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@7:44eec996a76e, 2020-02-03 (annotated)

Committer:: gabrieltetar
Date:: Mon Feb 03 10:07:50 2020 +0000
Revision:: 7:44eec996a76e
Parent:: 5:81aac085516f
Child:: 10:1964bb91b925

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

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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@7:44eec996a76e, 2020-02-03 (annotated)

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