d137ec53c3a9	629	}
goldmas	34:c314feaa0d3e	630	break;*/
gabrieltetar	21:d137ec53c3a9	631
gabrieltetar	24:1a13c998c7ac	632	case TEST_ELECTROV:
gabrieltetar	21:d137ec53c3a9	633	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	634	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	635	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	636	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	637	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	638	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	639	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	640	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	641	while(strat_etat_s==TEST_ELECTROV) {
gabrieltetar	21:d137ec53c3a9	642	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	643	while (RETOUR.Touched());
gabrieltetar	24:1a13c998c7ac	644	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	645	} else if(TEST_A.Touched()) {
gabrieltetar	21:d137ec53c3a9	646	while (TEST_A.Touched());
gabrieltetar	21:d137ec53c3a9	647	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	21:d137ec53c3a9	648	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	649	} else if(TEST_B.Touched()) {
gabrieltetar	21:d137ec53c3a9	650	while (TEST_B.Touched());
gabrieltetar	21:d137ec53c3a9	651	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	21:d137ec53c3a9	652	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	653	}
gabrieltetar	21:d137ec53c3a9	654	}
gabrieltetar	21:d137ec53c3a9	655	break;
gabrieltetar	24:1a13c998c7ac	656
gabrieltetar	21:d137ec53c3a9	657	case TEST_AUD:
gabrieltetar	21:d137ec53c3a9	658
gabrieltetar	21:d137ec53c3a9	659	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	660	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	661	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	662	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	663	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	664	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	665	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	666	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	667	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	668	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	669	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	670	while(strat_etat_s==TEST_AUD) {
gabrieltetar	21:d137ec53c3a9	671	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	672	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	673	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	674	} else if(TEST_NUM.Touched()) {
gabrieltetar	21:d137ec53c3a9	675	while (TEST_NUM.Touched());
gabrieltetar	21:d137ec53c3a9	676	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	677	Debug_Audio(3,maximilien);
gabrieltetar	21:d137ec53c3a9	678	} else if(TEST_PLUS.Touched()) {
gabrieltetar	21:d137ec53c3a9	679	while (TEST_PLUS.Touched());
gabrieltetar	21:d137ec53c3a9	680	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	681	if(maximilien!=20)maximilien++;
gabrieltetar	21:d137ec53c3a9	682	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	683	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	684	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	685	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	686	} else if(TEST_MOINS.Touched()) {
gabrieltetar	21:d137ec53c3a9	687	while (TEST_MOINS.Touched());
gabrieltetar	21:d137ec53c3a9	688	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	689	if(maximilien!=1)maximilien--;
gabrieltetar	21:d137ec53c3a9	690	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	691	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	692	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	693	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	694	}
gabrieltetar	21:d137ec53c3a9	695	}
gabrieltetar	21:d137ec53c3a9	696	break;
gabrieltetar	21:d137ec53c3a9	697
gabrieltetar	21:d137ec53c3a9	698	case TEST_SERVO_BRAS:
goldmas	33:c54841d11156	699	char bras_select_0 = 7, bras_select_1 = 0, bras_select_2 = 0, bras_select_3 = 0, bras_select_4 = 0, bras_select_5 = 0 ;
goldmas	33:c54841d11156	700	unsigned char choix_bras;
gabrieltetar	21:d137ec53c3a9	701	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	702	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	703	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	704	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	705	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	706	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	707	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	708	RETOUR.Draw(0xFFFF0000,0);
goldmas	32:7f8e3ee2adac	709	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	710	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	711	TEST_SERVO_0.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	712	TEST_SERVO_1.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	713	TEST_SERVO_2.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	714	TEST_SERVO_3.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	715	TEST_SERVO_4.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	716	TEST_SERVO_5.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	717	while(strat_etat_s==TEST_SERVO_BRAS)
goldmas	32:7f8e3ee2adac	718	{
goldmas	32:7f8e3ee2adac	719	if(RETOUR.Touched())
goldmas	32:7f8e3ee2adac	720	{
gabrieltetar	21:d137ec53c3a9	721	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	722	strat_etat_s=DEMO;
goldmas	32:7f8e3ee2adac	723	}
goldmas	32:7f8e3ee2adac	724	else if(TEST_SERVO_0.Touched())
goldmas	32:7f8e3ee2adac	725	{
goldmas	32:7f8e3ee2adac	726	while (TEST_SERVO_0.Touched());
goldmas	33:c54841d11156	727	if(bras_select_0 == 0)
goldmas	33:c54841d11156	728	{
goldmas	33:c54841d11156	729	bras_select_0 = 7 ;
goldmas	33:c54841d11156	730	TEST_SERVO_0.Draw(BLEU, BLANC);
goldmas	33:c54841d11156	731	}
goldmas	33:c54841d11156	732	else
goldmas	32:7f8e3ee2adac	733	{
goldmas	32:7f8e3ee2adac	734	bras_select_0 = 0 ;
goldmas	32:7f8e3ee2adac	735	TEST_SERVO_0.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	736	}
goldmas	32:7f8e3ee2adac	737	}
goldmas	32:7f8e3ee2adac	738	else if(TEST_SERVO_1.Touched())
goldmas	32:7f8e3ee2adac	739	{
goldmas	32:7f8e3ee2adac	740	while (TEST_SERVO_1.Touched());
goldmas	33:c54841d11156	741	if(bras_select_1 == 1)
goldmas	32:7f8e3ee2adac	742	{
goldmas	32:7f8e3ee2adac	743	bras_select_1 = 0 ;
goldmas	33:c54841d11156	744	TEST_SERVO_1.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	745	}
goldmas	32:7f8e3ee2adac	746	else
goldmas	32:7f8e3ee2adac	747	{
goldmas	32:7f8e3ee2adac	748	bras_select_1 = 1 ;
goldmas	33:c54841d11156	749	TEST_SERVO_1.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	750	}
goldmas	32:7f8e3ee2adac	751	}
goldmas	32:7f8e3ee2adac	752	else if(TEST_SERVO_2.Touched())
goldmas	32:7f8e3ee2adac	753	{
goldmas	32:7f8e3ee2adac	754	while (TEST_SERVO_2.Touched());
goldmas	33:c54841d11156	755	if(bras_select_2 == 2)
goldmas	32:7f8e3ee2adac	756	{
goldmas	32:7f8e3ee2adac	757	bras_select_2 = 0 ;
goldmas	33:c54841d11156	758	TEST_SERVO_2.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	759	}
goldmas	32:7f8e3ee2adac	760	else
goldmas	32:7f8e3ee2adac	761	{
goldmas	33:c54841d11156	762	bras_select_2 = 2 ;
goldmas	33:c54841d11156	763	TEST_SERVO_2.Draw(DIY_GREY, BLANC);
gabrieltetar	21:d137ec53c3a9	764	}
goldmas	32:7f8e3ee2adac	765	}
goldmas	32:7f8e3ee2adac	766	else if(TEST_SERVO_3.Touched())
goldmas	32:7f8e3ee2adac	767	{
goldmas	32:7f8e3ee2adac	768	while (TEST_SERVO_3.Touched());
goldmas	33:c54841d11156	769	if(bras_select_3 == 3)
goldmas	32:7f8e3ee2adac	770	{
goldmas	32:7f8e3ee2adac	771	bras_select_3 = 0 ;
goldmas	33:c54841d11156	772	TEST_SERVO_3.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	773	}
goldmas	32:7f8e3ee2adac	774	else
goldmas	32:7f8e3ee2adac	775	{
goldmas	33:c54841d11156	776	bras_select_3 = 3 ;
goldmas	33:c54841d11156	777	TEST_SERVO_3.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	778	}
goldmas	32:7f8e3ee2adac	779	}
goldmas	32:7f8e3ee2adac	780	else if(TEST_SERVO_4.Touched())
goldmas	32:7f8e3ee2adac	781	{
goldmas	32:7f8e3ee2adac	782	while (TEST_SERVO_4.Touched());
goldmas	33:c54841d11156	783	if(bras_select_4 == 4)
goldmas	32:7f8e3ee2adac	784	{
goldmas	32:7f8e3ee2adac	785	bras_select_4 = 0 ;
goldmas	33:c54841d11156	786	TEST_SERVO_4.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	787	}
goldmas	32:7f8e3ee2adac	788	else
goldmas	32:7f8e3ee2adac	789	{
goldmas	33:c54841d11156	790	bras_select_4 = 4 ;
goldmas	33:c54841d11156	791	TEST_SERVO_4.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	792	}
goldmas	32:7f8e3ee2adac	793	}
goldmas	32:7f8e3ee2adac	794	else if(TEST_SERVO_5.Touched())
goldmas	32:7f8e3ee2adac	795	{
goldmas	32:7f8e3ee2adac	796	while (TEST_SERVO_5.Touched());
goldmas	33:c54841d11156	797	if(bras_select_5 == 5)
goldmas	32:7f8e3ee2adac	798	{
goldmas	32:7f8e3ee2adac	799	bras_select_5 = 0 ;
goldmas	33:c54841d11156	800	TEST_SERVO_5.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	801	}
goldmas	32:7f8e3ee2adac	802	else
goldmas	32:7f8e3ee2adac	803	{
goldmas	33:c54841d11156	804	bras_select_5 = 5 ;
goldmas	33:c54841d11156	805	TEST_SERVO_5.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	806	}
goldmas	32:7f8e3ee2adac	807	}
goldmas	32:7f8e3ee2adac	808	else if (TEST_ATTRAPER.Touched())
goldmas	32:7f8e3ee2adac	809	{
goldmas	33:c54841d11156	810	while(TEST_ATTRAPER.Touched()) ;
goldmas	33:c54841d11156	811	unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche;
goldmas	33:c54841d11156	812	message_droit_at = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
goldmas	33:c54841d11156	813	message_gauche_at = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
goldmas	33:c54841d11156	814
goldmas	33:c54841d11156	815	switch (message_gauche_at)
goldmas	33:c54841d11156	816	{
goldmas	33:c54841d11156	817	case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	818	choix_bras = 66 ;
goldmas	33:c54841d11156	819	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	820	waitingAckFrom = 0;
goldmas	33:c54841d11156	821	waitingAckID =0;
goldmas	33:c54841d11156	822	break ;
goldmas	33:c54841d11156	823	case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	824	choix_bras = 54 ;
goldmas	33:c54841d11156	825	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	826	waitingAckFrom = 0;
goldmas	33:c54841d11156	827	waitingAckID =0;
goldmas	33:c54841d11156	828	break ;
goldmas	33:c54841d11156	829	case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	830	choix_bras = 53 ;
goldmas	33:c54841d11156	831	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	832	waitingAckFrom = 0;
goldmas	33:c54841d11156	833	waitingAckID =0;
goldmas	33:c54841d11156	834	break ;
goldmas	33:c54841d11156	835	case 43 :
goldmas	33:c54841d11156	836	choix_bras = 43 ;
goldmas	33:c54841d11156	837	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	838	waitingAckFrom = 0;
goldmas	33:c54841d11156	839	waitingAckID =0;
goldmas	33:c54841d11156	840	break ;
goldmas	33:c54841d11156	841	case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	842	choix_bras = 5 ;
goldmas	33:c54841d11156	843	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	844	waitingAckFrom = 0;
goldmas	33:c54841d11156	845	waitingAckID =0;
goldmas	33:c54841d11156	846	break ;
goldmas	33:c54841d11156	847	case 40 :
goldmas	33:c54841d11156	848	choix_bras = 4 ;
goldmas	33:c54841d11156	849	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	850	waitingAckFrom = 0;
goldmas	33:c54841d11156	851	waitingAckID =0;
goldmas	33:c54841d11156	852	break ;
goldmas	33:c54841d11156	853	case 3 :
goldmas	33:c54841d11156	854	choix_bras = 3 ;
goldmas	33:c54841d11156	855	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	856	waitingAckFrom = 0;
goldmas	33:c54841d11156	857	waitingAckID =0;
goldmas	33:c54841d11156	858	break ;
goldmas	33:c54841d11156	859	}
goldmas	33:c54841d11156	860
goldmas	33:c54841d11156	861	switch (message_droit_at)
goldmas	33:c54841d11156	862	{
goldmas	33:c54841d11156	863	case 210 :
goldmas	33:c54841d11156	864	choix_bras = 210 ;
goldmas	33:c54841d11156	865	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	866	waitingAckFrom = 0;
goldmas	33:c54841d11156	867	waitingAckID =0;
goldmas	33:c54841d11156	868	break ;
goldmas	33:c54841d11156	869	case 217 :
goldmas	33:c54841d11156	870	choix_bras = 21 ;
goldmas	33:c54841d11156	871	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	872	waitingAckFrom = 0;
goldmas	33:c54841d11156	873	waitingAckID =0;
goldmas	33:c54841d11156	874	break ;
goldmas	33:c54841d11156	875	case 200 :
goldmas	33:c54841d11156	876	choix_bras = 20 ;
goldmas	33:c54841d11156	877	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	878	waitingAckFrom = 0;
goldmas	33:c54841d11156	879	waitingAckID =0;
goldmas	33:c54841d11156	880	break ;
goldmas	33:c54841d11156	881	case 10 :
goldmas	33:c54841d11156	882	choix_bras = 10 ;
goldmas	33:c54841d11156	883	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	884	waitingAckFrom = 0;
goldmas	33:c54841d11156	885	waitingAckID =0;
goldmas	33:c54841d11156	886	break ;
goldmas	33:c54841d11156	887	case 207 :
goldmas	33:c54841d11156	888	choix_bras = 2 ;
goldmas	33:c54841d11156	889	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	890	waitingAckFrom = 0;
goldmas	33:c54841d11156	891	waitingAckID =0;
goldmas	33:c54841d11156	892	break ;
goldmas	33:c54841d11156	893	case 17 :
goldmas	33:c54841d11156	894	choix_bras = 1 ;
goldmas	33:c54841d11156	895	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	896	waitingAckFrom = 0;
goldmas	33:c54841d11156	897	waitingAckID =0;
goldmas	33:c54841d11156	898	break ;
goldmas	33:c54841d11156	899	case 0 :
goldmas	33:c54841d11156	900	choix_bras = 0 ;
goldmas	33:c54841d11156	901	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	902	waitingAckFrom = 0;
goldmas	33:c54841d11156	903	waitingAckID =0;
goldmas	33:c54841d11156	904	break ;
goldmas	33:c54841d11156	905	}
goldmas	33:c54841d11156	906
goldmas	33:c54841d11156	907	message_droit_at = 0 ;
goldmas	33:c54841d11156	908	message_gauche_at = 0 ;
goldmas	33:c54841d11156	909
goldmas	33:c54841d11156	910	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	33:c54841d11156	911	}
goldmas	33:c54841d11156	912	else if (TEST_RELACHER.Touched())
goldmas	33:c54841d11156	913	{
goldmas	33:c54841d11156	914	while(TEST_RELACHER.Touched());
goldmas	33:c54841d11156	915	unsigned char message_droit_re, message_gauche_re;
goldmas	33:c54841d11156	916	message_droit_re = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
goldmas	33:c54841d11156	917	message_gauche_re = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
goldmas	33:c54841d11156	918	switch (message_droit_re)
goldmas	33:c54841d11156	919	{
goldmas	33:c54841d11156	920	case 210 :
goldmas	33:c54841d11156	921	choix_bras = 210 ;
goldmas	33:c54841d11156	922	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	923	waitingAckFrom = 0;
goldmas	33:c54841d11156	924	waitingAckID =0;
goldmas	33:c54841d11156	925	break ;
goldmas	33:c54841d11156	926	case 217 :
goldmas	33:c54841d11156	927	choix_bras = 21 ;
goldmas	33:c54841d11156	928	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	929	waitingAckFrom = 0;
goldmas	33:c54841d11156	930	waitingAckID =0;
goldmas	33:c54841d11156	931	break ;
goldmas	33:c54841d11156	932	case 200 :
goldmas	33:c54841d11156	933	choix_bras = 20 ;
goldmas	33:c54841d11156	934	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	935	waitingAckFrom = 0;
goldmas	33:c54841d11156	936	waitingAckID =0;
goldmas	33:c54841d11156	937	break ;
goldmas	33:c54841d11156	938	case 10 :
goldmas	33:c54841d11156	939	choix_bras = 10 ;
goldmas	33:c54841d11156	940	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	941	waitingAckFrom = 0;
goldmas	33:c54841d11156	942	waitingAckID =0;
goldmas	33:c54841d11156	943	break ;
goldmas	33:c54841d11156	944	case 207 :
goldmas	33:c54841d11156	945	choix_bras = 2 ;
goldmas	33:c54841d11156	946	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	947	waitingAckFrom = 0;
goldmas	33:c54841d11156	948	waitingAckID =0;
goldmas	33:c54841d11156	949	break ;
goldmas	33:c54841d11156	950	case 17 :
goldmas	33:c54841d11156	951	choix_bras = 1 ;
goldmas	33:c54841d11156	952	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	953	waitingAckFrom = 0;
goldmas	33:c54841d11156	954	waitingAckID =0;
goldmas	33:c54841d11156	955	break ;
goldmas	33:c54841d11156	956	case 0 :
goldmas	33:c54841d11156	957	choix_bras = 0 ;
goldmas	33:c54841d11156	958	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	959	waitingAckFrom = 0;
goldmas	33:c54841d11156	960	waitingAckID =0;
goldmas	33:c54841d11156	961	break ;
goldmas	33:c54841d11156	962	}
goldmas	33:c54841d11156	963
goldmas	33:c54841d11156	964	switch (message_gauche_re)
goldmas	33:c54841d11156	965	{
goldmas	33:c54841d11156	966	case 31 :
goldmas	33:c54841d11156	967	choix_bras = 66 ;
goldmas	33:c54841d11156	968	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	969	waitingAckFrom = 0;
goldmas	33:c54841d11156	970	waitingAckID =0;
goldmas	33:c54841d11156	971	break ;
goldmas	33:c54841d11156	972	case 28 :
goldmas	33:c54841d11156	973	choix_bras = 54 ;
goldmas	33:c54841d11156	974	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	975	waitingAckFrom = 0;
goldmas	33:c54841d11156	976	waitingAckID =0;
goldmas	33:c54841d11156	977	break ;
goldmas	33:c54841d11156	978	case 247 :
goldmas	33:c54841d11156	979	choix_bras = 53 ;
goldmas	33:c54841d11156	980	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	981	waitingAckFrom = 0;
goldmas	33:c54841d11156	982	waitingAckID =0;
goldmas	33:c54841d11156	983	break ;
goldmas	33:c54841d11156	984	case 43 :
goldmas	33:c54841d11156	985	choix_bras = 43 ;
goldmas	33:c54841d11156	986	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	987	waitingAckFrom = 0;
goldmas	33:c54841d11156	988	waitingAckID =0;
goldmas	33:c54841d11156	989	break ;
goldmas	33:c54841d11156	990	case 244 :
goldmas	33:c54841d11156	991	choix_bras = 5 ;
goldmas	33:c54841d11156	992	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	993	waitingAckFrom = 0;
goldmas	33:c54841d11156	994	waitingAckID =0;
goldmas	33:c54841d11156	995	break ;
goldmas	33:c54841d11156	996	case 40 :
goldmas	33:c54841d11156	997	choix_bras = 4 ;
goldmas	33:c54841d11156	998	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	999	waitingAckFrom = 0;
goldmas	33:c54841d11156	1000	waitingAckID =0;
goldmas	33:c54841d11156	1001	break ;
goldmas	33:c54841d11156	1002	case 3 :
goldmas	33:c54841d11156	1003	choix_bras = 3 ;
goldmas	33:c54841d11156	1004	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1005	waitingAckFrom = 0;
goldmas	33:c54841d11156	1006	waitingAckID =0;
goldmas	33:c54841d11156	1007	break ;
goldmas	33:c54841d11156	1008	}
goldmas	33:c54841d11156	1009	message_droit_re = 0 ;
goldmas	33:c54841d11156	1010	message_gauche_re = 0 ;
goldmas	33:c54841d11156	1011
goldmas	33:c54841d11156	1012	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	1013
gabrieltetar	21:d137ec53c3a9	1014	}
gabrieltetar	21:d137ec53c3a9	1015	}
gabrieltetar	21:d137ec53c3a9	1016	break;
gabrieltetar	21:d137ec53c3a9	1017
gabrieltetar	21:d137ec53c3a9	1018	case TEST_COULEUR:
gabrieltetar	21:d137ec53c3a9	1019	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1020	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	1021	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1022	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1023	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1024	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1025	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	1026	while(strat_etat_s==TEST_COULEUR) {
gabrieltetar	21:d137ec53c3a9	1027	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1028	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1029	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	1030	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	1031	}else if(TEST_A.Touched()) {
gabrieltetar	24:1a13c998c7ac	1032	while (TEST_A.Touched());
gabrieltetar	24:1a13c998c7ac	1033	SendRawId(TEST_BRAS_A);
gabrieltetar	24:1a13c998c7ac	1034	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1035	} else if(TEST_B.Touched()) {
gabrieltetar	24:1a13c998c7ac	1036	while (TEST_B.Touched());
gabrieltetar	24:1a13c998c7ac	1037	SendRawId(TEST_BRAS_B);
gabrieltetar	24:1a13c998c7ac	1038	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1039	} else if(TEST_C.Touched()) {
gabrieltetar	24:1a13c998c7ac	1040	while (TEST_C.Touched());
gabrieltetar	24:1a13c998c7ac	1041	SendRawId(TEST_BRAS_C);
gabrieltetar	24:1a13c998c7ac	1042	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1043	} else if(TEST_D.Touched()) {
gabrieltetar	24:1a13c998c7ac	1044	while (TEST_D.Touched());
gabrieltetar	24:1a13c998c7ac	1045	SendRawId(TEST_BRAS_D);
gabrieltetar	24:1a13c998c7ac	1046	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1047	}
gabrieltetar	21:d137ec53c3a9	1048	}
gabrieltetar	21:d137ec53c3a9	1049	break;
gabrieltetar	21:d137ec53c3a9	1050
gabrieltetar	21:d137ec53c3a9	1051	case TEST_MOTEUR:
gabrieltetar	21:d137ec53c3a9	1052	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1053	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1054	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1055	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1056	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1057	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	1058	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1059	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1060	while(strat_etat_s==TEST_MOTEUR) {
gabrieltetar	21:d137ec53c3a9	1061	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1062	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1063	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	1064	} else if(TEST_A.Touched()) {
gabrieltetar	21:d137ec53c3a9	1065	while (TEST_A.Touched());
gabrieltetar	21:d137ec53c3a9	1066	BendRadius(150,1800,1,0);
gabrieltetar	21:d137ec53c3a9	1067	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1068	} else if(TEST_B.Touched()) {
gabrieltetar	21:d137ec53c3a9	1069	while (TEST_B.Touched());
gabrieltetar	21:d137ec53c3a9	1070	BendRadius(150,1800,0,0);
gabrieltetar	21:d137ec53c3a9	1071	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1072	}
gabrieltetar	21:d137ec53c3a9	1073	}
gabrieltetar	21:d137ec53c3a9	1074	break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
gabrieltetar	21:d137ec53c3a9	1075
gabrieltetar	21:d137ec53c3a9	1076
gabrieltetar	21:d137ec53c3a9	1077	case SELECT_SIDE : // CHOIX DU COTE DU TERRAIN + INVERSION DE LA STRAT SI COTE ORANGE+ ENVOI DU COTE A LA CARTE CAPTEUR/ACTIONNEURS
gabrieltetar	21:d137ec53c3a9	1078	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1079	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1080	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1081
gabrieltetar	21:d137ec53c3a9	1082	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1083	COTE_JAUNE.Draw(JAUNE, 0);
gabrieltetar	21:d137ec53c3a9	1084	COTE_VIOLET.Draw(VIOLET, 0);
gabrieltetar	21:d137ec53c3a9	1085	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	21:d137ec53c3a9	1086
gabrieltetar	21:d137ec53c3a9	1087
gabrieltetar	21:d137ec53c3a9	1088	while (strat_etat_s == SELECT_SIDE) {
gabrieltetar	21:d137ec53c3a9	1089	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1090	if(COTE_JAUNE.Touched()) {
maximilienlv	28:7f2990747e09	1091	Cote = 0x1;
gabrieltetar	21:d137ec53c3a9	1092	InversStrat = Cote;
goldmas	36:c37dbe2be916	1093	strat_etat_s = SELECT_ROB;
gabrieltetar	21:d137ec53c3a9	1094	CANMessage trame_Tx = CANMessage();
gabrieltetar	21:d137ec53c3a9	1095	trame_Tx.len = 1;
gabrieltetar	21:d137ec53c3a9	1096	trame_Tx.format = CANStandard;
gabrieltetar	21:d137ec53c3a9	1097	trame_Tx.type = CANData;
gabrieltetar	21:d137ec53c3a9	1098	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	21:d137ec53c3a9	1099	trame_Tx.data[0]=Cote;
gabrieltetar	21:d137ec53c3a9	1100	can2.write(trame_Tx);
gabrieltetar	21:d137ec53c3a9	1101	while(COTE_JAUNE.Touched());
gabrieltetar	21:d137ec53c3a9	1102
gabrieltetar	21:d137ec53c3a9	1103	}
gabrieltetar	21:d137ec53c3a9	1104
gabrieltetar	21:d137ec53c3a9	1105	if(COTE_VIOLET.Touched()) {
maximilienlv	28:7f2990747e09	1106	Cote = 0x0;
gabrieltetar	21:d137ec53c3a9	1107	InversStrat= Cote;
goldmas	36:c37dbe2be916	1108	strat_etat_s = SELECT_ROB;
gabrieltetar	21:d137ec53c3a9	1109	CANMessage trame_Tx = CANMessage();
gabrieltetar	21:d137ec53c3a9	1110	trame_Tx.len = 1;
gabrieltetar	21:d137ec53c3a9	1111	trame_Tx.format = CANStandard;
gabrieltetar	21:d137ec53c3a9	1112	trame_Tx.type = CANData;
gabrieltetar	21:d137ec53c3a9	1113	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	21:d137ec53c3a9	1114	trame_Tx.data[0]=Cote;
gabrieltetar	21:d137ec53c3a9	1115	can2.write(trame_Tx);
gabrieltetar	21:d137ec53c3a9	1116	while(COTE_VIOLET.Touched());
gabrieltetar	21:d137ec53c3a9	1117	}
gabrieltetar	21:d137ec53c3a9	1118
gabrieltetar	21:d137ec53c3a9	1119	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1120	strat_etat_s = CHOIX;
gabrieltetar	21:d137ec53c3a9	1121	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1122	}
gabrieltetar	21:d137ec53c3a9	1123	}
gabrieltetar	21:d137ec53c3a9	1124
gabrieltetar	21:d137ec53c3a9	1125	break;
goldmas	36:c37dbe2be916	1126
goldmas	36:c37dbe2be916	1127	case SELECT_ROB : // CHOIX DU SENS DE RECALAGE EN HAUT OU EN BAS
goldmas	36:c37dbe2be916	1128	lcd.Clear(LCD_COLOR_WHITE);
goldmas	36:c37dbe2be916	1129	lcd.SetBackColor(LCD_COLOR_WHITE);
goldmas	36:c37dbe2be916	1130	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	36:c37dbe2be916	1131	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir la hauteur", LEFT_MODE);
goldmas	36:c37dbe2be916	1132
goldmas	36:c37dbe2be916	1133	if(Cote==0)
goldmas	36:c37dbe2be916	1134	{
goldmas	36:c37dbe2be916	1135	COTE_HAUT.Draw(VIOLET, 0);
goldmas	36:c37dbe2be916	1136	COTE_BAS.Draw(VIOLET, 0);
goldmas	36:c37dbe2be916	1137	}
goldmas	36:c37dbe2be916	1138	else if(Cote==1)
goldmas	36:c37dbe2be916	1139	{
goldmas	36:c37dbe2be916	1140	COTE_HAUT.Draw(JAUNE, 0);
goldmas	36:c37dbe2be916	1141	COTE_BAS.Draw(JAUNE, 0);
goldmas	36:c37dbe2be916	1142	}
goldmas	36:c37dbe2be916	1143	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	21:d137ec53c3a9	1144
goldmas	36:c37dbe2be916	1145
goldmas	36:c37dbe2be916	1146	while (strat_etat_s == SELECT_ROB)
goldmas	36:c37dbe2be916	1147	{
goldmas	36:c37dbe2be916	1148	canProcessRx();
goldmas	36:c37dbe2be916	1149	if(COTE_HAUT.Touched())
goldmas	36:c37dbe2be916	1150	{
goldmas	36:c37dbe2be916	1151	Hauteur = 0x1;
goldmas	36:c37dbe2be916	1152	strat_etat_s = TACTIQUE;
goldmas	36:c37dbe2be916	1153	while(COTE_HAUT.Touched());
goldmas	36:c37dbe2be916	1154	}
goldmas	36:c37dbe2be916	1155	if(COTE_BAS.Touched()) {
goldmas	36:c37dbe2be916	1156	Hauteur = 0x0;
goldmas	36:c37dbe2be916	1157	strat_etat_s = TACTIQUE;
goldmas	36:c37dbe2be916	1158	while(COTE_BAS.Touched());
goldmas	36:c37dbe2be916	1159	}
goldmas	36:c37dbe2be916	1160
goldmas	36:c37dbe2be916	1161	if(RETOUR.Touched()) {
goldmas	36:c37dbe2be916	1162	strat_etat_s = SELECT_SIDE;
goldmas	36:c37dbe2be916	1163	while(RETOUR.Touched());
goldmas	36:c37dbe2be916	1164	}
goldmas	36:c37dbe2be916	1165	}
goldmas	36:c37dbe2be916	1166	break;
goldmas	36:c37dbe2be916	1167
gabrieltetar	21:d137ec53c3a9	1168	case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
slowness	29:ff575aff301f	1169	if (Cote == 1) {
gabrieltetar	21:d137ec53c3a9	1170	lcd.Clear(JAUNE);
gabrieltetar	21:d137ec53c3a9	1171	lcd.SetBackColor(JAUNE);
slowness	29:ff575aff301f	1172	} else if (Cote == 0) {
gabrieltetar	21:d137ec53c3a9	1173	lcd.Clear(VIOLET);
gabrieltetar	21:d137ec53c3a9	1174	lcd.SetBackColor(VIOLET);
gabrieltetar	21:d137ec53c3a9	1175	} else {
gabrieltetar	21:d137ec53c3a9	1176	lcd.Clear(BLEU);
gabrieltetar	21:d137ec53c3a9	1177	lcd.SetBackColor(BLEU);
gabrieltetar	21:d137ec53c3a9	1178	}
gabrieltetar	21:d137ec53c3a9	1179
gabrieltetar	21:d137ec53c3a9	1180	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1181
gabrieltetar	21:d137ec53c3a9	1182	lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1183
gabrieltetar	21:d137ec53c3a9	1184	nbStrat = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
gabrieltetar	21:d137ec53c3a9	1185	if (nbStrat == -1) {
gabrieltetar	21:d137ec53c3a9	1186	strat_etat_s = SELECT_SIDE;
gabrieltetar	21:d137ec53c3a9	1187	} else {
gabrieltetar	21:d137ec53c3a9	1188	strat_etat_s = DETAILS;
gabrieltetar	21:d137ec53c3a9	1189	}
gabrieltetar	21:d137ec53c3a9	1190	wait(0.1);
gabrieltetar	21:d137ec53c3a9	1191	break;
gabrieltetar	21:d137ec53c3a9	1192
gabrieltetar	21:d137ec53c3a9	1193	case DETAILS : //SECONDE VALIDATION DE LA STRAT
gabrieltetar	21:d137ec53c3a9	1194	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1195	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1196	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1197	CHECK.Draw(VERT);
gabrieltetar	21:d137ec53c3a9	1198	RETOUR.Draw(LCD_COLOR_RED);
gabrieltetar	21:d137ec53c3a9	1199
gabrieltetar	21:d137ec53c3a9	1200	SelectionStrat(nbStrat); //affiche la stratégie selectionnée
gabrieltetar	21:d137ec53c3a9	1201
gabrieltetar	21:d137ec53c3a9	1202	while (strat_etat_s == DETAILS) {
gabrieltetar	21:d137ec53c3a9	1203	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1204	if (CHECK.Touched()) {
gabrieltetar	21:d137ec53c3a9	1205	if(gameEtat == ETAT_CONFIG) {
gabrieltetar	21:d137ec53c3a9	1206	gameEtat = ETAT_GAME_INIT;
gabrieltetar	21:d137ec53c3a9	1207	strat_etat_s=LECTURE;
gabrieltetar	21:d137ec53c3a9	1208
gabrieltetar	21:d137ec53c3a9	1209	}
gabrieltetar	21:d137ec53c3a9	1210	while(CHECK.Touched());
gabrieltetar	21:d137ec53c3a9	1211	}
gabrieltetar	21:d137ec53c3a9	1212
gabrieltetar	21:d137ec53c3a9	1213	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1214	strat_etat_s = TACTIQUE;
gabrieltetar	21:d137ec53c3a9	1215	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1216	}
gabrieltetar	21:d137ec53c3a9	1217	}
gabrieltetar	21:d137ec53c3a9	1218	break;
gabrieltetar	21:d137ec53c3a9	1219
gabrieltetar	21:d137ec53c3a9	1220
gabrieltetar	21:d137ec53c3a9	1221	case LECTURE :
gabrieltetar	21:d137ec53c3a9	1222	break;
gabrieltetar	21:d137ec53c3a9	1223	case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
gabrieltetar	21:d137ec53c3a9	1224	lcd.Clear(BLANC);
gabrieltetar	21:d137ec53c3a9	1225	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1226	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1227
gabrieltetar	21:d137ec53c3a9	1228	if (Cote == 0) {
goldmas	35:2a745eeb7922	1229	lcd.Clear(LCD_COLOR_WHITE);
goldmas	35:2a745eeb7922	1230	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1231	} else if (Cote == 1) {
goldmas	35:2a745eeb7922	1232	lcd.Clear(LCD_COLOR_WHITE);
goldmas	35:2a745eeb7922	1233	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1234	} else {
gabrieltetar	21:d137ec53c3a9	1235	lcd.Clear(VERT);
gabrieltetar	21:d137ec53c3a9	1236	lcd.SetBackColor(VERT);
gabrieltetar	21:d137ec53c3a9	1237	}
gabrieltetar	21:d137ec53c3a9	1238	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1239	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
gabrieltetar	21:d137ec53c3a9	1240	strat_etat_s=WAIT_JACK;
goldmas	35:2a745eeb7922	1241
gabrieltetar	21:d137ec53c3a9	1242	break;
gabrieltetar	21:d137ec53c3a9	1243
goldmas	35:2a745eeb7922	1244	case WAIT_JACK :
goldmas	35:2a745eeb7922	1245	if(unique == 0)
goldmas	35:2a745eeb7922	1246	{
goldmas	35:2a745eeb7922	1247	lcd.SetTextColor(LCD_COLOR_BLUE);
goldmas	35:2a745eeb7922	1248	lcd.DrawRect(0,50,400,320);
goldmas	35:2a745eeb7922	1249	lcd.DisplayStringAt(100, LINE(8), (unsigned char *)"Score :", LEFT_MODE);
goldmas	35:2a745eeb7922	1250	lcd.SetTextColor(LCD_COLOR_RED);
goldmas	35:2a745eeb7922	1251	lcd.DrawRect(0,400,400,320);
goldmas	35:2a745eeb7922	1252	lcd.DisplayStringAt(100, LINE(22), (unsigned char *)"Timer :", LEFT_MODE);
goldmas	35:2a745eeb7922	1253	unique = 1;
goldmas	35:2a745eeb7922	1254	}
goldmas	35:2a745eeb7922	1255	int x_offsetc = -145cos(theta_robotM_PI/1800) - 0sin(theta_robotM_PI*1800);
goldmas	35:2a745eeb7922	1256	int y_offsetc = -145sin(theta_robotM_PI/1800) + 0cos(theta_robotM_PI*1800);
goldmas	35:2a745eeb7922	1257
goldmas	35:2a745eeb7922	1258	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	35:2a745eeb7922	1259	lcd.DisplayStringAt(100, LINE(14), (unsigned char *)"x_robot :", LEFT_MODE);
goldmas	35:2a745eeb7922	1260	sprintf(toto,"%04d",(short)(x_robot+x_offsetc));
goldmas	35:2a745eeb7922	1261	lcd.DisplayStringAt(250, LINE(14), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1262
goldmas	35:2a745eeb7922	1263	lcd.DisplayStringAt(100, LINE(15), (unsigned char *)"y_robot :", LEFT_MODE);
goldmas	35:2a745eeb7922	1264	sprintf(toto,"%04d",(short)(y_robot+y_offsetc));
goldmas	35:2a745eeb7922	1265	lcd.DisplayStringAt(250, LINE(15), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1266
goldmas	35:2a745eeb7922	1267	lcd.DisplayStringAt(100, LINE(16), (unsigned char *)"t_robot :", LEFT_MODE);
goldmas	35:2a745eeb7922	1268	sprintf(toto,"%04d",theta_robot);
goldmas	35:2a745eeb7922	1269	lcd.DisplayStringAt(250, LINE(16), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1270
goldmas	35:2a745eeb7922	1271	lcd.DisplayStringAt(100, LINE(17), (unsigned char *)"g_vert :", LEFT_MODE);
goldmas	35:2a745eeb7922	1272	sprintf(toto,"%04d",gobelet_vert);
goldmas	35:2a745eeb7922	1273	lcd.DisplayStringAt(250, LINE(17), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1274
goldmas	35:2a745eeb7922	1275	lcd.DisplayStringAt(100, LINE(18), (unsigned char *)"g_rouge :", LEFT_MODE);
goldmas	35:2a745eeb7922	1276	sprintf(toto,"%04d",gobelet_rouge);
goldmas	35:2a745eeb7922	1277	lcd.DisplayStringAt(250, LINE(18), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1278
goldmas	35:2a745eeb7922	1279	lcd.DisplayStringAt(100, LINE(19), (unsigned char *)"g_port :", LEFT_MODE);
goldmas	35:2a745eeb7922	1280	sprintf(toto,"%04d",gobelet_port);
goldmas	35:2a745eeb7922	1281	lcd.DisplayStringAt(250, LINE(19), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1282
goldmas	35:2a745eeb7922	1283	actual_time = gameTimer.read();
goldmas	35:2a745eeb7922	1284	if(actual_time != old_time)
goldmas	35:2a745eeb7922	1285	{
goldmas	35:2a745eeb7922	1286	lcd.SetTextColor(LCD_COLOR_BLUE);
goldmas	35:2a745eeb7922	1287	sprintf(toto,"%hd",score_final);
goldmas	35:2a745eeb7922	1288	lcd.DisplayStringAt(250, LINE(8), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1289
goldmas	35:2a745eeb7922	1290	lcd.SetTextColor(LCD_COLOR_RED);
goldmas	35:2a745eeb7922	1291	sprintf(toto,"%hd",actual_time);
goldmas	35:2a745eeb7922	1292	lcd.DisplayStringAt(250, LINE(22), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1293	old_time = actual_time;
goldmas	35:2a745eeb7922	1294	}
gabrieltetar	21:d137ec53c3a9	1295	break;
goldmas	35:2a745eeb7922	1296
goldmas	35:2a745eeb7922	1297
gabrieltetar	21:d137ec53c3a9	1298	case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
goldmas	35:2a745eeb7922	1299	// lcd.Clear(LCD_COLOR_WHITE);
goldmas	35:2a745eeb7922	1300	// lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1301
gabrieltetar	21:d137ec53c3a9	1302
gabrieltetar	21:d137ec53c3a9	1303	while(1); // force le redemarage du robot
gabrieltetar	21:d137ec53c3a9	1304	//break;
goldmas	35:2a745eeb7922	1305	}
gabrieltetar	21:d137ec53c3a9	1306	}
gabrieltetar	21:d137ec53c3a9	1307	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1308	/* FUNCTION NAME: Bouton_Strat */
gabrieltetar	21:d137ec53c3a9	1309	/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
gabrieltetar	21:d137ec53c3a9	1310	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1311	signed char Bouton_Strat (void)
gabrieltetar	21:d137ec53c3a9	1312	{
gabrieltetar	21:d137ec53c3a9	1313	char Ack_strat = 0;
gabrieltetar	21:d137ec53c3a9	1314	signed char Strat = 0;
gabrieltetar	21:d137ec53c3a9	1315	Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
gabrieltetar	21:d137ec53c3a9	1316	Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
gabrieltetar	21:d137ec53c3a9	1317	Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
gabrieltetar	21:d137ec53c3a9	1318	Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
gabrieltetar	21:d137ec53c3a9	1319	Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
gabrieltetar	21:d137ec53c3a9	1320	Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
gabrieltetar	21:d137ec53c3a9	1321	Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
gabrieltetar	21:d137ec53c3a9	1322	Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
gabrieltetar	21:d137ec53c3a9	1323	Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
gabrieltetar	21:d137ec53c3a9	1324	Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
gabrieltetar	21:d137ec53c3a9	1325	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	21:d137ec53c3a9	1326	//Definition des boutons
gabrieltetar	21:d137ec53c3a9	1327
gabrieltetar	21:d137ec53c3a9	1328	Ack_strat = 0;
gabrieltetar	21:d137ec53c3a9	1329	Strat = 0;
gabrieltetar	21:d137ec53c3a9	1330	STRAT_1.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1331	STRAT_2.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1332	STRAT_3.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1333	STRAT_4.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1334	STRAT_5.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1335	STRAT_6.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1336	STRAT_7.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1337	STRAT_8.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1338	STRAT_9.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1339	STRAT_10.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1340	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	21:d137ec53c3a9	1341
gabrieltetar	21:d137ec53c3a9	1342	while(Ack_strat == 0) {
gabrieltetar	21:d137ec53c3a9	1343	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1344	CANMessage msgTx=CANMessage();
gabrieltetar	21:d137ec53c3a9	1345	//msgTx.id=ECRAN_CHOICE_STRAT;
gabrieltetar	21:d137ec53c3a9	1346	if (RETOUR.Touched())
gabrieltetar	21:d137ec53c3a9	1347	return -1;
gabrieltetar	21:d137ec53c3a9	1348	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1349	//////////////////////////////STRATEGIE N°1
gabrieltetar	21:d137ec53c3a9	1350	if (STRAT_1.Touched()) {
gabrieltetar	21:d137ec53c3a9	1351	Strat = 0;
gabrieltetar	21:d137ec53c3a9	1352	//msgTx.data[0] = 0x1;
gabrieltetar	21:d137ec53c3a9	1353	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1354	while(STRAT_1.Touched());
gabrieltetar	21:d137ec53c3a9	1355	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1356	}
gabrieltetar	21:d137ec53c3a9	1357	/////////////////////////////STRATEGIE N°2
gabrieltetar	21:d137ec53c3a9	1358	if (STRAT_2.Touched()) {
gabrieltetar	21:d137ec53c3a9	1359	Strat = 1;
gabrieltetar	21:d137ec53c3a9	1360	//msgTx.data[0] = 0x2;
gabrieltetar	21:d137ec53c3a9	1361	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1362	while(STRAT_2.Touched());
gabrieltetar	21:d137ec53c3a9	1363	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1364	}
gabrieltetar	21:d137ec53c3a9	1365	//////////////////////////////STRATEGIE N°3
gabrieltetar	21:d137ec53c3a9	1366	if (STRAT_3.Touched()) {
gabrieltetar	21:d137ec53c3a9	1367	Strat = 2;
gabrieltetar	21:d137ec53c3a9	1368	//msgTx.data[0] = 0x3;
gabrieltetar	21:d137ec53c3a9	1369	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1370	while(STRAT_3.Touched());
gabrieltetar	21:d137ec53c3a9	1371	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1372	}
gabrieltetar	21:d137ec53c3a9	1373	/////////////////////////////STRATEGIE N°4
gabrieltetar	21:d137ec53c3a9	1374	if (STRAT_4.Touched()) {
gabrieltetar	21:d137ec53c3a9	1375	Strat = 3;
gabrieltetar	21:d137ec53c3a9	1376	//msgTx.data[0] = 0x4;
gabrieltetar	21:d137ec53c3a9	1377	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1378	while(STRAT_4.Touched());
gabrieltetar	21:d137ec53c3a9	1379	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1380	}
gabrieltetar	21:d137ec53c3a9	1381	///////////////////////////////STRATEGIE N°5
gabrieltetar	21:d137ec53c3a9	1382	if (STRAT_5.Touched()) {
gabrieltetar	21:d137ec53c3a9	1383	Strat = 4;
gabrieltetar	21:d137ec53c3a9	1384	//msgTx.data[0] = 0x5;
gabrieltetar	21:d137ec53c3a9	1385	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1386	while(STRAT_5.Touched());
gabrieltetar	21:d137ec53c3a9	1387	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1388	}
gabrieltetar	21:d137ec53c3a9	1389	////////////////////////////////STRATEGIE N°6
gabrieltetar	21:d137ec53c3a9	1390	if (STRAT_6.Touched()) {
gabrieltetar	21:d137ec53c3a9	1391	Strat = 5;
gabrieltetar	21:d137ec53c3a9	1392	//msgTx.data[0] = 0x6;
gabrieltetar	21:d137ec53c3a9	1393	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1394	while(STRAT_6.Touched());
gabrieltetar	21:d137ec53c3a9	1395	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1396	}
gabrieltetar	21:d137ec53c3a9	1397	/////////////////////////////////STRATEGIE N°7
gabrieltetar	21:d137ec53c3a9	1398	if (STRAT_7.Touched()) {
gabrieltetar	21:d137ec53c3a9	1399	Strat = 6;
gabrieltetar	21:d137ec53c3a9	1400	//msgTx.data[0] = 0x7;
gabrieltetar	21:d137ec53c3a9	1401	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1402	while(STRAT_7.Touched());
gabrieltetar	21:d137ec53c3a9	1403	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1404	}
gabrieltetar	21:d137ec53c3a9	1405	/////////////////////////////////STRATEGIE N°8
gabrieltetar	21:d137ec53c3a9	1406	if (STRAT_8.Touched()) {
gabrieltetar	21:d137ec53c3a9	1407	Strat = 7;
gabrieltetar	21:d137ec53c3a9	1408	//msgTx.data[0] = 0x8;
gabrieltetar	21:d137ec53c3a9	1409	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1410	while(STRAT_8.Touched());
gabrieltetar	21:d137ec53c3a9	1411	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1412	}
gabrieltetar	21:d137ec53c3a9	1413	/////////////////////////////////STRATEGIE N°9
gabrieltetar	21:d137ec53c3a9	1414	if (STRAT_9.Touched()) {
gabrieltetar	21:d137ec53c3a9	1415	Strat = 8;
gabrieltetar	21:d137ec53c3a9	1416	//msgTx.data[0] = 0x9;
gabrieltetar	21:d137ec53c3a9	1417	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1418	while(STRAT_9.Touched());
gabrieltetar	21:d137ec53c3a9	1419	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1420	}
gabrieltetar	21:d137ec53c3a9	1421	///////////////////////////////////STRATEGIE N°10
gabrieltetar	21:d137ec53c3a9	1422	if (STRAT_10.Touched()) {
gabrieltetar	21:d137ec53c3a9	1423	Strat = 9;
gabrieltetar	21:d137ec53c3a9	1424	//msgTx.data[0] = 0xA;
gabrieltetar	21:d137ec53c3a9	1425	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1426	while(STRAT_10.Touched());
gabrieltetar	21:d137ec53c3a9	1427	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1428	}
gabrieltetar	21:d137ec53c3a9	1429
gabrieltetar	21:d137ec53c3a9	1430	}
gabrieltetar	21:d137ec53c3a9	1431	return Strat;
gabrieltetar	21:d137ec53c3a9	1432
gabrieltetar	21:d137ec53c3a9	1433	}
gabrieltetar	21:d137ec53c3a9	1434	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1435	/* FUNCTION NAME: SelectionStrat */
gabrieltetar	21:d137ec53c3a9	1436	/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
gabrieltetar	21:d137ec53c3a9	1437	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1438
gabrieltetar	21:d137ec53c3a9	1439
gabrieltetar	21:d137ec53c3a9	1440	void SelectionStrat (unsigned char Strategie)
gabrieltetar	21:d137ec53c3a9	1441	{
gabrieltetar	21:d137ec53c3a9	1442	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1443	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1444
gabrieltetar	21:d137ec53c3a9	1445	switch (Strategie+1) {
gabrieltetar	21:d137ec53c3a9	1446	case 0x1 :
gabrieltetar	21:d137ec53c3a9	1447	//description de Strategie n°1
gabrieltetar	21:d137ec53c3a9	1448	lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1449	break;
gabrieltetar	21:d137ec53c3a9	1450
gabrieltetar	21:d137ec53c3a9	1451	case 0x2 :
gabrieltetar	21:d137ec53c3a9	1452	//description de Strategie n°2
gabrieltetar	21:d137ec53c3a9	1453	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1454	break;
gabrieltetar	21:d137ec53c3a9	1455
gabrieltetar	21:d137ec53c3a9	1456	case 0x3 :
gabrieltetar	21:d137ec53c3a9	1457	//description de Strategie n°3
gabrieltetar	21:d137ec53c3a9	1458	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1459	break;
gabrieltetar	21:d137ec53c3a9	1460
gabrieltetar	21:d137ec53c3a9	1461	case 0x4 :
gabrieltetar	21:d137ec53c3a9	1462	//description de Strategie n°4
gabrieltetar	21:d137ec53c3a9	1463	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1464	break;
gabrieltetar	21:d137ec53c3a9	1465
gabrieltetar	21:d137ec53c3a9	1466	case 0x5 :
gabrieltetar	21:d137ec53c3a9	1467	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1468	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1469	break;
gabrieltetar	21:d137ec53c3a9	1470
gabrieltetar	21:d137ec53c3a9	1471	case 0x6 :
gabrieltetar	21:d137ec53c3a9	1472	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1473	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1474	break;
gabrieltetar	21:d137ec53c3a9	1475
gabrieltetar	21:d137ec53c3a9	1476	case 0x7 :
gabrieltetar	21:d137ec53c3a9	1477	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1478	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1479	break;
gabrieltetar	21:d137ec53c3a9	1480
gabrieltetar	21:d137ec53c3a9	1481	case 0x8 :
gabrieltetar	21:d137ec53c3a9	1482	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1483	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1484	break;
gabrieltetar	21:d137ec53c3a9	1485
gabrieltetar	21:d137ec53c3a9	1486	case 0x9 :
gabrieltetar	21:d137ec53c3a9	1487	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1488	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1489	break;
gabrieltetar	21:d137ec53c3a9	1490
gabrieltetar	21:d137ec53c3a9	1491	case 0xA :
gabrieltetar	21:d137ec53c3a9	1492	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1493	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1494	break;
gabrieltetar	21:d137ec53c3a9	1495	}
gabrieltetar	27:ff70537a7619	1496	}
gabrieltetar	27:ff70537a7619	1497
gabrieltetar	27:ff70537a7619	1498	void DrawC (int l,int h,int x, int y, unsigned char fill){
gabrieltetar	27:ff70537a7619	1499	Point c[8]={{l,0},{l,h/6},{l/5,h/3},{l/5,2(h/3)},{l,5(h/6)},{l,h},{0,5*(h/6)},{0,h/6}};
gabrieltetar	27:ff70537a7619	1500	for(int a=0;a<8;a++){
gabrieltetar	27:ff70537a7619	1501	c[a].X+=x;
gabrieltetar	27:ff70537a7619	1502	c[a].Y+=y;
gabrieltetar	27:ff70537a7619	1503	}
gabrieltetar	27:ff70537a7619	1504	lcd.DrawPolygon(c, 8);
gabrieltetar	27:ff70537a7619	1505
gabrieltetar	27:ff70537a7619	1506	}
gabrieltetar	27:ff70537a7619	1507	void DrawR (int l,int h,int x, int y, unsigned char fill){
gabrieltetar	27:ff70537a7619	1508	Point r[10]={{0,0},{5(l/6),0},{l,h/3},{5(l/6),h/2},{l/2,h/2},{l,h},{2*(l/3),h},{l/4,h/2},{l/4,h},{0,h}};
gabrieltetar	27:ff70537a7619	1509	for(int a=0;a<10;a++){
gabrieltetar	27:ff70537a7619	1510	r[a].X+=x;
gabrieltetar	27:ff70537a7619	1511	r[a].Y+=y;
gabrieltetar	27:ff70537a7619	1512	}
gabrieltetar	27:ff70537a7619	1513	lcd.DrawPolygon(r, 10);
gabrieltetar	27:ff70537a7619	1514	}
gabrieltetar	27:ff70537a7619	1515	void DrawA (int l,int h,int x, int y, unsigned char fill){
gabrieltetar	27:ff70537a7619	1516	Point a[8]={{l/4,0},{3(l/4),0},{l,h},{5(l/6),h},{4(l/6),h/2},{2(l/6),h/2},{l/6,h},{0,h}};
gabrieltetar	27:ff70537a7619	1517	for(int z=0;z<8;z++){
gabrieltetar	27:ff70537a7619	1518	a[z].X+=x;
gabrieltetar	27:ff70537a7619	1519	a[z].Y+=y;
gabrieltetar	27:ff70537a7619	1520	}
gabrieltetar	27:ff70537a7619	1521	lcd.DrawPolygon(a, 8);
gabrieltetar	27:ff70537a7619	1522	}
gabrieltetar	27:ff70537a7619	1523	void DrawCheck (int l,int h,int x, int y, int cochage){
gabrieltetar	27:ff70537a7619	1524	if(x<3)x=3;
gabrieltetar	27:ff70537a7619	1525	if(cochage == 1){
gabrieltetar	27:ff70537a7619	1526	lcd.SetTextColor(VERT_F);
gabrieltetar	27:ff70537a7619	1527	lcd.DrawLine(x,y-(h/2),x+l/2,y+h/2);
gabrieltetar	27:ff70537a7619	1528	lcd.DrawLine(x-1,y-(h/2),x+l/2,y+h/2+1);
gabrieltetar	27:ff70537a7619	1529	lcd.DrawLine(x-2,y-(h/2),x+l/2,y+h/2+2);
gabrieltetar	27:ff70537a7619	1530	lcd.DrawLine(x+l/2,y+h/2,x+(4*(l/3)),y);
gabrieltetar	27:ff70537a7619	1531	lcd.DrawLine(x+l/2,y+h/2+1,x+(4*(l/3))+1,y);
gabrieltetar	27:ff70537a7619	1532	lcd.DrawLine(x+l/2,y+h/2+2,x+(4*(l/3))+2,y);
gabrieltetar	27:ff70537a7619	1533	lcd.SetTextColor(NOIR);
gabrieltetar	27:ff70537a7619	1534	} else {
gabrieltetar	27:ff70537a7619	1535	Point a[4]={{0,0},{l,0},{l,h},{0,h}};
gabrieltetar	27:ff70537a7619	1536	for(int z=0;z<8;z++){
gabrieltetar	27:ff70537a7619	1537	a[z].X+=x;
gabrieltetar	27:ff70537a7619	1538	a[z].Y+=y;
gabrieltetar	27:ff70537a7619	1539	}
gabrieltetar	27:ff70537a7619	1540	lcd.DrawPolygon(a, 4);
gabrieltetar	27:ff70537a7619	1541	}
gabrieltetar	21:d137ec53c3a9	1542	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	17 Jul 2021
Imports:	4
Forks:	0
Commits:	39
Dependents:	0
Dependencies:	6
Followers:	96

IHM/ihm.cpp@36:c37dbe2be916, 2021-05-31 (annotated)

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