code_carte_IHM_sans_bug - code de la carte IHM avant les bugs et avant le t…

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CRAC Team / Mbed 2 deprecated code_carte_IHM_sans_bug

code de la carte IHM avant les bugs et avant le travail effectué avec Melchior

Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait

Strategie/Strategie.cpp@10:1964bb91b925, 2020-03-03 (annotated)

Committer:: gabrieltetar
Date:: Tue Mar 03 16:41:33 2020 +0000
Revision:: 10:1964bb91b925
Parent:: 7:44eec996a76e
Child:: 11:848ea39838bf

restructred demo menu - features added

Who changed what in which revision?

User	Revision	Line number	New contents of line
gabrieltetar	1:7e925468f9d9	1	#include "global.h"
gabrieltetar	1:7e925468f9d9	2	#include <string.h>
gabrieltetar	1:7e925468f9d9	3	#include <sstream>
gabrieltetar	1:7e925468f9d9	4	#include <math.h>
gabrieltetar	1:7e925468f9d9	5	#include <vector>
gabrieltetar	1:7e925468f9d9	6	//#include "StrategieManager.h"
gabrieltetar	1:7e925468f9d9	7
gabrieltetar	1:7e925468f9d9	8
gabrieltetar	1:7e925468f9d9	9
gabrieltetar	1:7e925468f9d9	10	#define M_PI 3.14159265358979323846
gabrieltetar	1:7e925468f9d9	11	#define VERT 0xFF00FF00
gabrieltetar	1:7e925468f9d9	12	#define ROUGE 0xFFFF0000
gabrieltetar	1:7e925468f9d9	13	#define BLEU 0xFF0000FF
gabrieltetar	1:7e925468f9d9	14	#define JAUNE 0xFFFDD835//FEFE00
gabrieltetar	1:7e925468f9d9	15	#define BLANC 0xFF000000
gabrieltetar	1:7e925468f9d9	16	#define ORANGE 0xFFFFA500
gabrieltetar	1:7e925468f9d9	17	#define NOIR 0xFF000000
gabrieltetar	1:7e925468f9d9	18	#define DIY_GREY 0xFFDFDFDF
gabrieltetar	1:7e925468f9d9	19	#define VIOLET 0xFF4527A0
gabrieltetar	1:7e925468f9d9	20
gabrieltetar	1:7e925468f9d9	21	char tableau_aff[10][50];
gabrieltetar	1:7e925468f9d9	22	char tableau_etat[22][50]= {
gabrieltetar	1:7e925468f9d9	23	"Check_carte_screen",
gabrieltetar	1:7e925468f9d9	24	"Check_carte_screen_wait_ack",
gabrieltetar	1:7e925468f9d9	25	"Check_cartes",
gabrieltetar	1:7e925468f9d9	26	"Check_cartes_wait_ack",
gabrieltetar	1:7e925468f9d9	27	"Wait_force",
gabrieltetar	1:7e925468f9d9	28	"Config",
gabrieltetar	1:7e925468f9d9	29	"Game_init",
gabrieltetar	1:7e925468f9d9	30	"Game_wait_for_jack",
gabrieltetar	1:7e925468f9d9	31	"Game_start",
gabrieltetar	1:7e925468f9d9	32	"Game_next_instruction",
gabrieltetar	1:7e925468f9d9	33	"Game_instruction",
gabrieltetar	1:7e925468f9d9	34	"Game_wait_ack",
gabrieltetar	1:7e925468f9d9	35	"Game_jump_time",
gabrieltetar	1:7e925468f9d9	36	"Game_jump_config",
gabrieltetar	1:7e925468f9d9	37	"Game_jump_position",
gabrieltetar	1:7e925468f9d9	38	"Game_wait_end_instruction",
gabrieltetar	1:7e925468f9d9	39	"Warning_timeout",
gabrieltetar	1:7e925468f9d9	40	"Waring_end_balise_wait",
gabrieltetar	1:7e925468f9d9	41	"Warning_end_last_instruction",
gabrieltetar	1:7e925468f9d9	42	"Warning_switch_strategie",
gabrieltetar	1:7e925468f9d9	43	"End",
gabrieltetar	1:7e925468f9d9	44	"End_loop",
gabrieltetar	1:7e925468f9d9	45	};
gabrieltetar	1:7e925468f9d9	46
gabrieltetar	1:7e925468f9d9	47	int waitingAckID_FIN;
gabrieltetar	1:7e925468f9d9	48	int waitingAckFrom_FIN;
gabrieltetar	1:7e925468f9d9	49
gabrieltetar	1:7e925468f9d9	50	Ticker ticker;
gabrieltetar	1:7e925468f9d9	51	TS_DISCO_F469NI ts;
gabrieltetar	1:7e925468f9d9	52	LCD_DISCO_F469NI lcd;
gabrieltetar	1:7e925468f9d9	53
gabrieltetar	1:7e925468f9d9	54	TS_StateTypeDef TS_State;
gabrieltetar	1:7e925468f9d9	55
gabrieltetar	1:7e925468f9d9	56	Ticker chrono;
gabrieltetar	1:7e925468f9d9	57	Timeout AffTime;
gabrieltetar	1:7e925468f9d9	58	Timer timer;
gabrieltetar	1:7e925468f9d9	59	Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
gabrieltetar	1:7e925468f9d9	60	Timer gameTimer;
gabrieltetar	1:7e925468f9d9	61	Timer debugetatTimer;
gabrieltetar	1:7e925468f9d9	62	Timer timeoutWarning;
gabrieltetar	1:7e925468f9d9	63	Timer timeoutWarningWaitEnd;
gabrieltetar	1:7e925468f9d9	64	Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
gabrieltetar	1:7e925468f9d9	65
gabrieltetar	1:7e925468f9d9	66	unsigned char screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	67	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};
gabrieltetar	1:7e925468f9d9	68
gabrieltetar	1:7e925468f9d9	69	char counter = 0;
gabrieltetar	1:7e925468f9d9	70	char check;
gabrieltetar	1:7e925468f9d9	71	char Jack = 1;
gabrieltetar	1:7e925468f9d9	72	short SCORE_GLOBAL=0;
gabrieltetar	1:7e925468f9d9	73	short SCORE_GR=0;
gabrieltetar	1:7e925468f9d9	74	short SCORE_PR=0;
gabrieltetar	1:7e925468f9d9	75
gabrieltetar	1:7e925468f9d9	76	int flag = 0, flag_strat = 0, flag_timer;
gabrieltetar	1:7e925468f9d9	77	int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	78	char Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	79	signed char Strat = 0;
gabrieltetar	1:7e925468f9d9	80	signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
gabrieltetar	1:7e925468f9d9	81
gabrieltetar	1:7e925468f9d9	82	signed short x_robot,y_robot,theta_robot;//La position du robot
gabrieltetar	1:7e925468f9d9	83	signed short target_x_robot, target_y_robot, target_theta_robot;
gabrieltetar	1:7e925468f9d9	84	E_InstructionType actionPrecedente;
gabrieltetar	1:7e925468f9d9	85	//unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
gabrieltetar	1:7e925468f9d9	86	int flagSendCan=1;
gabrieltetar	1:7e925468f9d9	87	unsigned char Cote = 0; //0 -> JAUNE \| 1 -> VIOLET
gabrieltetar	1:7e925468f9d9	88	unsigned short angleRecalage = 0;
gabrieltetar	1:7e925468f9d9	89	unsigned char checkCurrent = 0;
gabrieltetar	1:7e925468f9d9	90	unsigned char countAliveCard = 0;
gabrieltetar	1:7e925468f9d9	91	unsigned char ligne=0;
gabrieltetar	1:7e925468f9d9	92
gabrieltetar	1:7e925468f9d9	93
gabrieltetar	1:7e925468f9d9	94	int Fevitement=0;
gabrieltetar	1:7e925468f9d9	95	int EvitEtat= 0;
gabrieltetar	1:7e925468f9d9	96	int stop_evitement=0;
gabrieltetar	1:7e925468f9d9	97
gabrieltetar	1:7e925468f9d9	98
gabrieltetar	1:7e925468f9d9	99
gabrieltetar	1:7e925468f9d9	100
gabrieltetar	1:7e925468f9d9	101
gabrieltetar	1:7e925468f9d9	102	signed char Strategie = 0; //N° de la strategie (1-10)
gabrieltetar	1:7e925468f9d9	103
gabrieltetar	1:7e925468f9d9	104	unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
gabrieltetar	1:7e925468f9d9	105
gabrieltetar	1:7e925468f9d9	106	unsigned char countRobotNear = 0;//Le nombre de robot à proximité
gabrieltetar	1:7e925468f9d9	107
gabrieltetar	1:7e925468f9d9	108	unsigned char ingnorBaliseOnce = 0;//une fois détecté réinitialise
gabrieltetar	1:7e925468f9d9	109	unsigned char ingnorBalise = 0;//0:balise ignore 1:on ecoute la balise
gabrieltetar	1:7e925468f9d9	110	short direction;
gabrieltetar	1:7e925468f9d9	111
gabrieltetar	1:7e925468f9d9	112	unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
gabrieltetar	1:7e925468f9d9	113
gabrieltetar	1:7e925468f9d9	114	struct S_Instruction instruction;
gabrieltetar	1:7e925468f9d9	115	struct S_Dodge_queue dodgeq;
gabrieltetar	1:7e925468f9d9	116
gabrieltetar	1:7e925468f9d9	117	char couleur1, couleur2, couleur3;
gabrieltetar	1:7e925468f9d9	118	float cptf;
gabrieltetar	1:7e925468f9d9	119	int cpt,cpt1;
gabrieltetar	1:7e925468f9d9	120
gabrieltetar	10:1964bb91b925	121	typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, TEST_ELECTROV, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
gabrieltetar	1:7e925468f9d9	122	T_etat etat = INIT;
gabrieltetar	1:7e925468f9d9	123	E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	124	E_stratGameEtat memGameEtat= gameEtat;
gabrieltetar	1:7e925468f9d9	125	E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	126	E_Stratposdebut etat_pos=RECALAGE_1;
gabrieltetar	1:7e925468f9d9	127
gabrieltetar	1:7e925468f9d9	128	/////////////////DEFINITION DES BOUTONS////////////////////
gabrieltetar	1:7e925468f9d9	129	Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
gabrieltetar	1:7e925468f9d9	130	Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
gabrieltetar	1:7e925468f9d9	131	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	132	Button LANCER (0, 200, 400, 200, "--LANCER--");
gabrieltetar	1:7e925468f9d9	133	Button CHECK (0, 420, 400, 200, "Valider");
gabrieltetar	1:7e925468f9d9	134	Button MATCH (0, 50, 400, 320, "Match");
gabrieltetar	1:7e925468f9d9	135	Button DEMONSTRATION (0, 400, 400, 320, "Demo");
gabrieltetar	10:1964bb91b925	136	//menu demo
gabrieltetar	7:44eec996a76e	137	Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
gabrieltetar	7:44eec996a76e	138	Button TEST_TELE(0, 135, 400, 100, "Test telemetre");
gabrieltetar	7:44eec996a76e	139	Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
gabrieltetar	7:44eec996a76e	140	Button TEST_BRAS(0,355,400,100,"Test Bras");
gabrieltetar	10:1964bb91b925	141	Button TEST_AUDIO(0,465,400,100,"Test Audio");
gabrieltetar	10:1964bb91b925	142	Button TEST_ELECTRV(0,465,400,100,"Test Electro Vannes");
gabrieltetar	10:1964bb91b925	143	//menu demo/demo/
gabrieltetar	10:1964bb91b925	144	Button TEST_A(0,25,195,100,"A");
gabrieltetar	10:1964bb91b925	145	Button TEST_B(205,25,195,100,"B");
gabrieltetar	10:1964bb91b925	146	Button TEST_C(0,135,195,100,"C");
gabrieltetar	10:1964bb91b925	147	Button TEST_D(205,135,195,100,"D");
gabrieltetar	10:1964bb91b925	148	Button TEST_NUM(0,245,400,100,"Bras num");
gabrieltetar	10:1964bb91b925	149	Button TEST_PLUS(205,355,195,100,"+");
gabrieltetar	10:1964bb91b925	150	Button TEST_MOINS(0,355,195,100,"-");
gabrieltetar	7:44eec996a76e	151
gabrieltetar	7:44eec996a76e	152
gabrieltetar	1:7e925468f9d9	153	Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
gabrieltetar	1:7e925468f9d9	154	Button SUIVANT(0,380,200,100,"Suivant");
gabrieltetar	1:7e925468f9d9	155	////////////////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	156
gabrieltetar	1:7e925468f9d9	157	void SendRawId (unsigned short id);
gabrieltetar	1:7e925468f9d9	158	void SelectionStrat (unsigned char numeroStrat);
gabrieltetar	1:7e925468f9d9	159	void Setflag(void);
gabrieltetar	1:7e925468f9d9	160	void can2Rx_ISR(void);
gabrieltetar	1:7e925468f9d9	161	signed char Bouton_Strat (void);
gabrieltetar	1:7e925468f9d9	162	signed char blocage_balise;
gabrieltetar	1:7e925468f9d9	163	void print_segment(int nombre, int decalage);
gabrieltetar	1:7e925468f9d9	164	void affichage_compteur (int nombre);
gabrieltetar	1:7e925468f9d9	165	void effacer_segment(long couleur);
gabrieltetar	1:7e925468f9d9	166
gabrieltetar	1:7e925468f9d9	167	unsigned short telemetreDistance=0;
gabrieltetar	1:7e925468f9d9	168	unsigned short telemetreDistance_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	169	unsigned short telemetreDistance_avant_droite=0;
gabrieltetar	1:7e925468f9d9	170	unsigned short telemetreDistance_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	171	unsigned short telemetreDistance_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	172
gabrieltetar	1:7e925468f9d9	173	unsigned char DT_AVD_interrupt=0;
gabrieltetar	1:7e925468f9d9	174	unsigned char DT_AVG_interrupt=0;
gabrieltetar	1:7e925468f9d9	175	unsigned char DT_ARD_interrupt=0;
gabrieltetar	1:7e925468f9d9	176	unsigned char DT_ARG_interrupt=0;
gabrieltetar	1:7e925468f9d9	177
gabrieltetar	1:7e925468f9d9	178
gabrieltetar	1:7e925468f9d9	179
gabrieltetar	1:7e925468f9d9	180	unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
gabrieltetar	1:7e925468f9d9	181	unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
gabrieltetar	1:7e925468f9d9	182	InterruptIn jack(PG_11); // entrée numerique en interruption pour le jack
gabrieltetar	1:7e925468f9d9	183
gabrieltetar	1:7e925468f9d9	184
gabrieltetar	1:7e925468f9d9	185
gabrieltetar	1:7e925468f9d9	186
gabrieltetar	1:7e925468f9d9	187
gabrieltetar	1:7e925468f9d9	188
gabrieltetar	1:7e925468f9d9	189	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	190	/* FUNCTION NAME: chronometre_ISR */
gabrieltetar	1:7e925468f9d9	191	/* DESCRIPTION : Interruption à la fin des 90s du match */
gabrieltetar	1:7e925468f9d9	192	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	193	void chronometre_ISR (void)
gabrieltetar	1:7e925468f9d9	194	{
gabrieltetar	1:7e925468f9d9	195	SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
gabrieltetar	1:7e925468f9d9	196	SendRawId(GLOBAL_GAME_END);//Indication fin de match
gabrieltetar	1:7e925468f9d9	197	etat=FIN;
gabrieltetar	1:7e925468f9d9	198	gameTimer.stop();//Arret du timer
gabrieltetar	1:7e925468f9d9	199
gabrieltetar	1:7e925468f9d9	200	while(1);//On bloque la programme dans l'interruption
gabrieltetar	1:7e925468f9d9	201	}
gabrieltetar	1:7e925468f9d9	202
gabrieltetar	1:7e925468f9d9	203
gabrieltetar	1:7e925468f9d9	204
gabrieltetar	1:7e925468f9d9	205	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	206	/* FUNCTION NAME: jack_ISR */
gabrieltetar	1:7e925468f9d9	207	/* DESCRIPTION : Interruption en changement d'état sur le Jack */
gabrieltetar	1:7e925468f9d9	208	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	209	void jack_ISR (void)
gabrieltetar	1:7e925468f9d9	210	{
gabrieltetar	1:7e925468f9d9	211	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	212	gameEtat = ETAT_GAME_START;//On débute le match
gabrieltetar	1:7e925468f9d9	213	//etat=COMPTEUR;
gabrieltetar	1:7e925468f9d9	214	blocage_balise=1;
gabrieltetar	1:7e925468f9d9	215	}
gabrieltetar	1:7e925468f9d9	216	}
gabrieltetar	1:7e925468f9d9	217
gabrieltetar	1:7e925468f9d9	218	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	219	/* FUNCTION NAME: SelectionStrat */
gabrieltetar	1:7e925468f9d9	220	/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
gabrieltetar	1:7e925468f9d9	221	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	222
gabrieltetar	1:7e925468f9d9	223
gabrieltetar	1:7e925468f9d9	224	void SelectionStrat (unsigned char Strategie)
gabrieltetar	1:7e925468f9d9	225	{
gabrieltetar	1:7e925468f9d9	226	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	227	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	228
gabrieltetar	1:7e925468f9d9	229	switch (Strategie+1) {
gabrieltetar	1:7e925468f9d9	230	case 0x1 :
gabrieltetar	1:7e925468f9d9	231	//description de Strategie n°1
gabrieltetar	1:7e925468f9d9	232	lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	233	break;
gabrieltetar	1:7e925468f9d9	234
gabrieltetar	1:7e925468f9d9	235	case 0x2 :
gabrieltetar	1:7e925468f9d9	236	//description de Strategie n°2
gabrieltetar	1:7e925468f9d9	237	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	238	break;
gabrieltetar	1:7e925468f9d9	239
gabrieltetar	1:7e925468f9d9	240	case 0x3 :
gabrieltetar	1:7e925468f9d9	241	//description de Strategie n°3
gabrieltetar	1:7e925468f9d9	242	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	243	break;
gabrieltetar	1:7e925468f9d9	244
gabrieltetar	1:7e925468f9d9	245	case 0x4 :
gabrieltetar	1:7e925468f9d9	246	//description de Strategie n°4
gabrieltetar	1:7e925468f9d9	247	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	248	break;
gabrieltetar	1:7e925468f9d9	249
gabrieltetar	1:7e925468f9d9	250	case 0x5 :
gabrieltetar	1:7e925468f9d9	251	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	252	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	253	break;
gabrieltetar	1:7e925468f9d9	254
gabrieltetar	1:7e925468f9d9	255	case 0x6 :
gabrieltetar	1:7e925468f9d9	256	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	257	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	258	break;
gabrieltetar	1:7e925468f9d9	259
gabrieltetar	1:7e925468f9d9	260	case 0x7 :
gabrieltetar	1:7e925468f9d9	261	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	262	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	263	break;
gabrieltetar	1:7e925468f9d9	264
gabrieltetar	1:7e925468f9d9	265	case 0x8 :
gabrieltetar	1:7e925468f9d9	266	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	267	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	268	break;
gabrieltetar	1:7e925468f9d9	269
gabrieltetar	1:7e925468f9d9	270	case 0x9 :
gabrieltetar	1:7e925468f9d9	271	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	272	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	273	break;
gabrieltetar	1:7e925468f9d9	274
gabrieltetar	1:7e925468f9d9	275	case 0xA :
gabrieltetar	1:7e925468f9d9	276	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	277	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	278	break;
gabrieltetar	1:7e925468f9d9	279	}
gabrieltetar	1:7e925468f9d9	280	}
gabrieltetar	1:7e925468f9d9	281
gabrieltetar	1:7e925468f9d9	282	void Setflag(void)
gabrieltetar	1:7e925468f9d9	283	{
gabrieltetar	10:1964bb91b925	284	flagSendCan = 1;//gab le zgeg
gabrieltetar	1:7e925468f9d9	285	}
gabrieltetar	1:7e925468f9d9	286
gabrieltetar	1:7e925468f9d9	287
gabrieltetar	1:7e925468f9d9	288	//Affiche une variable sur l'écran tactile//
gabrieltetar	1:7e925468f9d9	289	void affichage_var(double Var)
gabrieltetar	1:7e925468f9d9	290	{
gabrieltetar	1:7e925468f9d9	291	if(ligne==7)
gabrieltetar	1:7e925468f9d9	292	ligne=0;
gabrieltetar	1:7e925468f9d9	293	char aff[10]="toto";
gabrieltetar	1:7e925468f9d9	294	sprintf(aff,"%lf ",Var);
gabrieltetar	1:7e925468f9d9	295	lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	296	//ligne++;
gabrieltetar	1:7e925468f9d9	297
gabrieltetar	1:7e925468f9d9	298	}
gabrieltetar	1:7e925468f9d9	299
gabrieltetar	1:7e925468f9d9	300
gabrieltetar	1:7e925468f9d9	301	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	302	/* FUNCTION NAME: affichage_debug */
gabrieltetar	1:7e925468f9d9	303	/* DESCRIPTION : Affiche l'état de gameEtat sur l'écran lcd */
gabrieltetar	1:7e925468f9d9	304	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	305	void affichage_debug(int Var)
gabrieltetar	1:7e925468f9d9	306	{
gabrieltetar	1:7e925468f9d9	307	int i;
gabrieltetar	1:7e925468f9d9	308	int conv=(int)Var;
gabrieltetar	1:7e925468f9d9	309	SUIVANT.Draw(ROUGE, 0);
gabrieltetar	1:7e925468f9d9	310	for(i=0; i<9; i++) {
gabrieltetar	1:7e925468f9d9	311	strcpy(tableau_aff[i],"");
gabrieltetar	1:7e925468f9d9	312	strcpy(tableau_aff[i],tableau_aff[i+1]);
gabrieltetar	1:7e925468f9d9	313	}
gabrieltetar	1:7e925468f9d9	314	strcpy(tableau_aff[9],tableau_etat[conv]);
gabrieltetar	1:7e925468f9d9	315
gabrieltetar	1:7e925468f9d9	316	for(i=0; i<10; i++) {
gabrieltetar	1:7e925468f9d9	317	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	318	lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	319	}
gabrieltetar	1:7e925468f9d9	320	/*while(!ack_bluetooth){ // mode pas à pas en bluetooth ou via écran
gabrieltetar	1:7e925468f9d9	321	//liaison_bluetooth();
gabrieltetar	1:7e925468f9d9	322	}
gabrieltetar	1:7e925468f9d9	323	ack_bluetooth=0;*/
gabrieltetar	1:7e925468f9d9	324	/*while(SUIVANT.Touched()==0);
gabrieltetar	1:7e925468f9d9	325	while(SUIVANT.Touched());*/
gabrieltetar	1:7e925468f9d9	326	}
gabrieltetar	1:7e925468f9d9	327
gabrieltetar	1:7e925468f9d9	328	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	329	/* FUNCTION NAME: automate_etat_ihm */
gabrieltetar	1:7e925468f9d9	330	/* DESCRIPTION : Automate de gestion de l'affichage */
gabrieltetar	1:7e925468f9d9	331	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	332	void automate_etat_ihm(void)
gabrieltetar	1:7e925468f9d9	333	{
gabrieltetar	10:1964bb91b925	334	char toto[2];
gabrieltetar	1:7e925468f9d9	335	int j;
gabrieltetar	10:1964bb91b925	336	unsigned char maximilien=1;
gabrieltetar	1:7e925468f9d9	337	if (j==0) {
gabrieltetar	1:7e925468f9d9	338	ts.Init(lcd.GetXSize(), lcd.GetYSize());
gabrieltetar	1:7e925468f9d9	339	j++;
gabrieltetar	1:7e925468f9d9	340	}
gabrieltetar	1:7e925468f9d9	341	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	342	switch (etat) {
gabrieltetar	1:7e925468f9d9	343	case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
gabrieltetar	1:7e925468f9d9	344	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	345	canProcessRx();
gabrieltetar	1:7e925468f9d9	346	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	347	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	348	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	349	wait(0.15);
gabrieltetar	1:7e925468f9d9	350	lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	351	//cartes non verifiées////////////////
gabrieltetar	1:7e925468f9d9	352	lcd.SetTextColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	353	lcd.FillRect(0,400,400,150); //carte moteur
gabrieltetar	1:7e925468f9d9	354	lcd.FillRect(0,600,400,150); //Balise
gabrieltetar	1:7e925468f9d9	355	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	356	lcd.SetBackColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	357	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	358	lcd.DisplayStringAt(110,650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	359	////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	360	FORCE_LAUNCH.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	361
gabrieltetar	1:7e925468f9d9	362	etat=ATT;
gabrieltetar	1:7e925468f9d9	363	break;
gabrieltetar	1:7e925468f9d9	364
gabrieltetar	1:7e925468f9d9	365	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	1:7e925468f9d9	366	if (flag==1) {
gabrieltetar	1:7e925468f9d9	367	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	368	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	369	} else if (FORCE_LAUNCH.Touched()) {
gabrieltetar	1:7e925468f9d9	370	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	371	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	372	while(FORCE_LAUNCH.Touched());
gabrieltetar	1:7e925468f9d9	373	}
gabrieltetar	1:7e925468f9d9	374
gabrieltetar	1:7e925468f9d9	375	break;
gabrieltetar	1:7e925468f9d9	376
gabrieltetar	1:7e925468f9d9	377
gabrieltetar	1:7e925468f9d9	378	case CHOIX : //Match ou DEMO
gabrieltetar	1:7e925468f9d9	379	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	380	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	381	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	382	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	383	DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
gabrieltetar	1:7e925468f9d9	384	MATCH.Draw(0xFFF01010, 0);
gabrieltetar	1:7e925468f9d9	385	while(etat == CHOIX) {
gabrieltetar	1:7e925468f9d9	386	canProcessRx();
gabrieltetar	1:7e925468f9d9	387	if(DEMONSTRATION.Touched()) {
gabrieltetar	1:7e925468f9d9	388	etat = DEMO;
gabrieltetar	1:7e925468f9d9	389	while(DEMONSTRATION.Touched());
gabrieltetar	1:7e925468f9d9	390	}
gabrieltetar	1:7e925468f9d9	391
gabrieltetar	1:7e925468f9d9	392	if(MATCH.Touched()) {
gabrieltetar	1:7e925468f9d9	393	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	394	while(MATCH.Touched());
gabrieltetar	1:7e925468f9d9	395	}
gabrieltetar	1:7e925468f9d9	396
gabrieltetar	1:7e925468f9d9	397	}
gabrieltetar	1:7e925468f9d9	398	break;
gabrieltetar	1:7e925468f9d9	399
gabrieltetar	1:7e925468f9d9	400	case DEMO :
gabrieltetar	10:1964bb91b925	401	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	402	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	7:44eec996a76e	403	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	404	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	405	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	7:44eec996a76e	406	TEST_VENT.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	407	TEST_TELE.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	408	TEST_COUL.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	409	TEST_BRAS.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	410	TEST_AUDIO.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	411	TEST_ELECTRV.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	412	while (etat == DEMO) {
gabrieltetar	1:7e925468f9d9	413	canProcessRx();
gabrieltetar	7:44eec996a76e	414	if(TEST_VENT.Touched()) {
gabrieltetar	7:44eec996a76e	415	while(TEST_VENT.Touched());
gabrieltetar	7:44eec996a76e	416	etat = TEST_VENTOUSE;
gabrieltetar	7:44eec996a76e	417	} else if(TEST_TELE.Touched()) {
gabrieltetar	7:44eec996a76e	418	while(TEST_TELE.Touched());
gabrieltetar	1:7e925468f9d9	419	etat = TEST_TELEMETRE;
gabrieltetar	10:1964bb91b925	420	} else if(TEST_ELECTRV.Touched()) {
gabrieltetar	10:1964bb91b925	421	while(TEST_ELECTRV.Touched());
gabrieltetar	10:1964bb91b925	422	etat = TEST_ELECTROV;
gabrieltetar	7:44eec996a76e	423	} else if (TEST_COUL.Touched()) {
gabrieltetar	7:44eec996a76e	424	while(TEST_COUL.Touched());
gabrieltetar	7:44eec996a76e	425	etat =TEST_COULEUR ;
gabrieltetar	7:44eec996a76e	426	} else if (TEST_BRAS.Touched()) {
gabrieltetar	7:44eec996a76e	427	while(TEST_BRAS.Touched());
gabrieltetar	7:44eec996a76e	428	etat =TEST_SERVO_BRAS ;
gabrieltetar	10:1964bb91b925	429	} else if(TEST_AUDIO.Touched()) {
gabrieltetar	10:1964bb91b925	430	while(TEST_AUDIO.Touched());
gabrieltetar	10:1964bb91b925	431	TEST_AUDIO.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	432	Debug_Audio(3,2);
gabrieltetar	7:44eec996a76e	433	} else if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	434	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	435	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	436	}
gabrieltetar	1:7e925468f9d9	437	}
gabrieltetar	1:7e925468f9d9	438	break;
gabrieltetar	1:7e925468f9d9	439
gabrieltetar	1:7e925468f9d9	440
gabrieltetar	10:1964bb91b925	441	case TEST_VENTOUSE:
gabrieltetar	10:1964bb91b925	442	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	443	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	444	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	445	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	446	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
gabrieltetar	10:1964bb91b925	447	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	448	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	449	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	450	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	451	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	452	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	453	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	454	while(etat==TEST_SERVO_BRAS) {
gabrieltetar	7:44eec996a76e	455	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	456	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	457	etat=DEMO;
gabrieltetar	10:1964bb91b925	458	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	459	while (TEST_A.Touched());
gabrieltetar	10:1964bb91b925	460	SendRawId(TEST_VENT_A);
gabrieltetar	10:1964bb91b925	461	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	462	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	463	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	464	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	465	switch(maximilien){
gabrieltetar	10:1964bb91b925	466	case 1:
gabrieltetar	10:1964bb91b925	467	SendRawId(TEST_VENT_1);
gabrieltetar	10:1964bb91b925	468	break;
gabrieltetar	10:1964bb91b925	469	case 2:
gabrieltetar	10:1964bb91b925	470	SendRawId(TEST_VENT_2);
gabrieltetar	10:1964bb91b925	471	break;
gabrieltetar	10:1964bb91b925	472	case 3:
gabrieltetar	10:1964bb91b925	473	SendRawId(TEST_VENT_3);
gabrieltetar	10:1964bb91b925	474	break;
gabrieltetar	10:1964bb91b925	475	case 4:
gabrieltetar	10:1964bb91b925	476	SendRawId(TEST_VENT_4);
gabrieltetar	10:1964bb91b925	477	break;
gabrieltetar	10:1964bb91b925	478	case 5:
gabrieltetar	10:1964bb91b925	479	SendRawId(TEST_VENT_5);
gabrieltetar	10:1964bb91b925	480	break;
gabrieltetar	10:1964bb91b925	481	case 6:
gabrieltetar	10:1964bb91b925	482	SendRawId(TEST_VENT_6);
gabrieltetar	10:1964bb91b925	483	break;
gabrieltetar	10:1964bb91b925	484	}
gabrieltetar	10:1964bb91b925	485	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	486	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	487	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	488	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	489	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	490	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	491	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	492	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	493	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	494	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	495	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	496	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	497	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	498	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	499	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	500	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	501	}
gabrieltetar	7:44eec996a76e	502	}
gabrieltetar	7:44eec996a76e	503	break;
gabrieltetar	10:1964bb91b925	504
gabrieltetar	10:1964bb91b925	505	case TEST_ELECTROV:
gabrieltetar	10:1964bb91b925	506	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	507	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	508	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	509	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	510	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Electro Vannes", LEFT_MODE);
gabrieltetar	10:1964bb91b925	511	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	512	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	7:44eec996a76e	513	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	514	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	515	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	516	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	517	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	7:44eec996a76e	518	while(etat==TEST_SERVO_BRAS) {
gabrieltetar	1:7e925468f9d9	519	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	520	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	521	etat=DEMO;
gabrieltetar	10:1964bb91b925	522	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	523	while (TEST_A.Touched());
gabrieltetar	10:1964bb91b925	524	SendRawId(TEST_ELECTROV_A);
gabrieltetar	10:1964bb91b925	525	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	526	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	527	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	528	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	529	switch(maximilien){
gabrieltetar	10:1964bb91b925	530	case 1:
gabrieltetar	10:1964bb91b925	531	SendRawId(TEST_ELECTROV_1);
gabrieltetar	10:1964bb91b925	532	break;
gabrieltetar	10:1964bb91b925	533	case 2:
gabrieltetar	10:1964bb91b925	534	SendRawId(TEST_ELECTROV_2);
gabrieltetar	10:1964bb91b925	535	break;
gabrieltetar	10:1964bb91b925	536	case 3:
gabrieltetar	10:1964bb91b925	537	SendRawId(TEST_ELECTROV_3);
gabrieltetar	10:1964bb91b925	538	break;
gabrieltetar	10:1964bb91b925	539	case 4:
gabrieltetar	10:1964bb91b925	540	SendRawId(TEST_ELECTROV_4);
gabrieltetar	10:1964bb91b925	541	break;
gabrieltetar	10:1964bb91b925	542	case 5:
gabrieltetar	10:1964bb91b925	543	SendRawId(TEST_ELECTROV_5);
gabrieltetar	10:1964bb91b925	544	break;
gabrieltetar	10:1964bb91b925	545	case 6:
gabrieltetar	10:1964bb91b925	546	SendRawId(TEST_ELECTROV_6);
gabrieltetar	10:1964bb91b925	547	break;
gabrieltetar	10:1964bb91b925	548	}
gabrieltetar	10:1964bb91b925	549	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	550	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	551	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	552	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	553	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	554	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	555	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	556	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	557	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	558	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	559	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	560	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	561	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	562	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	563	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	564	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	565	}
gabrieltetar	10:1964bb91b925	566	}
gabrieltetar	10:1964bb91b925	567	break;
gabrieltetar	10:1964bb91b925	568
gabrieltetar	10:1964bb91b925	569	case TEST_SERVO_BRAS:
gabrieltetar	10:1964bb91b925	570
gabrieltetar	10:1964bb91b925	571	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	572	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	573	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	574	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	575	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
gabrieltetar	10:1964bb91b925	576	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	577	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	578	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	579	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	580	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	581	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	582	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	583	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	584	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	585	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	586	while(etat==TEST_SERVO_BRAS) {
gabrieltetar	10:1964bb91b925	587	if(RETOUR.Touched()) {
gabrieltetar	10:1964bb91b925	588	while (RETOUR.Touched());
gabrieltetar	10:1964bb91b925	589	etat=DEMO;
gabrieltetar	10:1964bb91b925	590	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	591	while (TEST_A.Touched());
gabrieltetar	10:1964bb91b925	592	SendRawId(TEST_BRAS_A);
gabrieltetar	10:1964bb91b925	593	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	594	} else if(TEST_B.Touched()) {
gabrieltetar	10:1964bb91b925	595	while (TEST_B.Touched());
gabrieltetar	10:1964bb91b925	596	SendRawId(TEST_BRAS_B);
gabrieltetar	10:1964bb91b925	597	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	598	} else if(TEST_C.Touched()) {
gabrieltetar	10:1964bb91b925	599	while (TEST_C.Touched());
gabrieltetar	10:1964bb91b925	600	SendRawId(TEST_BRAS_C);
gabrieltetar	10:1964bb91b925	601	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	602	} else if(TEST_D.Touched()) {
gabrieltetar	10:1964bb91b925	603	while (TEST_D.Touched());
gabrieltetar	10:1964bb91b925	604	SendRawId(TEST_BRAS_D);
gabrieltetar	10:1964bb91b925	605	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	606	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	607	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	608	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	609	switch(maximilien){
gabrieltetar	10:1964bb91b925	610	case 1:
gabrieltetar	10:1964bb91b925	611	SendRawId(TEST_BRAS_1);
gabrieltetar	10:1964bb91b925	612	break;
gabrieltetar	10:1964bb91b925	613	case 2:
gabrieltetar	10:1964bb91b925	614	SendRawId(TEST_BRAS_2);
gabrieltetar	10:1964bb91b925	615	break;
gabrieltetar	10:1964bb91b925	616	case 3:
gabrieltetar	10:1964bb91b925	617	SendRawId(TEST_BRAS_3);
gabrieltetar	10:1964bb91b925	618	break;
gabrieltetar	10:1964bb91b925	619	case 4:
gabrieltetar	10:1964bb91b925	620	SendRawId(TEST_BRAS_4);
gabrieltetar	10:1964bb91b925	621	break;
gabrieltetar	10:1964bb91b925	622	case 5:
gabrieltetar	10:1964bb91b925	623	SendRawId(TEST_BRAS_5);
gabrieltetar	10:1964bb91b925	624	break;
gabrieltetar	10:1964bb91b925	625	case 6:
gabrieltetar	10:1964bb91b925	626	SendRawId(TEST_BRAS_6);
gabrieltetar	10:1964bb91b925	627	break;
gabrieltetar	10:1964bb91b925	628	}
gabrieltetar	10:1964bb91b925	629	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	630	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	631	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	632	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	633	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	634	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	635	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	636	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	637	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	638	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	639	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	640	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	641	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	642	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	643	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	644	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	645	}
gabrieltetar	1:7e925468f9d9	646	}
gabrieltetar	1:7e925468f9d9	647	break;
gabrieltetar	7:44eec996a76e	648
gabrieltetar	7:44eec996a76e	649	case TEST_COULEUR:
gabrieltetar	7:44eec996a76e	650	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	651	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
gabrieltetar	7:44eec996a76e	652	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	7:44eec996a76e	653	while(etat==TEST_COULEUR) {
gabrieltetar	7:44eec996a76e	654	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	655	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	656	etat=DEMO;
gabrieltetar	7:44eec996a76e	657	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	658	}
gabrieltetar	7:44eec996a76e	659	}
gabrieltetar	1:7e925468f9d9	660	break;
gabrieltetar	1:7e925468f9d9	661
gabrieltetar	1:7e925468f9d9	662	case TEST_TELEMETRE: //AFFICHAGE DE LA VALEUR LUE PAR LES 4 TELEMETRES
gabrieltetar	1:7e925468f9d9	663	ModeDemo=1;
gabrieltetar	7:44eec996a76e	664	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	665	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Telemetre", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	666	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	667	while(etat==TEST_TELEMETRE) {
gabrieltetar	1:7e925468f9d9	668	SendRawId(DATA_RECALAGE);
gabrieltetar	1:7e925468f9d9	669	SendRawId(DATA_TELEMETRE_LOGIQUE);
gabrieltetar	1:7e925468f9d9	670	wait_ms(100);
gabrieltetar	1:7e925468f9d9	671	canProcessRx();
gabrieltetar	1:7e925468f9d9	672	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	673	while( RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	674	etat=DEMO;
gabrieltetar	7:44eec996a76e	675	ModeDemo=0;
gabrieltetar	1:7e925468f9d9	676	}
gabrieltetar	1:7e925468f9d9	677	}
gabrieltetar	1:7e925468f9d9	678	break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	679
gabrieltetar	1:7e925468f9d9	680
gabrieltetar	1:7e925468f9d9	681	case SELECT_SIDE : // CHOIX DU COTE DU TERRAIN + INVERSION DE LA STRAT SI COTE ORANGE+ ENVOI DU COTE A LA CARTE CAPTEUR/ACTIONNEURS
gabrieltetar	1:7e925468f9d9	682	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	683	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	684	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	685
gabrieltetar	1:7e925468f9d9	686	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	687	COTE_JAUNE.Draw(JAUNE, 0);
gabrieltetar	1:7e925468f9d9	688	COTE_VIOLET.Draw(VIOLET, 0);
gabrieltetar	1:7e925468f9d9	689	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	1:7e925468f9d9	690
gabrieltetar	1:7e925468f9d9	691
gabrieltetar	1:7e925468f9d9	692	while (etat == SELECT_SIDE) {
gabrieltetar	1:7e925468f9d9	693	canProcessRx();
gabrieltetar	1:7e925468f9d9	694	if(COTE_JAUNE.Touched()) {
gabrieltetar	1:7e925468f9d9	695	Cote = 0x0;
gabrieltetar	1:7e925468f9d9	696	InversStrat = Cote;
gabrieltetar	1:7e925468f9d9	697	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	698	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	699	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	700	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	701	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	702	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	703	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	704	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	705	while(COTE_JAUNE.Touched());
gabrieltetar	1:7e925468f9d9	706
gabrieltetar	1:7e925468f9d9	707	}
gabrieltetar	1:7e925468f9d9	708
gabrieltetar	1:7e925468f9d9	709	if(COTE_VIOLET.Touched()) {
gabrieltetar	1:7e925468f9d9	710	Cote = 0x1;
gabrieltetar	1:7e925468f9d9	711	InversStrat= Cote;
gabrieltetar	1:7e925468f9d9	712	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	713	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	714	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	715	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	716	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	717	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	718	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	719	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	720	while(COTE_VIOLET.Touched());
gabrieltetar	1:7e925468f9d9	721	}
gabrieltetar	1:7e925468f9d9	722
gabrieltetar	1:7e925468f9d9	723	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	724	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	725	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	726	}
gabrieltetar	1:7e925468f9d9	727	}
gabrieltetar	1:7e925468f9d9	728
gabrieltetar	1:7e925468f9d9	729	break;
gabrieltetar	1:7e925468f9d9	730
gabrieltetar	1:7e925468f9d9	731	case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
gabrieltetar	1:7e925468f9d9	732	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	733	lcd.Clear(JAUNE);
gabrieltetar	1:7e925468f9d9	734	lcd.SetBackColor(JAUNE);
gabrieltetar	1:7e925468f9d9	735	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	736	lcd.Clear(VIOLET);
gabrieltetar	1:7e925468f9d9	737	lcd.SetBackColor(VIOLET);
gabrieltetar	1:7e925468f9d9	738	} else {
gabrieltetar	1:7e925468f9d9	739	lcd.Clear(BLEU);
gabrieltetar	1:7e925468f9d9	740	lcd.SetBackColor(BLEU);
gabrieltetar	1:7e925468f9d9	741	}
gabrieltetar	1:7e925468f9d9	742
gabrieltetar	1:7e925468f9d9	743	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	744
gabrieltetar	1:7e925468f9d9	745	lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	746
gabrieltetar	1:7e925468f9d9	747	Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
gabrieltetar	1:7e925468f9d9	748	if (Strategie == -1) {
gabrieltetar	1:7e925468f9d9	749	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	750	} else {
gabrieltetar	1:7e925468f9d9	751	etat = DETAILS;
gabrieltetar	1:7e925468f9d9	752	}
gabrieltetar	1:7e925468f9d9	753	wait(0.1);
gabrieltetar	1:7e925468f9d9	754	break;
gabrieltetar	1:7e925468f9d9	755
gabrieltetar	1:7e925468f9d9	756	case DETAILS : //SECONDE VALIDATION DE LA STRAT
gabrieltetar	1:7e925468f9d9	757	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	758	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	759	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	760	CHECK.Draw(VERT);
gabrieltetar	1:7e925468f9d9	761	RETOUR.Draw(LCD_COLOR_RED);
gabrieltetar	1:7e925468f9d9	762
gabrieltetar	1:7e925468f9d9	763	SelectionStrat(Strategie); //affiche la stratégie selectionnée
gabrieltetar	1:7e925468f9d9	764
gabrieltetar	1:7e925468f9d9	765	while (etat == DETAILS) {
gabrieltetar	1:7e925468f9d9	766	canProcessRx();
gabrieltetar	1:7e925468f9d9	767	if (CHECK.Touched()) {
gabrieltetar	1:7e925468f9d9	768	if(gameEtat == ETAT_CONFIG) {
gabrieltetar	1:7e925468f9d9	769	gameEtat = ETAT_GAME_INIT;
gabrieltetar	1:7e925468f9d9	770	etat=LECTURE;
gabrieltetar	1:7e925468f9d9	771
gabrieltetar	1:7e925468f9d9	772	}
gabrieltetar	1:7e925468f9d9	773	while(CHECK.Touched());
gabrieltetar	1:7e925468f9d9	774	}
gabrieltetar	1:7e925468f9d9	775
gabrieltetar	1:7e925468f9d9	776	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	777	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	778	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	779	}
gabrieltetar	1:7e925468f9d9	780	}
gabrieltetar	1:7e925468f9d9	781	break;
gabrieltetar	1:7e925468f9d9	782
gabrieltetar	1:7e925468f9d9	783
gabrieltetar	1:7e925468f9d9	784	case LECTURE :
gabrieltetar	1:7e925468f9d9	785	break;
gabrieltetar	1:7e925468f9d9	786	case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	787	lcd.Clear(BLANC);
gabrieltetar	1:7e925468f9d9	788	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	789	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	790
gabrieltetar	1:7e925468f9d9	791	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	792	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	793	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	794	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	795	lcd.Clear(ORANGE);
gabrieltetar	1:7e925468f9d9	796	lcd.SetBackColor(ORANGE);
gabrieltetar	1:7e925468f9d9	797	} else {
gabrieltetar	1:7e925468f9d9	798	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	799	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	800	}
gabrieltetar	1:7e925468f9d9	801	canProcessRx();
gabrieltetar	1:7e925468f9d9	802	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
gabrieltetar	1:7e925468f9d9	803	etat=WAIT_JACK;
gabrieltetar	1:7e925468f9d9	804	break;
gabrieltetar	1:7e925468f9d9	805
gabrieltetar	1:7e925468f9d9	806	case WAIT_JACK: //VERITABLE ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	807	break;
gabrieltetar	1:7e925468f9d9	808
gabrieltetar	1:7e925468f9d9	809	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
gabrieltetar	1:7e925468f9d9	810	cptf=gameTimer.read();
gabrieltetar	1:7e925468f9d9	811	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	812	cpt=(int)cptf;
gabrieltetar	1:7e925468f9d9	813	if(cpt != cpt1) {
gabrieltetar	1:7e925468f9d9	814	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	815	// affichage_compteur(100-cpt);
gabrieltetar	1:7e925468f9d9	816	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	817	affichage_var(SCORE_PR);
gabrieltetar	1:7e925468f9d9	818	if(liaison_pr.paquet_en_attente()) {
gabrieltetar	1:7e925468f9d9	819	PaquetDomotique *paquet=liaison_pr.lire();
gabrieltetar	1:7e925468f9d9	820	if(paquet->identifiant==PAQUET_IDENTIFIANT_AJOUTERSCORE) {
gabrieltetar	1:7e925468f9d9	821	SCORE_PR+=convertir_score(paquet);
gabrieltetar	1:7e925468f9d9	822	}
gabrieltetar	1:7e925468f9d9	823	delete paquet;
gabrieltetar	1:7e925468f9d9	824	}
gabrieltetar	1:7e925468f9d9	825	}
gabrieltetar	1:7e925468f9d9	826	cpt1=cpt;
gabrieltetar	1:7e925468f9d9	827	flag_timer=0;
gabrieltetar	1:7e925468f9d9	828
gabrieltetar	1:7e925468f9d9	829	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	830	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	831
gabrieltetar	1:7e925468f9d9	832	break;
gabrieltetar	1:7e925468f9d9	833
gabrieltetar	1:7e925468f9d9	834	case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
gabrieltetar	1:7e925468f9d9	835	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	836	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	5:81aac085516f	837
gabrieltetar	1:7e925468f9d9	838	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	839	affichage_var(SCORE_PR);
gabrieltetar	5:81aac085516f	840
gabrieltetar	1:7e925468f9d9	841	while(1); // force le redemarage du robot
gabrieltetar	1:7e925468f9d9	842	//break;
gabrieltetar	1:7e925468f9d9	843
gabrieltetar	1:7e925468f9d9	844	}
gabrieltetar	1:7e925468f9d9	845	}
gabrieltetar	1:7e925468f9d9	846
gabrieltetar	1:7e925468f9d9	847
gabrieltetar	1:7e925468f9d9	848
gabrieltetar	1:7e925468f9d9	849	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	850	/* FUNCTION NAME: automate_process */
gabrieltetar	1:7e925468f9d9	851	/* DESCRIPTION : Automate de gestion de la stratégie du robot */
gabrieltetar	1:7e925468f9d9	852	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	853	void automate_process(void)
gabrieltetar	1:7e925468f9d9	854	{
gabrieltetar	1:7e925468f9d9	855	static unsigned char AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	856	static unsigned char MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	857	signed char localData1 = 0;
gabrieltetar	1:7e925468f9d9	858	signed short localData2 = 0;
gabrieltetar	1:7e925468f9d9	859	unsigned short localData3 = 0;
gabrieltetar	1:7e925468f9d9	860	//signed short localData4 = 0;
gabrieltetar	1:7e925468f9d9	861	unsigned char localData5 = 0;
gabrieltetar	1:7e925468f9d9	862
gabrieltetar	1:7e925468f9d9	863
gabrieltetar	1:7e925468f9d9	864	if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
gabrieltetar	1:7e925468f9d9	865	gameTimer.stop();
gabrieltetar	1:7e925468f9d9	866	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	867	gameEtat = ETAT_END;//Fin du temps
gabrieltetar	1:7e925468f9d9	868	etat=FIN;
gabrieltetar	1:7e925468f9d9	869	}
gabrieltetar	1:7e925468f9d9	870
gabrieltetar	1:7e925468f9d9	871	if(lastEtat != gameEtat \|\| debugetatTimer.read_ms() >= 1000) {
gabrieltetar	1:7e925468f9d9	872	lastEtat = gameEtat;
gabrieltetar	1:7e925468f9d9	873	debugetatTimer.reset();
gabrieltetar	1:7e925468f9d9	874	sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
gabrieltetar	1:7e925468f9d9	875	}
gabrieltetar	1:7e925468f9d9	876
gabrieltetar	1:7e925468f9d9	877
gabrieltetar	1:7e925468f9d9	878
gabrieltetar	1:7e925468f9d9	879	switch(gameEtat) {
gabrieltetar	1:7e925468f9d9	880
gabrieltetar	1:7e925468f9d9	881	case ETAT_CHECK_CARTES:
gabrieltetar	1:7e925468f9d9	882	/*
gabrieltetar	1:7e925468f9d9	883	Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
gabrieltetar	1:7e925468f9d9	884	*/
gabrieltetar	1:7e925468f9d9	885	waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
gabrieltetar	1:7e925468f9d9	886	SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
gabrieltetar	1:7e925468f9d9	887
gabrieltetar	1:7e925468f9d9	888	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	889	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	890	cartesCheker.start();//On lance le timer pour le timeout
gabrieltetar	1:7e925468f9d9	891	gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	892	break;
gabrieltetar	1:7e925468f9d9	893
gabrieltetar	1:7e925468f9d9	894	case ETAT_CHECK_CARTES_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	895	/*
gabrieltetar	1:7e925468f9d9	896	On attend l'ack de la carte en cours de vérification
gabrieltetar	1:7e925468f9d9	897	*/
gabrieltetar	1:7e925468f9d9	898	//printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
gabrieltetar	1:7e925468f9d9	899	if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
gabrieltetar	1:7e925468f9d9	900	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	901	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	902	countAliveCard++;
gabrieltetar	1:7e925468f9d9	903	checkCurrent++;
gabrieltetar	1:7e925468f9d9	904	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	905	printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
gabrieltetar	1:7e925468f9d9	906	if(countAliveCard >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	907	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	908	SendRawId(ECRAN_ALL_CHECK);
gabrieltetar	1:7e925468f9d9	909	flag=1;
gabrieltetar	1:7e925468f9d9	910
gabrieltetar	1:7e925468f9d9	911	//tactile_printf("Selection couleur et strategie");
gabrieltetar	1:7e925468f9d9	912	} else {
gabrieltetar	1:7e925468f9d9	913	gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
gabrieltetar	1:7e925468f9d9	914	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	915	}
gabrieltetar	1:7e925468f9d9	916	} else
gabrieltetar	1:7e925468f9d9	917	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	918	} else if(cartesCheker.read_ms () > 100) {
gabrieltetar	1:7e925468f9d9	919	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	920	if(screenChecktry >=3) {
gabrieltetar	1:7e925468f9d9	921	//printf("missing card %d\n",id_check[checkCurrent]);
gabrieltetar	1:7e925468f9d9	922	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	923	checkCurrent++;
gabrieltetar	1:7e925468f9d9	924
gabrieltetar	1:7e925468f9d9	925	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	926	if(countAliveCard == NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	927	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	928	flag=1;
gabrieltetar	1:7e925468f9d9	929	} else {
gabrieltetar	1:7e925468f9d9	930	gameEtat = ETAT_WAIT_FORCE;
gabrieltetar	1:7e925468f9d9	931	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	932	}
gabrieltetar	1:7e925468f9d9	933	} else
gabrieltetar	1:7e925468f9d9	934	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	935
gabrieltetar	1:7e925468f9d9	936	} else
gabrieltetar	1:7e925468f9d9	937	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	938
gabrieltetar	1:7e925468f9d9	939	}
gabrieltetar	1:7e925468f9d9	940	break;
gabrieltetar	1:7e925468f9d9	941	case ETAT_WAIT_FORCE:
gabrieltetar	1:7e925468f9d9	942	/*
gabrieltetar	1:7e925468f9d9	943	Attente du forçage de la part de la carte IHM
gabrieltetar	1:7e925468f9d9	944	*/
gabrieltetar	1:7e925468f9d9	945	if(waitingAckFrom == 0) {
gabrieltetar	1:7e925468f9d9	946	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	947	}
gabrieltetar	1:7e925468f9d9	948	break;
gabrieltetar	1:7e925468f9d9	949	case ETAT_CONFIG:
gabrieltetar	1:7e925468f9d9	950	/*
gabrieltetar	1:7e925468f9d9	951	Attente de l'odre de choix de mode,
gabrieltetar	1:7e925468f9d9	952	Il est possible de modifier la couleur et l'id de la stratégie
gabrieltetar	1:7e925468f9d9	953	Il est aussi possible d'envoyer les ordres de debug
gabrieltetar	1:7e925468f9d9	954	*/
gabrieltetar	1:7e925468f9d9	955	modeTelemetre = 0;
gabrieltetar	1:7e925468f9d9	956	break;
gabrieltetar	1:7e925468f9d9	957	case ETAT_GAME_INIT:
gabrieltetar	1:7e925468f9d9	958	//On charge la liste des instructions
gabrieltetar	1:7e925468f9d9	959
gabrieltetar	1:7e925468f9d9	960	loadAllInstruction(Strategie);//Mise en cache de toute les instructions
gabrieltetar	1:7e925468f9d9	961	led3=1;
gabrieltetar	1:7e925468f9d9	962
gabrieltetar	1:7e925468f9d9	963	SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	964
gabrieltetar	1:7e925468f9d9	965	gameEtat = ETAT_GAME_WAIT_FOR_JACK;
gabrieltetar	10:1964bb91b925	966	Debug_Audio(3,7);
gabrieltetar	7:44eec996a76e	967	if (etat == TEST_TELEMETRE\|\| etat ==TEST_VENTOUSE \|\| etat == TEST_COULEUR \|\| etat ==TEST_SERVO_BRAS) {
gabrieltetar	1:7e925468f9d9	968	SendRawId(DEBUG_FAKE_JAKE);
gabrieltetar	1:7e925468f9d9	969	} else {
gabrieltetar	1:7e925468f9d9	970	etat = AFF_WAIT_JACK;
gabrieltetar	1:7e925468f9d9	971	}
gabrieltetar	1:7e925468f9d9	972	//tactile_printf("Attente du JACK.");
gabrieltetar	1:7e925468f9d9	973	setAsservissementEtat(1);//On réactive l'asservissement
gabrieltetar	1:7e925468f9d9	974	jack.mode(PullDown); // désactivation de la résistance interne du jack
gabrieltetar	1:7e925468f9d9	975	jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
gabrieltetar	1:7e925468f9d9	976
gabrieltetar	1:7e925468f9d9	977	localData2 = POSITION_DEBUT_T;
gabrieltetar	1:7e925468f9d9	978	localData3 = POSITION_DEBUT_Y;
gabrieltetar	1:7e925468f9d9	979	if(InversStrat == 1) {
gabrieltetar	1:7e925468f9d9	980	localData2 = -localData2;//Inversion theta
gabrieltetar	1:7e925468f9d9	981	localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
gabrieltetar	1:7e925468f9d9	982	}
gabrieltetar	1:7e925468f9d9	983	SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
gabrieltetar	1:7e925468f9d9	984
gabrieltetar	1:7e925468f9d9	985	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	986	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	987
gabrieltetar	1:7e925468f9d9	988	break;
gabrieltetar	1:7e925468f9d9	989	case ETAT_GAME_WAIT_FOR_JACK:
gabrieltetar	1:7e925468f9d9	990	if(instruction.order==POSITION_DEBUT) {
gabrieltetar	1:7e925468f9d9	991	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 !!!)
gabrieltetar	1:7e925468f9d9	992	case RECALAGE_1:
gabrieltetar	1:7e925468f9d9	993	SendRawId(RECALAGE_START);
gabrieltetar	1:7e925468f9d9	994	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	995	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	996	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)
gabrieltetar	1:7e925468f9d9	997	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	998	canProcessRx();
gabrieltetar	1:7e925468f9d9	999	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1000	waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1001	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1002	canProcessRx();
gabrieltetar	1:7e925468f9d9	1003	etat_pos=RECULER_1;
gabrieltetar	1:7e925468f9d9	1004	break;
gabrieltetar	1:7e925468f9d9	1005
gabrieltetar	1:7e925468f9d9	1006	case RECULER_1:
gabrieltetar	1:7e925468f9d9	1007	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1008	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1009	GoStraight(-100, 0, 0, 0);//-450
gabrieltetar	1:7e925468f9d9	1010	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1011	canProcessRx();
gabrieltetar	1:7e925468f9d9	1012	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1013	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1014	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1015	canProcessRx();
gabrieltetar	1:7e925468f9d9	1016	etat_pos=TOURNER;
gabrieltetar	1:7e925468f9d9	1017	break;
gabrieltetar	1:7e925468f9d9	1018
gabrieltetar	1:7e925468f9d9	1019	case TOURNER:
gabrieltetar	1:7e925468f9d9	1020	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1021	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1022	if(Cote==0) {
gabrieltetar	1:7e925468f9d9	1023	localData2 = 900;
gabrieltetar	1:7e925468f9d9	1024	} else {
gabrieltetar	1:7e925468f9d9	1025	localData2=-900;
gabrieltetar	1:7e925468f9d9	1026	}
gabrieltetar	1:7e925468f9d9	1027	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1028	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1029	canProcessRx();
gabrieltetar	1:7e925468f9d9	1030	waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1031	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1032	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1033	canProcessRx();
gabrieltetar	1:7e925468f9d9	1034	etat_pos=RECALAGE_2;
gabrieltetar	1:7e925468f9d9	1035	break;
gabrieltetar	1:7e925468f9d9	1036
gabrieltetar	1:7e925468f9d9	1037	case RECALAGE_2:
gabrieltetar	1:7e925468f9d9	1038	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1039	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1040	if(Cote==1) {
gabrieltetar	1:7e925468f9d9	1041	localData3=3000-(MOITIEE_ROBOT);
gabrieltetar	1:7e925468f9d9	1042	} else {
gabrieltetar	1:7e925468f9d9	1043	localData3=MOITIEE_ROBOT;
gabrieltetar	1:7e925468f9d9	1044	}
gabrieltetar	1:7e925468f9d9	1045	GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
gabrieltetar	1:7e925468f9d9	1046	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1047	canProcessRx();
gabrieltetar	1:7e925468f9d9	1048	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1049	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1050	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1051	canProcessRx();
gabrieltetar	1:7e925468f9d9	1052	etat_pos=RECULER_2;
gabrieltetar	1:7e925468f9d9	1053	break;
gabrieltetar	1:7e925468f9d9	1054
gabrieltetar	1:7e925468f9d9	1055	case RECULER_2:
gabrieltetar	1:7e925468f9d9	1056	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1057	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1058	GoStraight(-100, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1059	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1060	canProcessRx();
gabrieltetar	1:7e925468f9d9	1061	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1062	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1063	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1064	canProcessRx();
gabrieltetar	1:7e925468f9d9	1065	etat_pos=GOTOPOS;
gabrieltetar	1:7e925468f9d9	1066	break;
gabrieltetar	1:7e925468f9d9	1067
gabrieltetar	1:7e925468f9d9	1068	case GOTOPOS:
gabrieltetar	1:7e925468f9d9	1069	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1070
gabrieltetar	1:7e925468f9d9	1071	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1072	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1073	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1074	} else {
gabrieltetar	1:7e925468f9d9	1075	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1076	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1077	}
gabrieltetar	1:7e925468f9d9	1078
gabrieltetar	1:7e925468f9d9	1079	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1080	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1081	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1082
gabrieltetar	1:7e925468f9d9	1083	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1084	canProcessRx();
gabrieltetar	1:7e925468f9d9	1085	waitingAckID_FIN=ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1086	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1087	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1088	canProcessRx();
gabrieltetar	1:7e925468f9d9	1089	etat_pos=FIN_POS;
gabrieltetar	1:7e925468f9d9	1090	break;
gabrieltetar	1:7e925468f9d9	1091	case FIN_POS:
gabrieltetar	1:7e925468f9d9	1092	actual_instruction = instruction.nextLineOK;
gabrieltetar	1:7e925468f9d9	1093	break;
gabrieltetar	1:7e925468f9d9	1094	}
gabrieltetar	1:7e925468f9d9	1095	}
gabrieltetar	1:7e925468f9d9	1096
gabrieltetar	1:7e925468f9d9	1097
gabrieltetar	1:7e925468f9d9	1098	break;
gabrieltetar	1:7e925468f9d9	1099	case ETAT_GAME_START:
gabrieltetar	10:1964bb91b925	1100	Debug_Audio(3,3);
gabrieltetar	1:7e925468f9d9	1101	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1102
gabrieltetar	1:7e925468f9d9	1103	if (ModeDemo == 0) {
gabrieltetar	1:7e925468f9d9	1104	chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
gabrieltetar	1:7e925468f9d9	1105	gameTimer.start();
gabrieltetar	1:7e925468f9d9	1106	}
gabrieltetar	1:7e925468f9d9	1107	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	1108	jack.fall(NULL);//On désactive l'interruption du jack
gabrieltetar	1:7e925468f9d9	1109	//SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	1110	Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
gabrieltetar	1:7e925468f9d9	1111	//tactile_printf("Start");//Pas vraiment utile mais bon
gabrieltetar	1:7e925468f9d9	1112	break;
gabrieltetar	1:7e925468f9d9	1113	case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1114	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1115	/*
gabrieltetar	1:7e925468f9d9	1116	Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
gabrieltetar	1:7e925468f9d9	1117	*/
gabrieltetar	1:7e925468f9d9	1118	//printf("load next instruction\n");
gabrieltetar	1:7e925468f9d9	1119	if(dodgeq.nb > 0){//dodge q
gabrieltetar	1:7e925468f9d9	1120	instruction.order=dodgeq.inst[dodgeq.nb-1].order;
gabrieltetar	1:7e925468f9d9	1121	instruction.arg1=dodgeq.inst[dodgeq.nb-1].arg1;
gabrieltetar	1:7e925468f9d9	1122	instruction.arg2=dodgeq.inst[dodgeq.nb-1].arg2;
gabrieltetar	1:7e925468f9d9	1123	instruction.arg3=dodgeq.inst[dodgeq.nb-1].arg3;
gabrieltetar	1:7e925468f9d9	1124	gameEtat=ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1125	dodgeq.nb--;
gabrieltetar	1:7e925468f9d9	1126	}//end dodge q
gabrieltetar	1:7e925468f9d9	1127	else{// no dodge q
gabrieltetar	1:7e925468f9d9	1128	if(actual_instruction >= nb_instructions \|\| actual_instruction == 255) {
gabrieltetar	1:7e925468f9d9	1129	gameEtat = ETAT_END;
gabrieltetar	1:7e925468f9d9	1130	//Il n'y a plus d'instruction, fin du jeu
gabrieltetar	1:7e925468f9d9	1131	} else {
gabrieltetar	1:7e925468f9d9	1132	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	1133	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	1134	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1135	}
gabrieltetar	1:7e925468f9d9	1136	}//end no dodge q
gabrieltetar	1:7e925468f9d9	1137	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	1138	ingnorInversionOnce = 0;
gabrieltetar	1:7e925468f9d9	1139	break;
gabrieltetar	1:7e925468f9d9	1140	case ETAT_GAME_PROCESS_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1141	/*
gabrieltetar	1:7e925468f9d9	1142	Traitement de l'instruction, envoie de la trame CAN
gabrieltetar	1:7e925468f9d9	1143	*/
gabrieltetar	1:7e925468f9d9	1144	//debug_Instruction(instruction);
gabrieltetar	1:7e925468f9d9	1145	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	1146	//rn42_Tx.printf("A");//lance l'electron
gabrieltetar	1:7e925468f9d9	1147	actionPrecedente = instruction.order;
gabrieltetar	1:7e925468f9d9	1148	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1149	case MV_BEZIER: {
gabrieltetar	1:7e925468f9d9	1150	static vector< vector<short> >P1;
gabrieltetar	1:7e925468f9d9	1151	static vector< vector<short> >C1;
gabrieltetar	1:7e925468f9d9	1152	static vector< vector<short> >C2;
gabrieltetar	1:7e925468f9d9	1153	static int i = 0;
gabrieltetar	1:7e925468f9d9	1154
gabrieltetar	1:7e925468f9d9	1155	//Ajoute une ligne aux tableaux pour chaques courbes de la trajectoire
gabrieltetar	1:7e925468f9d9	1156	P1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1157	C1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1158	C2.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1159
gabrieltetar	1:7e925468f9d9	1160	P1[i].push_back(instruction.arg1); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1161	C1[i].push_back(instruction.arg3); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1162	C2[i].push_back(instruction.arg5); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1163
gabrieltetar	1:7e925468f9d9	1164	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1165	P1[i].push_back(3000-instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1166	C1[i].push_back(3000-instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1167	C2[i].push_back(3000-instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1168	} else {
gabrieltetar	1:7e925468f9d9	1169	P1[i].push_back(instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1170	C1[i].push_back(instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1171	C2[i].push_back(instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1172	}
gabrieltetar	1:7e925468f9d9	1173
gabrieltetar	1:7e925468f9d9	1174	i++;
gabrieltetar	1:7e925468f9d9	1175
gabrieltetar	1:7e925468f9d9	1176	if(instruction.nextActionType == WAIT) { //Si il n'y a qu'une seule courbe ou que c'est la dernière courbe de la trajectoire
gabrieltetar	1:7e925468f9d9	1177	//Passage des points dans des variables temporaires pour pouvoir clear les vector avant d'être bloqué dans l'attente de l'ack
gabrieltetar	1:7e925468f9d9	1178	//Empeche les vector de ne pas être reset si l'ack n'est pas reçu avant la fin du match
gabrieltetar	1:7e925468f9d9	1179	int nbCourbes = P1.size();
gabrieltetar	1:7e925468f9d9	1180	short P1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1181	short C1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1182	short C2_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1183
gabrieltetar	1:7e925468f9d9	1184	for(int j=0; j<nbCourbes; j++) {
gabrieltetar	1:7e925468f9d9	1185	for(int i=0; i<2; i++) {
gabrieltetar	1:7e925468f9d9	1186	P1_temp[j][i] = P1[j][i];
gabrieltetar	1:7e925468f9d9	1187	C1_temp[j][i] = C1[j][i];
gabrieltetar	1:7e925468f9d9	1188	C2_temp[j][i] = C2[j][i];
gabrieltetar	1:7e925468f9d9	1189	}
gabrieltetar	1:7e925468f9d9	1190	}
gabrieltetar	1:7e925468f9d9	1191
gabrieltetar	1:7e925468f9d9	1192	//Clear des tableaux de points pour la prochaine trajectoire
gabrieltetar	1:7e925468f9d9	1193	P1.clear();
gabrieltetar	1:7e925468f9d9	1194	C1.clear();
gabrieltetar	1:7e925468f9d9	1195	C2.clear();
gabrieltetar	1:7e925468f9d9	1196	i = 0;
gabrieltetar	1:7e925468f9d9	1197
gabrieltetar	1:7e925468f9d9	1198	//Calcul de la courbe et envoi des valeurs
gabrieltetar	1:7e925468f9d9	1199	if(instruction.direction == FORWARD) {
gabrieltetar	1:7e925468f9d9	1200	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 0);
gabrieltetar	1:7e925468f9d9	1201	} else if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1202	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 1);
gabrieltetar	1:7e925468f9d9	1203	}
gabrieltetar	1:7e925468f9d9	1204
gabrieltetar	1:7e925468f9d9	1205	waitingAckID = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1206	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1207	}
gabrieltetar	1:7e925468f9d9	1208	break;
gabrieltetar	1:7e925468f9d9	1209	}
gabrieltetar	1:7e925468f9d9	1210	case MV_COURBURE://C'est un rayon de courbure
gabrieltetar	10:1964bb91b925	1211	Debug_Audio(3,6);
gabrieltetar	1:7e925468f9d9	1212	float alpha=0, theta=0;
gabrieltetar	1:7e925468f9d9	1213	unsigned short alph=0;
gabrieltetar	1:7e925468f9d9	1214	actionPrecedente = MV_COURBURE;
gabrieltetar	1:7e925468f9d9	1215	waitingAckID = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1216	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1217	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1218	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1219	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1220	} else {
gabrieltetar	1:7e925468f9d9	1221	if(MV_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1222	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1223	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1224	} else {
gabrieltetar	1:7e925468f9d9	1225	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1226	}
gabrieltetar	1:7e925468f9d9	1227	}
gabrieltetar	1:7e925468f9d9	1228	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1229	if(instruction.direction == LEFT) instruction.direction = RIGHT;
gabrieltetar	1:7e925468f9d9	1230	else instruction.direction = LEFT;
gabrieltetar	1:7e925468f9d9	1231	}
gabrieltetar	1:7e925468f9d9	1232
gabrieltetar	1:7e925468f9d9	1233	localData1 = ((instruction.direction == LEFT)?1:-1);
gabrieltetar	1:7e925468f9d9	1234	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1235	/*if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1236	localData1 = -localData1;//Inversion de la direction
gabrieltetar	1:7e925468f9d9	1237	}*/
gabrieltetar	1:7e925468f9d9	1238
gabrieltetar	1:7e925468f9d9	1239	BendRadius(instruction.arg1, localData2, localData1, localData5);
gabrieltetar	1:7e925468f9d9	1240	if(localData2>0) {
gabrieltetar	1:7e925468f9d9	1241	direction=1;
gabrieltetar	1:7e925468f9d9	1242	} else {
gabrieltetar	1:7e925468f9d9	1243	direction=-1;
gabrieltetar	1:7e925468f9d9	1244	}
gabrieltetar	1:7e925468f9d9	1245	if(localData2>0)alph=localData2;
gabrieltetar	1:7e925468f9d9	1246	else alph=-localData2;
gabrieltetar	1:7e925468f9d9	1247	alpha = localData2*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1248	theta = theta_robot*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1249
gabrieltetar	1:7e925468f9d9	1250	if(instruction.direction == LEFT) { //-------------LEFT
gabrieltetar	1:7e925468f9d9	1251	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1252	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1253	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1254	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1255	dodgeq.inst[0].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1256	}
gabrieltetar	1:7e925468f9d9	1257	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1258	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1259	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1260	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1261	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1262	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1263	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1264	alph-=alph/2;
gabrieltetar	1:7e925468f9d9	1265	}
gabrieltetar	1:7e925468f9d9	1266	}
gabrieltetar	1:7e925468f9d9	1267	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1268	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1269	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1270	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1271	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1272	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1273	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1274	alph-=alph/3;
gabrieltetar	1:7e925468f9d9	1275	}
gabrieltetar	1:7e925468f9d9	1276	}
gabrieltetar	1:7e925468f9d9	1277	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1278	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1279	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1280	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1281	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1282	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1283	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1284	alph-=alph/4;
gabrieltetar	1:7e925468f9d9	1285	}
gabrieltetar	1:7e925468f9d9	1286	}
gabrieltetar	1:7e925468f9d9	1287	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1288	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1289	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1290	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1291	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1292	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1293	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1294	alph-=alph/5;
gabrieltetar	1:7e925468f9d9	1295	}
gabrieltetar	1:7e925468f9d9	1296	}
gabrieltetar	1:7e925468f9d9	1297	else {
gabrieltetar	1:7e925468f9d9	1298	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1299	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1300	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1301	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1302	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1303	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1304	alph-=alph/6;
gabrieltetar	1:7e925468f9d9	1305	}
gabrieltetar	1:7e925468f9d9	1306	}
gabrieltetar	1:7e925468f9d9	1307	} else { //-----------------------------------------RIGHT
gabrieltetar	1:7e925468f9d9	1308	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1309	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1310	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1311	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1312	dodgeq.inst[0].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1313	}
gabrieltetar	1:7e925468f9d9	1314	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1315	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1316	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1317	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1318	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1319	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1320	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1321	}
gabrieltetar	1:7e925468f9d9	1322	}
gabrieltetar	1:7e925468f9d9	1323	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1324	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1325	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1326	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1327	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1328	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1329	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1330	}
gabrieltetar	1:7e925468f9d9	1331	}
gabrieltetar	1:7e925468f9d9	1332	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1333	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1334	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1335	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1336	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1337	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1338	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1339	}
gabrieltetar	1:7e925468f9d9	1340	}
gabrieltetar	1:7e925468f9d9	1341	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1342	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1343	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1344	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1345	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1346	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1347	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1348	}
gabrieltetar	1:7e925468f9d9	1349	}
gabrieltetar	1:7e925468f9d9	1350	else {
gabrieltetar	1:7e925468f9d9	1351	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1352	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1353	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1354	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1355	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1356	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1357	}
gabrieltetar	1:7e925468f9d9	1358	}
gabrieltetar	1:7e925468f9d9	1359	}
gabrieltetar	1:7e925468f9d9	1360	break;
gabrieltetar	1:7e925468f9d9	1361
gabrieltetar	1:7e925468f9d9	1362
gabrieltetar	1:7e925468f9d9	1363
gabrieltetar	1:7e925468f9d9	1364	case MV_LINE://Ligne droite
gabrieltetar	10:1964bb91b925	1365	Debug_Audio(3,8);
gabrieltetar	1:7e925468f9d9	1366	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1367	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1368	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1369	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1370	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1371	} else {
gabrieltetar	1:7e925468f9d9	1372	if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
gabrieltetar	1:7e925468f9d9	1373	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1374	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1375	} else {
gabrieltetar	1:7e925468f9d9	1376	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1377	}
gabrieltetar	1:7e925468f9d9	1378	}
gabrieltetar	1:7e925468f9d9	1379	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1380	GoStraight(localData2, 0, 0, localData5);
gabrieltetar	1:7e925468f9d9	1381
gabrieltetar	1:7e925468f9d9	1382	target_x_robot = x_robot + localData2cos((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1383	target_y_robot = y_robot + localData2sin((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1384	target_theta_robot = theta_robot;
gabrieltetar	1:7e925468f9d9	1385
gabrieltetar	1:7e925468f9d9	1386	break;
gabrieltetar	1:7e925468f9d9	1387	case MV_TURN: //Rotation sur place
gabrieltetar	10:1964bb91b925	1388	Debug_Audio(3,9);
gabrieltetar	1:7e925468f9d9	1389	target_x_robot = x_robot;
gabrieltetar	1:7e925468f9d9	1390	target_y_robot = y_robot;
gabrieltetar	1:7e925468f9d9	1391	target_theta_robot = theta_robot + localData2;
gabrieltetar	1:7e925468f9d9	1392	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1393
gabrieltetar	1:7e925468f9d9	1394	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1395	localData2 = -localData2;
gabrieltetar	1:7e925468f9d9	1396	}
gabrieltetar	1:7e925468f9d9	1397
gabrieltetar	1:7e925468f9d9	1398
gabrieltetar	1:7e925468f9d9	1399	if(instruction.direction == ABSOLUTE) {
gabrieltetar	1:7e925468f9d9	1400	//C'est un rotation absolu, il faut la convertir en relative
gabrieltetar	1:7e925468f9d9	1401
gabrieltetar	1:7e925468f9d9	1402	localData2 = (localData2 - theta_robot)%3600;
gabrieltetar	1:7e925468f9d9	1403	if(localData2 > 1800) localData2 = localData2-3600;
gabrieltetar	1:7e925468f9d9	1404
gabrieltetar	1:7e925468f9d9	1405	else if(localData2 <-1800) localData2 = localData2+3600;
gabrieltetar	1:7e925468f9d9	1406	}
gabrieltetar	1:7e925468f9d9	1407
gabrieltetar	1:7e925468f9d9	1408
gabrieltetar	1:7e925468f9d9	1409	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1410	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1411	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1412
gabrieltetar	1:7e925468f9d9	1413	break;
gabrieltetar	1:7e925468f9d9	1414	case MV_XYT:
gabrieltetar	10:1964bb91b925	1415	Debug_Audio(3,10);
gabrieltetar	1:7e925468f9d9	1416	if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1417	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1418	} else {
gabrieltetar	1:7e925468f9d9	1419	localData1 = 1;
gabrieltetar	1:7e925468f9d9	1420	}
gabrieltetar	1:7e925468f9d9	1421
gabrieltetar	1:7e925468f9d9	1422	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1423	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1424	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1425	} else {
gabrieltetar	1:7e925468f9d9	1426	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1427	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1428	}
gabrieltetar	1:7e925468f9d9	1429
gabrieltetar	1:7e925468f9d9	1430	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1431	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1432	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1433
gabrieltetar	1:7e925468f9d9	1434	target_x_robot = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1435	target_y_robot = localData3;
gabrieltetar	1:7e925468f9d9	1436	target_theta_robot = localData2;
gabrieltetar	1:7e925468f9d9	1437
gabrieltetar	1:7e925468f9d9	1438	break;
gabrieltetar	1:7e925468f9d9	1439	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1440	if(instruction.nextActionType == MECANIQUE) {
gabrieltetar	1:7e925468f9d9	1441	instruction.nextActionType = WAIT;
gabrieltetar	1:7e925468f9d9	1442
gabrieltetar	1:7e925468f9d9	1443	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1444	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1445
gabrieltetar	1:7e925468f9d9	1446	localData2 = (((instruction.direction == FORWARD)?1:-1)*3000);//On indique une distance de 3000 pour etre sur que le robot va ce recaler
gabrieltetar	1:7e925468f9d9	1447
gabrieltetar	1:7e925468f9d9	1448	if(instruction.precision == RECALAGE_Y) {
gabrieltetar	1:7e925468f9d9	1449	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1450	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1451	localData3 = 3000 - instruction.arg1;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1452	} else {
gabrieltetar	1:7e925468f9d9	1453	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1454	}
gabrieltetar	1:7e925468f9d9	1455	} else {
gabrieltetar	1:7e925468f9d9	1456	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1457	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1458	}
gabrieltetar	1:7e925468f9d9	1459	GoStraight(localData2, localData5, localData3, 0);
gabrieltetar	1:7e925468f9d9	1460	} else { //CAPTEUR
gabrieltetar	1:7e925468f9d9	1461	SendRawId(DATA_RECALAGE);
gabrieltetar	1:7e925468f9d9	1462	waitingAckID = RECEPTION_RECALAGE;
gabrieltetar	1:7e925468f9d9	1463	waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
gabrieltetar	1:7e925468f9d9	1464
gabrieltetar	1:7e925468f9d9	1465	// On attend que les variables soient actualisé
gabrieltetar	1:7e925468f9d9	1466	while(!(waitingAckID == 0 && waitingAckFrom == 0))
gabrieltetar	1:7e925468f9d9	1467	canProcessRx();
gabrieltetar	1:7e925468f9d9	1468	while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
gabrieltetar	1:7e925468f9d9	1469	canProcessRx();
gabrieltetar	1:7e925468f9d9	1470
gabrieltetar	1:7e925468f9d9	1471	if(instruction.precision == RECALAGE_Y) { // ((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600)) (theta_robot < 900 && theta_robot > -900)
gabrieltetar	1:7e925468f9d9	1472	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
gabrieltetar	1:7e925468f9d9	1473	} else if(instruction.precision == RECALAGE_X) {
gabrieltetar	1:7e925468f9d9	1474	SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1475	} else if(instruction.precision == RECALAGE_T) {
gabrieltetar	1:7e925468f9d9	1476	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
gabrieltetar	1:7e925468f9d9	1477	}
gabrieltetar	1:7e925468f9d9	1478	}
gabrieltetar	1:7e925468f9d9	1479	break;
gabrieltetar	1:7e925468f9d9	1480
gabrieltetar	1:7e925468f9d9	1481	case ACTION:
gabrieltetar	1:7e925468f9d9	1482
gabrieltetar	1:7e925468f9d9	1483	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1484	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1485	int tempo = 0;
gabrieltetar	1:7e925468f9d9	1486	waitingAckID= ACK_ACTION; //On veut un ack de type action
gabrieltetar	1:7e925468f9d9	1487	waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
gabrieltetar	10:1964bb91b925	1488	//tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
gabrieltetar	1:7e925468f9d9	1489	// unsigned char test=(unsigned char) tempo;
gabrieltetar	1:7e925468f9d9	1490	// SendMsgCan(0x5BD, &test,1);
gabrieltetar	1:7e925468f9d9	1491	if(tempo == 1) {
gabrieltetar	1:7e925468f9d9	1492	//L'action est spécifique
gabrieltetar	1:7e925468f9d9	1493	if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1494	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1495	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1496	} else {
gabrieltetar	1:7e925468f9d9	1497	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1498	}
gabrieltetar	1:7e925468f9d9	1499	return;
gabrieltetar	1:7e925468f9d9	1500	} else if (tempo == 2) {
gabrieltetar	1:7e925468f9d9	1501	// on est dans le cas de l'avance selon le telemetre
gabrieltetar	1:7e925468f9d9	1502	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1503	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1504
gabrieltetar	1:7e925468f9d9	1505	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1506	GoStraight(telemetreDistance, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1507	// on reset la distance du telemetre à 0
gabrieltetar	1:7e925468f9d9	1508	telemetreDistance = 5000;
gabrieltetar	1:7e925468f9d9	1509	} else {
gabrieltetar	1:7e925468f9d9	1510	//C'est un AX12 qu'il faut bouger
gabrieltetar	1:7e925468f9d9	1511	//AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
gabrieltetar	1:7e925468f9d9	1512	//AX12_enchainement++;
gabrieltetar	1:7e925468f9d9	1513
gabrieltetar	1:7e925468f9d9	1514	}
gabrieltetar	1:7e925468f9d9	1515	break;
gabrieltetar	1:7e925468f9d9	1516	default:
gabrieltetar	1:7e925468f9d9	1517	//Instruction inconnue, on l'ignore
gabrieltetar	1:7e925468f9d9	1518	break;
gabrieltetar	1:7e925468f9d9	1519	}
gabrieltetar	1:7e925468f9d9	1520
gabrieltetar	1:7e925468f9d9	1521	if(instruction.nextActionType == JUMP \|\| instruction.nextActionType == WAIT) {
gabrieltetar	1:7e925468f9d9	1522	gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
gabrieltetar	1:7e925468f9d9	1523	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	1524	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1525	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1526	if(AX12_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1527	//AX12_processChange();//Il faut lancer le déplacement des AX12
gabrieltetar	1:7e925468f9d9	1528	//AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1529	}
gabrieltetar	1:7e925468f9d9	1530	} else { //C'est un enchainement
gabrieltetar	1:7e925468f9d9	1531	if(instruction.order == MV_LINE) {
gabrieltetar	1:7e925468f9d9	1532	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1533	} else {
gabrieltetar	1:7e925468f9d9	1534	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1535	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
gabrieltetar	1:7e925468f9d9	1536	}
gabrieltetar	1:7e925468f9d9	1537	}
gabrieltetar	1:7e925468f9d9	1538
gabrieltetar	1:7e925468f9d9	1539	break;
gabrieltetar	1:7e925468f9d9	1540	case ETAT_GAME_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	1541	canProcessRx();
gabrieltetar	1:7e925468f9d9	1542	//SendSpeed(200);//--------------------------------------------------MODE RALENTI !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
gabrieltetar	1:7e925468f9d9	1543	if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
gabrieltetar	1:7e925468f9d9	1544	//if(true) {
gabrieltetar	1:7e925468f9d9	1545	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1546	if(instruction.nextActionType == JUMP) {
gabrieltetar	1:7e925468f9d9	1547	if(instruction.jumpAction == JUMP_POSITION) {
gabrieltetar	1:7e925468f9d9	1548	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1549	} else { //Pour eviter les erreurs, on dit que c'est par défaut un jump time
gabrieltetar	1:7e925468f9d9	1550	gameEtat = ETAT_GAME_JUMP_TIME;
gabrieltetar	1:7e925468f9d9	1551	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1552	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1553	}
gabrieltetar	1:7e925468f9d9	1554	} else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
gabrieltetar	1:7e925468f9d9	1555	/*wait_ms(200);
gabrieltetar	1:7e925468f9d9	1556	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	1557	SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1558	#else
gabrieltetar	1:7e925468f9d9	1559	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1560	#endif
gabrieltetar	1:7e925468f9d9	1561	wait_ms(200);*/
gabrieltetar	1:7e925468f9d9	1562
gabrieltetar	1:7e925468f9d9	1563	gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1564	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1565	case MV_BEZIER:
gabrieltetar	1:7e925468f9d9	1566	waitingAckID_FIN = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1567	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1568	break;
gabrieltetar	1:7e925468f9d9	1569	case MV_COURBURE:
gabrieltetar	1:7e925468f9d9	1570	waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1571	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1572	break;
gabrieltetar	1:7e925468f9d9	1573	case MV_LINE:
gabrieltetar	1:7e925468f9d9	1574	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1575	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1576	break;
gabrieltetar	1:7e925468f9d9	1577	case MV_TURN:
gabrieltetar	1:7e925468f9d9	1578	waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1579	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1580	break;
gabrieltetar	1:7e925468f9d9	1581	case MV_XYT:
gabrieltetar	1:7e925468f9d9	1582	waitingAckID_FIN = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1583	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1584	break;
gabrieltetar	1:7e925468f9d9	1585	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1586	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1587	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1588	break;
gabrieltetar	1:7e925468f9d9	1589	case ACTION:
gabrieltetar	1:7e925468f9d9	1590
gabrieltetar	1:7e925468f9d9	1591	if (modeTelemetre == 0) {
gabrieltetar	1:7e925468f9d9	1592	if (telemetreDistance == 0) {
gabrieltetar	1:7e925468f9d9	1593	waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
gabrieltetar	1:7e925468f9d9	1594	waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
gabrieltetar	1:7e925468f9d9	1595	} else if(telemetreDistance == 5000) {
gabrieltetar	1:7e925468f9d9	1596	// on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
gabrieltetar	1:7e925468f9d9	1597	//waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1598	//waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1599	telemetreDistance = 0;
gabrieltetar	1:7e925468f9d9	1600	}
gabrieltetar	1:7e925468f9d9	1601	} else { // si on attend la reponse du telemetre
gabrieltetar	1:7e925468f9d9	1602	//modeTelemetre = 1;
gabrieltetar	1:7e925468f9d9	1603	waitingAckID_FIN = OBJET_SUR_TABLE;
gabrieltetar	1:7e925468f9d9	1604	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1605	}
gabrieltetar	1:7e925468f9d9	1606	break;
gabrieltetar	1:7e925468f9d9	1607	default:
gabrieltetar	1:7e925468f9d9	1608	break;
gabrieltetar	1:7e925468f9d9	1609	}
gabrieltetar	1:7e925468f9d9	1610	} else {
gabrieltetar	1:7e925468f9d9	1611	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1612	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1613	}
gabrieltetar	1:7e925468f9d9	1614	} else if(cartesCheker.read_ms () > 1000) {
gabrieltetar	1:7e925468f9d9	1615	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1616	if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
gabrieltetar	1:7e925468f9d9	1617	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1618	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1619	} else {
gabrieltetar	1:7e925468f9d9	1620	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
gabrieltetar	1:7e925468f9d9	1621	}
gabrieltetar	1:7e925468f9d9	1622	}
gabrieltetar	1:7e925468f9d9	1623	break;
gabrieltetar	1:7e925468f9d9	1624
gabrieltetar	1:7e925468f9d9	1625	case ETAT_GAME_JUMP_TIME:
gabrieltetar	1:7e925468f9d9	1626	if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1627	cartesCheker.stop();//On arrete le timer
gabrieltetar	1:7e925468f9d9	1628	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1629	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1630	}
gabrieltetar	1:7e925468f9d9	1631	break;
gabrieltetar	1:7e925468f9d9	1632
gabrieltetar	1:7e925468f9d9	1633	case ETAT_GAME_JUMP_CONFIG:
gabrieltetar	1:7e925468f9d9	1634	signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
gabrieltetar	1:7e925468f9d9	1635	// 1 si l'instruction est plus grande que la position du robot
gabrieltetar	1:7e925468f9d9	1636	// -1 si l'instruction est plus petite que la position du robot
gabrieltetar	1:7e925468f9d9	1637	// 0 si l'instruction et position du robot sont proche de moins de 1cm
gabrieltetar	1:7e925468f9d9	1638	if (abs(x_robot-instruction.JumpTimeOrX)<10) {
gabrieltetar	1:7e925468f9d9	1639	depasX = 0;
gabrieltetar	1:7e925468f9d9	1640	} else if(x_robot > instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1641	depasX = -1;
gabrieltetar	1:7e925468f9d9	1642	}
gabrieltetar	1:7e925468f9d9	1643
gabrieltetar	1:7e925468f9d9	1644	if(abs(y_robot-instruction.JumpY)<10) {
gabrieltetar	1:7e925468f9d9	1645	depasY = 0;
gabrieltetar	1:7e925468f9d9	1646	} else if(y_robot > instruction.JumpY) {
gabrieltetar	1:7e925468f9d9	1647	depasY = -1;
gabrieltetar	1:7e925468f9d9	1648	}
gabrieltetar	1:7e925468f9d9	1649
gabrieltetar	1:7e925468f9d9	1650	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1651	break;
gabrieltetar	1:7e925468f9d9	1652	case ETAT_GAME_JUMP_POSITION:
gabrieltetar	1:7e925468f9d9	1653	bool Xok = false, Yok = false;
gabrieltetar	1:7e925468f9d9	1654
gabrieltetar	1:7e925468f9d9	1655	if (depasX == 0) {
gabrieltetar	1:7e925468f9d9	1656	Xok = true;
gabrieltetar	1:7e925468f9d9	1657	} else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5) {
gabrieltetar	1:7e925468f9d9	1658	Xok = true;
gabrieltetar	1:7e925468f9d9	1659	}
gabrieltetar	1:7e925468f9d9	1660
gabrieltetar	1:7e925468f9d9	1661	if (depasY == 0) {
gabrieltetar	1:7e925468f9d9	1662	Yok = true;
gabrieltetar	1:7e925468f9d9	1663	} else if ((instruction.JumpY - y_robot)*depasY < -5) {
gabrieltetar	1:7e925468f9d9	1664	Yok = true;
gabrieltetar	1:7e925468f9d9	1665	}
gabrieltetar	1:7e925468f9d9	1666
gabrieltetar	1:7e925468f9d9	1667	// on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
gabrieltetar	1:7e925468f9d9	1668	if (Xok && Yok) {
gabrieltetar	1:7e925468f9d9	1669	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1670	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1671	}
gabrieltetar	1:7e925468f9d9	1672
gabrieltetar	1:7e925468f9d9	1673	break;
gabrieltetar	1:7e925468f9d9	1674	case ETAT_GAME_WAIT_END_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1675	canProcessRx();
gabrieltetar	1:7e925468f9d9	1676	if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
gabrieltetar	1:7e925468f9d9	1677	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1678	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1679	}
gabrieltetar	1:7e925468f9d9	1680
gabrieltetar	1:7e925468f9d9	1681	break;
gabrieltetar	1:7e925468f9d9	1682
gabrieltetar	1:7e925468f9d9	1683	case ETAT_END:
gabrieltetar	10:1964bb91b925	1684	Debug_Audio(3,4);
gabrieltetar	1:7e925468f9d9	1685	if (ModeDemo) {
gabrieltetar	1:7e925468f9d9	1686	gameEtat = ETAT_CHECK_CARTE_SCREEN;
gabrieltetar	1:7e925468f9d9	1687	ModeDemo = 1;
gabrieltetar	1:7e925468f9d9	1688	} else {
gabrieltetar	1:7e925468f9d9	1689	gameEtat = ETAT_END_LOOP;
gabrieltetar	1:7e925468f9d9	1690	}
gabrieltetar	1:7e925468f9d9	1691	break;
gabrieltetar	1:7e925468f9d9	1692	case ETAT_END_LOOP:
gabrieltetar	1:7e925468f9d9	1693	//Rien, on tourne en rond
gabrieltetar	1:7e925468f9d9	1694
gabrieltetar	1:7e925468f9d9	1695	break;
gabrieltetar	1:7e925468f9d9	1696	default:
gabrieltetar	1:7e925468f9d9	1697
gabrieltetar	1:7e925468f9d9	1698	break;
gabrieltetar	1:7e925468f9d9	1699	}
gabrieltetar	1:7e925468f9d9	1700	}
gabrieltetar	1:7e925468f9d9	1701
gabrieltetar	1:7e925468f9d9	1702
gabrieltetar	1:7e925468f9d9	1703
gabrieltetar	1:7e925468f9d9	1704
gabrieltetar	1:7e925468f9d9	1705
gabrieltetar	1:7e925468f9d9	1706	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1707	/* FUNCTION NAME: canProcessRx */
gabrieltetar	1:7e925468f9d9	1708	/* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
gabrieltetar	1:7e925468f9d9	1709	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1710	void canProcessRx(void)
gabrieltetar	1:7e925468f9d9	1711	{
gabrieltetar	1:7e925468f9d9	1712	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
gabrieltetar	1:7e925468f9d9	1713	char message[10]="toto";
gabrieltetar	1:7e925468f9d9	1714	char message1[10]="toto";
gabrieltetar	1:7e925468f9d9	1715	char message2[10]="toto";
gabrieltetar	1:7e925468f9d9	1716	char message3[10]="toto";
gabrieltetar	1:7e925468f9d9	1717	char message4[10]="toto";
gabrieltetar	1:7e925468f9d9	1718	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
gabrieltetar	1:7e925468f9d9	1719
gabrieltetar	1:7e925468f9d9	1720	if(FIFO_occupation<0)
gabrieltetar	1:7e925468f9d9	1721	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1722
gabrieltetar	1:7e925468f9d9	1723	if(FIFO_max_occupation<FIFO_occupation) {
gabrieltetar	1:7e925468f9d9	1724	FIFO_max_occupation=FIFO_occupation;
gabrieltetar	1:7e925468f9d9	1725	//SendRawId(
gabrieltetar	1:7e925468f9d9	1726	}
gabrieltetar	1:7e925468f9d9	1727
gabrieltetar	1:7e925468f9d9	1728	if(FIFO_occupation!=0) {
gabrieltetar	1:7e925468f9d9	1729	int identifiant=msgRxBuffer[FIFO_lecture].id;
gabrieltetar	1:7e925468f9d9	1730
gabrieltetar	1:7e925468f9d9	1731	if (waitingId == identifiant) waitingId = 0;
gabrieltetar	1:7e925468f9d9	1732	switch(identifiant) {
gabrieltetar	1:7e925468f9d9	1733
gabrieltetar	1:7e925468f9d9	1734	case ALIVE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1735	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1736
gabrieltetar	1:7e925468f9d9	1737	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1738	lcd.FillRect(0,400,400,150);
gabrieltetar	1:7e925468f9d9	1739	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1740	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1741	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1742	}
gabrieltetar	1:7e925468f9d9	1743	break;
gabrieltetar	1:7e925468f9d9	1744
gabrieltetar	1:7e925468f9d9	1745	case ALIVE_BALISE:
gabrieltetar	1:7e925468f9d9	1746	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1747
gabrieltetar	1:7e925468f9d9	1748	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1749	lcd.FillRect(0,600,400,150); //carte AX12
gabrieltetar	1:7e925468f9d9	1750	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1751	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1752	lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1753	}
gabrieltetar	1:7e925468f9d9	1754	break;
gabrieltetar	1:7e925468f9d9	1755
gabrieltetar	1:7e925468f9d9	1756	case RESET_IHM:
gabrieltetar	1:7e925468f9d9	1757	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	1758	break;
gabrieltetar	1:7e925468f9d9	1759
gabrieltetar	1:7e925468f9d9	1760	case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
gabrieltetar	1:7e925468f9d9	1761	case GLOBAL_JACK:
gabrieltetar	1:7e925468f9d9	1762	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	1763	gameEtat = ETAT_GAME_START;
gabrieltetar	1:7e925468f9d9	1764	SendRawId(ACKNOWLEDGE_JACK);
gabrieltetar	1:7e925468f9d9	1765	}
gabrieltetar	1:7e925468f9d9	1766	break;
gabrieltetar	1:7e925468f9d9	1767
gabrieltetar	1:7e925468f9d9	1768	case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1769	case ALIVE_ACTIONNEURS_ARRIERE:
gabrieltetar	1:7e925468f9d9	1770	case ALIVE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1771	case ECRAN_ALL_CHECK:
gabrieltetar	1:7e925468f9d9	1772	if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1773	waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
gabrieltetar	1:7e925468f9d9	1774	}
gabrieltetar	1:7e925468f9d9	1775	flag=1;
gabrieltetar	1:7e925468f9d9	1776	break;
gabrieltetar	1:7e925468f9d9	1777
gabrieltetar	1:7e925468f9d9	1778	case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
gabrieltetar	1:7e925468f9d9	1779	{
gabrieltetar	1:7e925468f9d9	1780
gabrieltetar	1:7e925468f9d9	1781	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1782	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1783	if(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR)
gabrieltetar	1:7e925468f9d9	1784	{
gabrieltetar	1:7e925468f9d9	1785	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1786	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1787	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1788	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1789	} else {
gabrieltetar	1:7e925468f9d9	1790	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1791	timeoutWarningWaitEnd.reset();
gabrieltetar	1:7e925468f9d9	1792	timeoutWarningWaitEnd.start();
gabrieltetar	1:7e925468f9d9	1793	//gameEtat = ETAT_WARING_END_BALISE_WAIT;
gabrieltetar	1:7e925468f9d9	1794	}
gabrieltetar	1:7e925468f9d9	1795	}
gabrieltetar	1:7e925468f9d9	1796	/*
gabrieltetar	1:7e925468f9d9	1797	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1798	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1799	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1800	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1801	} else {
gabrieltetar	1:7e925468f9d9	1802	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1803	gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1804	}*/
gabrieltetar	1:7e925468f9d9	1805	} break;
gabrieltetar	1:7e925468f9d9	1806
gabrieltetar	1:7e925468f9d9	1807	/////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1808	case ACKNOWLEDGE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1809	case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans ACK_FIN_ACTION mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1810
gabrieltetar	1:7e925468f9d9	1811	case ACKNOWLEDGE_TELEMETRE:
gabrieltetar	1:7e925468f9d9	1812	/////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1813	case ACKNOWLEDGE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1814	case INSTRUCTION_END_BALISE:
gabrieltetar	1:7e925468f9d9	1815	case ACK_FIN_ACTION:
gabrieltetar	1:7e925468f9d9	1816	case INSTRUCTION_END_MOTEUR:
gabrieltetar	1:7e925468f9d9	1817	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1818	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1819	/*
gabrieltetar	1:7e925468f9d9	1820	//on desactive la balise dans les rotations XYT
gabrieltetar	1:7e925468f9d9	1821	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_XYT==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1822	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_XYT_ROTATE==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1823
gabrieltetar	1:7e925468f9d9	1824	//on desactive la balise dans les rotations
gabrieltetar	1:7e925468f9d9	1825	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1826	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1827	*/
gabrieltetar	1:7e925468f9d9	1828
gabrieltetar	1:7e925468f9d9	1829	// SendMsgCan(0x666,&ingnorBalise,1);
gabrieltetar	1:7e925468f9d9	1830
gabrieltetar	1:7e925468f9d9	1831	if( waitingAckFrom == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID ) {
gabrieltetar	1:7e925468f9d9	1832	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1833	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1834	}
gabrieltetar	1:7e925468f9d9	1835	if( waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID_FIN ) {
gabrieltetar	1:7e925468f9d9	1836	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1837	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1838	}
gabrieltetar	1:7e925468f9d9	1839
gabrieltetar	1:7e925468f9d9	1840	/*
gabrieltetar	1:7e925468f9d9	1841	if((waitingAckFrom == msgRxBuffer[FIFO_lecture].id) &&
gabrieltetar	1:7e925468f9d9	1842	((unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| (((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID) )
gabrieltetar	1:7e925468f9d9	1843	{
gabrieltetar	1:7e925468f9d9	1844	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1845	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1846	}
gabrieltetar	1:7e925468f9d9	1847	if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]
gabrieltetar	1:7e925468f9d9	1848	\|(((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN))
gabrieltetar	1:7e925468f9d9	1849	{
gabrieltetar	1:7e925468f9d9	1850	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1851	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1852	}
gabrieltetar	1:7e925468f9d9	1853	*/
gabrieltetar	1:7e925468f9d9	1854	break;
gabrieltetar	1:7e925468f9d9	1855	case ODOMETRIE_BIG_POSITION:
gabrieltetar	1:7e925468f9d9	1856	case ODOMETRIE_SMALL_POSITION:
gabrieltetar	1:7e925468f9d9	1857
gabrieltetar	1:7e925468f9d9	1858	x_robot=msgRxBuffer[FIFO_lecture].data[0]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
gabrieltetar	1:7e925468f9d9	1859	y_robot=msgRxBuffer[FIFO_lecture].data[2]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
gabrieltetar	1:7e925468f9d9	1860	theta_robot=msgRxBuffer[FIFO_lecture].data[4]\|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
gabrieltetar	1:7e925468f9d9	1861	break;
gabrieltetar	1:7e925468f9d9	1862
gabrieltetar	1:7e925468f9d9	1863	case ACK_ACTION:
gabrieltetar	1:7e925468f9d9	1864	if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1865	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1866	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1867	}
gabrieltetar	1:7e925468f9d9	1868	break;
gabrieltetar	1:7e925468f9d9	1869
gabrieltetar	1:7e925468f9d9	1870	case BALISE_DANGER :
gabrieltetar	1:7e925468f9d9	1871	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1872	balise_danger();
gabrieltetar	1:7e925468f9d9	1873	break;
gabrieltetar	1:7e925468f9d9	1874
gabrieltetar	1:7e925468f9d9	1875	case BALISE_STOP:
gabrieltetar	1:7e925468f9d9	1876	SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
gabrieltetar	1:7e925468f9d9	1877	balise_stop(FIFO_lecture);
gabrieltetar	1:7e925468f9d9	1878	break;
gabrieltetar	1:7e925468f9d9	1879
gabrieltetar	1:7e925468f9d9	1880	case BALISE_END_DANGER:
gabrieltetar	1:7e925468f9d9	1881	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1882	balise_end_danger(&instruction,&dodgeq,&gameEtat,target_x_robot,target_y_robot,target_theta_robot, theta_robot,x_robot,y_robot);
gabrieltetar	1:7e925468f9d9	1883	break;
gabrieltetar	1:7e925468f9d9	1884
gabrieltetar	1:7e925468f9d9	1885	case RECEPTION_DATA:
gabrieltetar	1:7e925468f9d9	1886	telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
gabrieltetar	1:7e925468f9d9	1887	telemetreDistance= (float)telemetreDistance100.0f35.5f+50.0f;
gabrieltetar	1:7e925468f9d9	1888	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1889	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1890	break;
gabrieltetar	1:7e925468f9d9	1891
gabrieltetar	1:7e925468f9d9	1892	case RECEPTION_RECALAGE:
gabrieltetar	1:7e925468f9d9	1893	wait_us(150);
gabrieltetar	1:7e925468f9d9	1894	flagReceptionTelemetres = 1;
gabrieltetar	1:7e925468f9d9	1895	// 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
gabrieltetar	1:7e925468f9d9	1896	memcpy(&telemetreDistance_avant_droite,msgRxBuffer[FIFO_lecture].data,2);
gabrieltetar	1:7e925468f9d9	1897	telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
gabrieltetar	1:7e925468f9d9	1898	telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
gabrieltetar	1:7e925468f9d9	1899	telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
gabrieltetar	1:7e925468f9d9	1900
gabrieltetar	1:7e925468f9d9	1901
gabrieltetar	1:7e925468f9d9	1902	if(ModeDemo==1) {
gabrieltetar	1:7e925468f9d9	1903	sprintf(message,"%04dmm L:%d",telemetreDistance_avant_droite,DT_AVD_interrupt);
gabrieltetar	1:7e925468f9d9	1904	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1905	lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"LASER AVD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1906	lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1907
gabrieltetar	1:7e925468f9d9	1908	sprintf(message1,"%04dmm L:%d",telemetreDistance_avant_gauche,DT_AVG_interrupt);
gabrieltetar	1:7e925468f9d9	1909	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1910	lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER AVG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1911	lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message1, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1912
gabrieltetar	1:7e925468f9d9	1913
gabrieltetar	1:7e925468f9d9	1914	sprintf(message4,"%04d",theta_robot);
gabrieltetar	1:7e925468f9d9	1915	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1916	lcd.DisplayStringAt(0, LINE(13),(unsigned char *)"THETA: ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1917	lcd.DisplayStringAt(200, LINE(13),(unsigned char *)message4, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1918
gabrieltetar	1:7e925468f9d9	1919
gabrieltetar	1:7e925468f9d9	1920	sprintf(message2,"%04dmm L:%d",telemetreDistance_arriere_gauche,DT_ARG_interrupt);
gabrieltetar	1:7e925468f9d9	1921	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1922	lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER ARG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1923	lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message2, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1924
gabrieltetar	1:7e925468f9d9	1925	sprintf(message3,"%04dmm L:%d",telemetreDistance_arriere_droite,DT_ARD_interrupt);
gabrieltetar	1:7e925468f9d9	1926	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1927	lcd.DisplayStringAt(0, LINE(18),(unsigned char *)"LASER ARD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1928	lcd.DisplayStringAt(200, LINE(18),(unsigned char *)message3, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1929	}
gabrieltetar	1:7e925468f9d9	1930	break;
gabrieltetar	1:7e925468f9d9	1931	case RECEPTION_TELEMETRE_LOGIQUE:
gabrieltetar	1:7e925468f9d9	1932
gabrieltetar	1:7e925468f9d9	1933	DT_AVD_interrupt=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1934	DT_AVG_interrupt=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1935	DT_ARG_interrupt=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1936	DT_ARD_interrupt=msgRxBuffer[FIFO_lecture].data[3];
gabrieltetar	1:7e925468f9d9	1937
gabrieltetar	1:7e925468f9d9	1938	break;
gabrieltetar	1:7e925468f9d9	1939	case RECEPTION_COULEUR:
gabrieltetar	1:7e925468f9d9	1940	if (blocage_balise==0) {
gabrieltetar	1:7e925468f9d9	1941	couleur1=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1942	couleur2=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1943	couleur3=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1944
gabrieltetar	1:7e925468f9d9	1945	/lcd.DisplayStringAt(0,LINE(16),(unsigned char )couleur1+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1946	lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1947	lcd.DisplayStringAt(0,LINE(16+2),(unsigned char )couleur3+'0',LEFT_MODE);/
gabrieltetar	1:7e925468f9d9	1948	}
gabrieltetar	1:7e925468f9d9	1949
gabrieltetar	1:7e925468f9d9	1950	break;
gabrieltetar	10:1964bb91b925	1951	case SOMO:
gabrieltetar	10:1964bb91b925	1952	break;
gabrieltetar	10:1964bb91b925	1953	default:
gabrieltetar	10:1964bb91b925	1954	break;
gabrieltetar	1:7e925468f9d9	1955	/*
gabrieltetar	1:7e925468f9d9	1956	case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
gabrieltetar	1:7e925468f9d9	1957	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1958	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1959	// waitingAckID_FIN=0;
gabrieltetar	1:7e925468f9d9	1960	// waitingAckFrom_FIN=0;
gabrieltetar	1:7e925468f9d9	1961	SendRawId(0x40);
gabrieltetar	1:7e925468f9d9	1962	break;*/
gabrieltetar	1:7e925468f9d9	1963	}
gabrieltetar	1:7e925468f9d9	1964	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1965	}
gabrieltetar	1:7e925468f9d9	1966	}
gabrieltetar	1:7e925468f9d9	1967
gabrieltetar	1:7e925468f9d9	1968
gabrieltetar	1:7e925468f9d9	1969
gabrieltetar	1:7e925468f9d9	1970
gabrieltetar	1:7e925468f9d9	1971
gabrieltetar	1:7e925468f9d9	1972	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1973	/* FUNCTION NAME: Bouton_Strat */
gabrieltetar	1:7e925468f9d9	1974	/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
gabrieltetar	1:7e925468f9d9	1975	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1976	signed char Bouton_Strat (void)
gabrieltetar	1:7e925468f9d9	1977	{
gabrieltetar	1:7e925468f9d9	1978	Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
gabrieltetar	1:7e925468f9d9	1979	Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
gabrieltetar	1:7e925468f9d9	1980	Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
gabrieltetar	1:7e925468f9d9	1981	Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
gabrieltetar	1:7e925468f9d9	1982	Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
gabrieltetar	1:7e925468f9d9	1983	Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
gabrieltetar	1:7e925468f9d9	1984	Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
gabrieltetar	1:7e925468f9d9	1985	Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
gabrieltetar	1:7e925468f9d9	1986	Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
gabrieltetar	1:7e925468f9d9	1987	Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
gabrieltetar	1:7e925468f9d9	1988	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	1989	//Definition des boutons
gabrieltetar	1:7e925468f9d9	1990
gabrieltetar	1:7e925468f9d9	1991	Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	1992	Strat = 0;
gabrieltetar	1:7e925468f9d9	1993	STRAT_1.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1994	STRAT_2.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1995	STRAT_3.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1996	STRAT_4.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1997	STRAT_5.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1998	STRAT_6.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1999	STRAT_7.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2000	STRAT_8.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2001	STRAT_9.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2002	STRAT_10.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2003	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	2004
gabrieltetar	1:7e925468f9d9	2005	while(Ack_strat == 0) {
gabrieltetar	1:7e925468f9d9	2006	canProcessRx();
gabrieltetar	1:7e925468f9d9	2007	CANMessage msgTx=CANMessage();
gabrieltetar	1:7e925468f9d9	2008	//msgTx.id=ECRAN_CHOICE_STRAT;
gabrieltetar	1:7e925468f9d9	2009	if (RETOUR.Touched())
gabrieltetar	1:7e925468f9d9	2010	return -1;
gabrieltetar	1:7e925468f9d9	2011	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	2012	//////////////////////////////STRATEGIE N°1
gabrieltetar	1:7e925468f9d9	2013	if (STRAT_1.Touched()) {
gabrieltetar	1:7e925468f9d9	2014	Strat = 0;
gabrieltetar	1:7e925468f9d9	2015	//msgTx.data[0] = 0x1;
gabrieltetar	1:7e925468f9d9	2016	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2017	while(STRAT_1.Touched());
gabrieltetar	1:7e925468f9d9	2018	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2019	}
gabrieltetar	1:7e925468f9d9	2020	/////////////////////////////STRATEGIE N°2
gabrieltetar	1:7e925468f9d9	2021	if (STRAT_2.Touched()) {
gabrieltetar	1:7e925468f9d9	2022	Strat = 1;
gabrieltetar	1:7e925468f9d9	2023	//msgTx.data[0] = 0x2;
gabrieltetar	1:7e925468f9d9	2024	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2025	while(STRAT_2.Touched());
gabrieltetar	1:7e925468f9d9	2026	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2027	}
gabrieltetar	1:7e925468f9d9	2028	//////////////////////////////STRATEGIE N°3
gabrieltetar	1:7e925468f9d9	2029	if (STRAT_3.Touched()) {
gabrieltetar	1:7e925468f9d9	2030	Strat = 2;
gabrieltetar	1:7e925468f9d9	2031	//msgTx.data[0] = 0x3;
gabrieltetar	1:7e925468f9d9	2032	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2033	while(STRAT_3.Touched());
gabrieltetar	1:7e925468f9d9	2034	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2035	}
gabrieltetar	1:7e925468f9d9	2036	/////////////////////////////STRATEGIE N°4
gabrieltetar	1:7e925468f9d9	2037	if (STRAT_4.Touched()) {
gabrieltetar	1:7e925468f9d9	2038	Strat = 3;
gabrieltetar	1:7e925468f9d9	2039	//msgTx.data[0] = 0x4;
gabrieltetar	1:7e925468f9d9	2040	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2041	while(STRAT_4.Touched());
gabrieltetar	1:7e925468f9d9	2042	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2043	}
gabrieltetar	1:7e925468f9d9	2044	///////////////////////////////STRATEGIE N°5
gabrieltetar	1:7e925468f9d9	2045	if (STRAT_5.Touched()) {
gabrieltetar	1:7e925468f9d9	2046	Strat = 4;
gabrieltetar	1:7e925468f9d9	2047	//msgTx.data[0] = 0x5;
gabrieltetar	1:7e925468f9d9	2048	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2049	while(STRAT_5.Touched());
gabrieltetar	1:7e925468f9d9	2050	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2051	}
gabrieltetar	1:7e925468f9d9	2052	////////////////////////////////STRATEGIE N°6
gabrieltetar	1:7e925468f9d9	2053	if (STRAT_6.Touched()) {
gabrieltetar	1:7e925468f9d9	2054	Strat = 5;
gabrieltetar	1:7e925468f9d9	2055	//msgTx.data[0] = 0x6;
gabrieltetar	1:7e925468f9d9	2056	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2057	while(STRAT_6.Touched());
gabrieltetar	1:7e925468f9d9	2058	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2059	}
gabrieltetar	1:7e925468f9d9	2060	/////////////////////////////////STRATEGIE N°7
gabrieltetar	1:7e925468f9d9	2061	if (STRAT_7.Touched()) {
gabrieltetar	1:7e925468f9d9	2062	Strat = 6;
gabrieltetar	1:7e925468f9d9	2063	//msgTx.data[0] = 0x7;
gabrieltetar	1:7e925468f9d9	2064	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2065	while(STRAT_7.Touched());
gabrieltetar	1:7e925468f9d9	2066	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2067	}
gabrieltetar	1:7e925468f9d9	2068	/////////////////////////////////STRATEGIE N°8
gabrieltetar	1:7e925468f9d9	2069	if (STRAT_8.Touched()) {
gabrieltetar	1:7e925468f9d9	2070	Strat = 7;
gabrieltetar	1:7e925468f9d9	2071	//msgTx.data[0] = 0x8;
gabrieltetar	1:7e925468f9d9	2072	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2073	while(STRAT_8.Touched());
gabrieltetar	1:7e925468f9d9	2074	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2075	}
gabrieltetar	1:7e925468f9d9	2076	/////////////////////////////////STRATEGIE N°9
gabrieltetar	1:7e925468f9d9	2077	if (STRAT_9.Touched()) {
gabrieltetar	1:7e925468f9d9	2078	Strat = 8;
gabrieltetar	1:7e925468f9d9	2079	//msgTx.data[0] = 0x9;
gabrieltetar	1:7e925468f9d9	2080	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2081	while(STRAT_9.Touched());
gabrieltetar	1:7e925468f9d9	2082	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2083	}
gabrieltetar	1:7e925468f9d9	2084	///////////////////////////////////STRATEGIE N°10
gabrieltetar	1:7e925468f9d9	2085	if (STRAT_10.Touched()) {
gabrieltetar	1:7e925468f9d9	2086	Strat = 9;
gabrieltetar	1:7e925468f9d9	2087	//msgTx.data[0] = 0xA;
gabrieltetar	1:7e925468f9d9	2088	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2089	while(STRAT_10.Touched());
gabrieltetar	1:7e925468f9d9	2090	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2091	}
gabrieltetar	1:7e925468f9d9	2092
gabrieltetar	1:7e925468f9d9	2093	}
gabrieltetar	1:7e925468f9d9	2094	return Strat;
gabrieltetar	1:7e925468f9d9	2095
gabrieltetar	1:7e925468f9d9	2096	}
gabrieltetar	1:7e925468f9d9	2097
gabrieltetar	1:7e925468f9d9	2098	void affichage_compteur (int nombre)
gabrieltetar	1:7e925468f9d9	2099	{
gabrieltetar	1:7e925468f9d9	2100	int dizaine=0,unite=0,centaine=0;
gabrieltetar	1:7e925468f9d9	2101	centaine = nombre/100;
gabrieltetar	1:7e925468f9d9	2102	dizaine = nombre/10;
gabrieltetar	1:7e925468f9d9	2103	unite = nombre-(10*dizaine);
gabrieltetar	1:7e925468f9d9	2104	print_segment(unite,-50);
gabrieltetar	1:7e925468f9d9	2105	print_segment(dizaine,100);
gabrieltetar	1:7e925468f9d9	2106	if(centaine!=0) {
gabrieltetar	1:7e925468f9d9	2107	print_segment(centaine,350);
gabrieltetar	1:7e925468f9d9	2108	}
gabrieltetar	1:7e925468f9d9	2109
gabrieltetar	1:7e925468f9d9	2110	}
gabrieltetar	1:7e925468f9d9	2111
gabrieltetar	1:7e925468f9d9	2112
gabrieltetar	1:7e925468f9d9	2113	//**print_segment*
gabrieltetar	1:7e925468f9d9	2114	//Dessine en 7 segment le nombre en parametre
gabrieltetar	1:7e925468f9d9	2115	// A
gabrieltetar	1:7e925468f9d9	2116	// =====
gabrieltetar	1:7e925468f9d9	2117	// \| \|
gabrieltetar	1:7e925468f9d9	2118	// B \| G \| E
gabrieltetar	1:7e925468f9d9	2119	// \|=====\|
gabrieltetar	1:7e925468f9d9	2120	// C \| \| F
gabrieltetar	1:7e925468f9d9	2121	// \| \|
gabrieltetar	1:7e925468f9d9	2122	// =====
gabrieltetar	1:7e925468f9d9	2123	// D
gabrieltetar	1:7e925468f9d9	2124	/*
gabrieltetar	1:7e925468f9d9	2125	position pour le chiffre des unites
gabrieltetar	1:7e925468f9d9	2126	lcd.FillRect(460,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2127	lcd.FillRect(435,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2128	lcd.FillRect(435,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2129	lcd.FillRect(460,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2130	lcd.FillRect(580,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2131	lcd.FillRect(580,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2132	lcd.FillRect(460,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2133
gabrieltetar	1:7e925468f9d9	2134	position pour le chiffre des dizaines
gabrieltetar	1:7e925468f9d9	2135	lcd.FillRect(260,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2136	lcd.FillRect(235,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2137	lcd.FillRect(235,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2138	lcd.FillRect(260,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2139	lcd.FillRect(380,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2140	lcd.FillRect(380,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2141	lcd.FillRect(260,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2142	*/
gabrieltetar	1:7e925468f9d9	2143
gabrieltetar	1:7e925468f9d9	2144	void print_segment(int nombre, int decalage)
gabrieltetar	1:7e925468f9d9	2145	{
gabrieltetar	1:7e925468f9d9	2146
gabrieltetar	1:7e925468f9d9	2147	switch(nombre) {
gabrieltetar	1:7e925468f9d9	2148	case 0:
gabrieltetar	1:7e925468f9d9	2149	lcd.FillRect(240-decalage,75,120,25);
gabrieltetar	1:7e925468f9d9	2150	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2151	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2152	lcd.FillRect(360-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2153	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2154	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2155	break;
gabrieltetar	1:7e925468f9d9	2156
gabrieltetar	1:7e925468f9d9	2157	case 1:
gabrieltetar	1:7e925468f9d9	2158	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2159	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2160	break;
gabrieltetar	1:7e925468f9d9	2161
gabrieltetar	1:7e925468f9d9	2162	case 2:
gabrieltetar	1:7e925468f9d9	2163	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2164	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2165	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2166	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2167	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2168	break;
gabrieltetar	1:7e925468f9d9	2169
gabrieltetar	1:7e925468f9d9	2170	case 3:
gabrieltetar	1:7e925468f9d9	2171	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2172	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2173	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2174	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2175	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2176	break;
gabrieltetar	1:7e925468f9d9	2177
gabrieltetar	1:7e925468f9d9	2178	case 4:
gabrieltetar	1:7e925468f9d9	2179	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2180	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2181	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2182	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2183	break;
gabrieltetar	1:7e925468f9d9	2184
gabrieltetar	1:7e925468f9d9	2185	case 5:
gabrieltetar	1:7e925468f9d9	2186	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2187	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2188	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2189	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2190	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2191	break;
gabrieltetar	1:7e925468f9d9	2192
gabrieltetar	1:7e925468f9d9	2193	case 6:
gabrieltetar	1:7e925468f9d9	2194	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2195	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2196	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2197	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2198	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2199	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2200	break;
gabrieltetar	1:7e925468f9d9	2201
gabrieltetar	1:7e925468f9d9	2202	case 7:
gabrieltetar	1:7e925468f9d9	2203	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2204	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2205	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2206	break;
gabrieltetar	1:7e925468f9d9	2207
gabrieltetar	1:7e925468f9d9	2208	case 8:
gabrieltetar	1:7e925468f9d9	2209	lcd.FillRect(240-decalage,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2210	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2211	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2212	lcd.FillRect(360-decalage,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2213	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2214	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2215	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2216	break;
gabrieltetar	1:7e925468f9d9	2217
gabrieltetar	1:7e925468f9d9	2218	case 9:
gabrieltetar	1:7e925468f9d9	2219	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2220	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2221	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2222	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2223	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2224	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2225	break;
gabrieltetar	1:7e925468f9d9	2226	}
gabrieltetar	1:7e925468f9d9	2227	}
gabrieltetar	1:7e925468f9d9	2228
gabrieltetar	1:7e925468f9d9	2229	void effacer_segment(long couleur)
gabrieltetar	1:7e925468f9d9	2230	{
gabrieltetar	1:7e925468f9d9	2231	lcd.SetTextColor(couleur);
gabrieltetar	1:7e925468f9d9	2232	lcd.FillRect(240-200,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2233	lcd.FillRect(215-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2234	lcd.FillRect(215-200,245,25,120);
gabrieltetar	1:7e925468f9d9	2235	lcd.FillRect(360-200,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2236	lcd.FillRect(360-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2237	lcd.FillRect(240-200,365,120,25);
gabrieltetar	1:7e925468f9d9	2238	lcd.FillRect(240-200,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2239
gabrieltetar	1:7e925468f9d9	2240	lcd.FillRect(240,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2241	lcd.FillRect(215,100,25,120);
gabrieltetar	1:7e925468f9d9	2242	lcd.FillRect(215,245,25,120);
gabrieltetar	1:7e925468f9d9	2243	lcd.FillRect(360,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2244	lcd.FillRect(360,100,25,120);
gabrieltetar	1:7e925468f9d9	2245	lcd.FillRect(240,365,120,25);
gabrieltetar	1:7e925468f9d9	2246	lcd.FillRect(240,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2247	}
gabrieltetar	1:7e925468f9d9	2248
gabrieltetar	1:7e925468f9d9	2249	short recalageAngulaireCapteur(void)
gabrieltetar	1:7e925468f9d9	2250	{
gabrieltetar	1:7e925468f9d9	2251	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2252	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2253	unsigned short angleAvant = 0;
gabrieltetar	1:7e925468f9d9	2254	unsigned short angleArriere = 0;
gabrieltetar	1:7e925468f9d9	2255	unsigned short orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2256
gabrieltetar	1:7e925468f9d9	2257	unsigned short position_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	2258	unsigned short position_avant_droite=0;
gabrieltetar	1:7e925468f9d9	2259	unsigned short position_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	2260	unsigned short position_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	2261
gabrieltetar	1:7e925468f9d9	2262	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2263	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2264	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2265
gabrieltetar	1:7e925468f9d9	2266
gabrieltetar	1:7e925468f9d9	2267
gabrieltetar	1:7e925468f9d9	2268	if(theta_robot >= 450 && theta_robot <= 1350)
gabrieltetar	1:7e925468f9d9	2269	orientationArrondie = 90;
gabrieltetar	1:7e925468f9d9	2270	else if(theta_robot <= -450 && theta_robot >= -1350)
gabrieltetar	1:7e925468f9d9	2271	orientationArrondie = 270;
gabrieltetar	1:7e925468f9d9	2272	else if(theta_robot <= 450 && theta_robot >= -450)
gabrieltetar	1:7e925468f9d9	2273	orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2274	else if(theta_robot >= 1350 && theta_robot <= -1350)
gabrieltetar	1:7e925468f9d9	2275	orientationArrondie = 180;
gabrieltetar	1:7e925468f9d9	2276
gabrieltetar	1:7e925468f9d9	2277	// Calcul de position pour faire la vérification de cohérence
gabrieltetar	1:7e925468f9d9	2278	if(orientationArrondie == 90 \|\| orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2279	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;
gabrieltetar	1:7e925468f9d9	2280	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;
gabrieltetar	1:7e925468f9d9	2281	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;
gabrieltetar	1:7e925468f9d9	2282	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;
gabrieltetar	1:7e925468f9d9	2283
gabrieltetar	1:7e925468f9d9	2284	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2285	position_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2286	position_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2287	position_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2288	position_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2289	}
gabrieltetar	1:7e925468f9d9	2290
gabrieltetar	1:7e925468f9d9	2291
gabrieltetar	1:7e925468f9d9	2292	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2293	if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2294	if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2295	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2296	angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double)ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2297	else
gabrieltetar	1:7e925468f9d9	2298	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2299
gabrieltetar	1:7e925468f9d9	2300	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2301	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2302	}
gabrieltetar	1:7e925468f9d9	2303	}
gabrieltetar	1:7e925468f9d9	2304	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2305	if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2306	if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2307	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2308	angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2309	else
gabrieltetar	1:7e925468f9d9	2310	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2311
gabrieltetar	1:7e925468f9d9	2312	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2313	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2314	}
gabrieltetar	1:7e925468f9d9	2315	}
gabrieltetar	1:7e925468f9d9	2316	}
gabrieltetar	1:7e925468f9d9	2317
gabrieltetar	1:7e925468f9d9	2318	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2319	if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2320	if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2321	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2322	angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2323	else
gabrieltetar	1:7e925468f9d9	2324	angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2325
gabrieltetar	1:7e925468f9d9	2326	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2327	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2328	}
gabrieltetar	1:7e925468f9d9	2329	}
gabrieltetar	1:7e925468f9d9	2330	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2331	if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2332	if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2333	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2334	angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2335	else
gabrieltetar	1:7e925468f9d9	2336	angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2337
gabrieltetar	1:7e925468f9d9	2338	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2339	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2340	}
gabrieltetar	1:7e925468f9d9	2341	}
gabrieltetar	1:7e925468f9d9	2342	}
gabrieltetar	1:7e925468f9d9	2343
gabrieltetar	1:7e925468f9d9	2344	angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2345
gabrieltetar	1:7e925468f9d9	2346	if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) {
gabrieltetar	1:7e925468f9d9	2347	if(orientationArrondie == 0) {
gabrieltetar	1:7e925468f9d9	2348	angleRecalage -= 900;
gabrieltetar	1:7e925468f9d9	2349
gabrieltetar	1:7e925468f9d9	2350	/*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2351	distanceRecalage = *);
gabrieltetar	1:7e925468f9d9	2352	else
gabrieltetar	1:7e925468f9d9	2353	distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
gabrieltetar	1:7e925468f9d9	2354	} else if(orientationArrondie == 90) {
gabrieltetar	1:7e925468f9d9	2355	angleRecalage += 0;
gabrieltetar	1:7e925468f9d9	2356	} else if(orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2357	angleRecalage += 900;
gabrieltetar	1:7e925468f9d9	2358	} else if(orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2359	angleRecalage += 1800;
gabrieltetar	1:7e925468f9d9	2360	}
gabrieltetar	1:7e925468f9d9	2361	}
gabrieltetar	1:7e925468f9d9	2362
gabrieltetar	1:7e925468f9d9	2363	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
gabrieltetar	1:7e925468f9d9	2364	}
gabrieltetar	1:7e925468f9d9	2365
gabrieltetar	1:7e925468f9d9	2366	short recalageDistanceX(void)
gabrieltetar	1:7e925468f9d9	2367	{
gabrieltetar	1:7e925468f9d9	2368	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2369	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2370
gabrieltetar	1:7e925468f9d9	2371	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2372	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2373	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2374
gabrieltetar	1:7e925468f9d9	2375	telemetreDistance_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2376	telemetreDistance_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2377	telemetreDistance_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2378	telemetreDistance_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2379
gabrieltetar	1:7e925468f9d9	2380	if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2381	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2382	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2383	}
gabrieltetar	1:7e925468f9d9	2384	if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2385	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2386	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2387	}
gabrieltetar	1:7e925468f9d9	2388	if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2389	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2390	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2391	}
gabrieltetar	1:7e925468f9d9	2392	if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2393	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2394	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2395	}
gabrieltetar	1:7e925468f9d9	2396
gabrieltetar	1:7e925468f9d9	2397	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2398
gabrieltetar	1:7e925468f9d9	2399	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	2400	}
gabrieltetar	1:7e925468f9d9	2401
gabrieltetar	1:7e925468f9d9	2402	short recalageDistanceY(void)
gabrieltetar	1:7e925468f9d9	2403	{
gabrieltetar	1:7e925468f9d9	2404	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2405	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2406
gabrieltetar	1:7e925468f9d9	2407	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2408	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2409	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2410
gabrieltetar	1:7e925468f9d9	2411	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;
gabrieltetar	1:7e925468f9d9	2412	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;
gabrieltetar	1:7e925468f9d9	2413	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;
gabrieltetar	1:7e925468f9d9	2414	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;
gabrieltetar	1:7e925468f9d9	2415
gabrieltetar	1:7e925468f9d9	2416	if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2417	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2418	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2419	}
gabrieltetar	1:7e925468f9d9	2420	if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2421	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2422	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2423	}
gabrieltetar	1:7e925468f9d9	2424	if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2425	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2426	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2427	}
gabrieltetar	1:7e925468f9d9	2428	if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2429	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2430	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2431	}
gabrieltetar	1:7e925468f9d9	2432
gabrieltetar	1:7e925468f9d9	2433	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2434
gabrieltetar	1:7e925468f9d9	2435	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
gabrieltetar	1:7e925468f9d9	2436	}
gabrieltetar	1:7e925468f9d9	2437

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

Strategie/Strategie.cpp@10:1964bb91b925, 2020-03-03 (annotated)

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