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@15:5ece9c3ba389, 2020-03-11 (annotated)

Committer:: maximilienlv
Date:: Wed Mar 11 16:35:39 2020 +0000
Revision:: 15:5ece9c3ba389
Parent:: 14:6aa8aa1699ad
Child:: 16:c6c765e8b982

case bras avants et arrieres

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
gabrieltetar	1:7e925468f9d9	7
gabrieltetar	1:7e925468f9d9	8	#define M_PI 3.14159265358979323846
gabrieltetar	1:7e925468f9d9	9	#define VERT 0xFF00FF00
gabrieltetar	1:7e925468f9d9	10	#define ROUGE 0xFFFF0000
gabrieltetar	1:7e925468f9d9	11	#define BLEU 0xFF0000FF
gabrieltetar	1:7e925468f9d9	12	#define JAUNE 0xFFFDD835//FEFE00
gabrieltetar	1:7e925468f9d9	13	#define BLANC 0xFF000000
gabrieltetar	1:7e925468f9d9	14	#define ORANGE 0xFFFFA500
gabrieltetar	1:7e925468f9d9	15	#define NOIR 0xFF000000
gabrieltetar	1:7e925468f9d9	16	#define DIY_GREY 0xFFDFDFDF
gabrieltetar	1:7e925468f9d9	17	#define VIOLET 0xFF4527A0
gabrieltetar	1:7e925468f9d9	18
gabrieltetar	1:7e925468f9d9	19	char tableau_aff[10][50];
gabrieltetar	1:7e925468f9d9	20	char tableau_etat[22][50]= {
gabrieltetar	1:7e925468f9d9	21	"Check_carte_screen",
gabrieltetar	1:7e925468f9d9	22	"Check_carte_screen_wait_ack",
gabrieltetar	1:7e925468f9d9	23	"Check_cartes",
gabrieltetar	1:7e925468f9d9	24	"Check_cartes_wait_ack",
gabrieltetar	1:7e925468f9d9	25	"Wait_force",
gabrieltetar	1:7e925468f9d9	26	"Config",
gabrieltetar	1:7e925468f9d9	27	"Game_init",
gabrieltetar	1:7e925468f9d9	28	"Game_wait_for_jack",
gabrieltetar	1:7e925468f9d9	29	"Game_start",
gabrieltetar	1:7e925468f9d9	30	"Game_next_instruction",
gabrieltetar	1:7e925468f9d9	31	"Game_instruction",
gabrieltetar	1:7e925468f9d9	32	"Game_wait_ack",
gabrieltetar	1:7e925468f9d9	33	"Game_jump_time",
gabrieltetar	1:7e925468f9d9	34	"Game_jump_config",
gabrieltetar	1:7e925468f9d9	35	"Game_jump_position",
gabrieltetar	1:7e925468f9d9	36	"Game_wait_end_instruction",
gabrieltetar	1:7e925468f9d9	37	"Warning_timeout",
gabrieltetar	1:7e925468f9d9	38	"Waring_end_balise_wait",
gabrieltetar	1:7e925468f9d9	39	"Warning_end_last_instruction",
gabrieltetar	1:7e925468f9d9	40	"Warning_switch_strategie",
gabrieltetar	1:7e925468f9d9	41	"End",
gabrieltetar	1:7e925468f9d9	42	"End_loop",
gabrieltetar	1:7e925468f9d9	43	};
gabrieltetar	1:7e925468f9d9	44
gabrieltetar	1:7e925468f9d9	45	int waitingAckID_FIN;
gabrieltetar	1:7e925468f9d9	46	int waitingAckFrom_FIN;
gabrieltetar	1:7e925468f9d9	47
gabrieltetar	1:7e925468f9d9	48	Ticker ticker;
gabrieltetar	1:7e925468f9d9	49	TS_DISCO_F469NI ts;
gabrieltetar	1:7e925468f9d9	50	LCD_DISCO_F469NI lcd;
gabrieltetar	1:7e925468f9d9	51
gabrieltetar	1:7e925468f9d9	52	TS_StateTypeDef TS_State;
gabrieltetar	1:7e925468f9d9	53
gabrieltetar	1:7e925468f9d9	54	Ticker chrono;
gabrieltetar	1:7e925468f9d9	55	Timeout AffTime;
gabrieltetar	1:7e925468f9d9	56	Timer timer;
gabrieltetar	1:7e925468f9d9	57	Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
gabrieltetar	1:7e925468f9d9	58	Timer gameTimer;
gabrieltetar	1:7e925468f9d9	59	Timer debugetatTimer;
gabrieltetar	1:7e925468f9d9	60	Timer timeoutWarning;
gabrieltetar	1:7e925468f9d9	61	Timer timeoutWarningWaitEnd;
gabrieltetar	1:7e925468f9d9	62	Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
gabrieltetar	1:7e925468f9d9	63
gabrieltetar	1:7e925468f9d9	64	unsigned char screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	65	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	66
gabrieltetar	1:7e925468f9d9	67	char counter = 0;
gabrieltetar	1:7e925468f9d9	68	char check;
gabrieltetar	1:7e925468f9d9	69	char Jack = 1;
gabrieltetar	1:7e925468f9d9	70	short SCORE_GLOBAL=0;
gabrieltetar	1:7e925468f9d9	71	short SCORE_GR=0;
gabrieltetar	1:7e925468f9d9	72	short SCORE_PR=0;
gabrieltetar	14:6aa8aa1699ad	73	unsigned short distance_recalage;
gabrieltetar	14:6aa8aa1699ad	74	unsigned short distance_revenir;
gabrieltetar	1:7e925468f9d9	75
gabrieltetar	14:6aa8aa1699ad	76	unsigned short x;
gabrieltetar	14:6aa8aa1699ad	77	unsigned short y;
gabrieltetar	14:6aa8aa1699ad	78	unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
gabrieltetar	1:7e925468f9d9	79	int flag = 0, flag_strat = 0, flag_timer;
gabrieltetar	1:7e925468f9d9	80	int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	81	char Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	82	signed char Strat = 0;
gabrieltetar	1:7e925468f9d9	83	signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
gabrieltetar	1:7e925468f9d9	84
gabrieltetar	1:7e925468f9d9	85	signed short x_robot,y_robot,theta_robot;//La position du robot
gabrieltetar	1:7e925468f9d9	86	signed short target_x_robot, target_y_robot, target_theta_robot;
gabrieltetar	1:7e925468f9d9	87	E_InstructionType actionPrecedente;
gabrieltetar	1:7e925468f9d9	88	//unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
gabrieltetar	1:7e925468f9d9	89	int flagSendCan=1;
gabrieltetar	1:7e925468f9d9	90	unsigned char Cote = 0; //0 -> JAUNE \| 1 -> VIOLET
gabrieltetar	1:7e925468f9d9	91	unsigned short angleRecalage = 0;
gabrieltetar	1:7e925468f9d9	92	unsigned char checkCurrent = 0;
gabrieltetar	1:7e925468f9d9	93	unsigned char countAliveCard = 0;
gabrieltetar	1:7e925468f9d9	94	unsigned char ligne=0;
gabrieltetar	1:7e925468f9d9	95
gabrieltetar	1:7e925468f9d9	96
gabrieltetar	1:7e925468f9d9	97	int Fevitement=0;
gabrieltetar	1:7e925468f9d9	98	int EvitEtat= 0;
gabrieltetar	1:7e925468f9d9	99	int stop_evitement=0;
gabrieltetar	1:7e925468f9d9	100
gabrieltetar	1:7e925468f9d9	101
gabrieltetar	1:7e925468f9d9	102
gabrieltetar	1:7e925468f9d9	103
gabrieltetar	1:7e925468f9d9	104
gabrieltetar	1:7e925468f9d9	105	signed char Strategie = 0; //N° de la strategie (1-10)
gabrieltetar	1:7e925468f9d9	106
gabrieltetar	1:7e925468f9d9	107	unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
gabrieltetar	1:7e925468f9d9	108
gabrieltetar	1:7e925468f9d9	109	unsigned char countRobotNear = 0;//Le nombre de robot à proximité
gabrieltetar	1:7e925468f9d9	110
gabrieltetar	1:7e925468f9d9	111	unsigned char ingnorBaliseOnce = 0;//une fois détecté réinitialise
gabrieltetar	1:7e925468f9d9	112	unsigned char ingnorBalise = 0;//0:balise ignore 1:on ecoute la balise
gabrieltetar	1:7e925468f9d9	113	short direction;
gabrieltetar	1:7e925468f9d9	114
gabrieltetar	1:7e925468f9d9	115	unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
gabrieltetar	1:7e925468f9d9	116
gabrieltetar	1:7e925468f9d9	117	struct S_Instruction instruction;
gabrieltetar	1:7e925468f9d9	118	struct S_Dodge_queue dodgeq;
gabrieltetar	1:7e925468f9d9	119
gabrieltetar	1:7e925468f9d9	120	char couleur1, couleur2, couleur3;
gabrieltetar	1:7e925468f9d9	121	float cptf;
gabrieltetar	1:7e925468f9d9	122	int cpt,cpt1;
gabrieltetar	1:7e925468f9d9	123
gabrieltetar	14:6aa8aa1699ad	124	typedef enum {INIT, ATT, CHOIX, DEMO, TEST_MOTEUR, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, TEST_ELECTROV,TEST_AUD, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
gabrieltetar	1:7e925468f9d9	125	T_etat etat = INIT;
gabrieltetar	1:7e925468f9d9	126	E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	127	E_stratGameEtat memGameEtat= gameEtat;
gabrieltetar	1:7e925468f9d9	128	E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	129	E_Stratposdebut etat_pos=RECALAGE_1;
gabrieltetar	1:7e925468f9d9	130
gabrieltetar	1:7e925468f9d9	131	/////////////////DEFINITION DES BOUTONS////////////////////
gabrieltetar	1:7e925468f9d9	132	Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
gabrieltetar	1:7e925468f9d9	133	Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
gabrieltetar	1:7e925468f9d9	134	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	135	Button LANCER (0, 200, 400, 200, "--LANCER--");
gabrieltetar	1:7e925468f9d9	136	Button CHECK (0, 420, 400, 200, "Valider");
gabrieltetar	1:7e925468f9d9	137	Button MATCH (0, 50, 400, 320, "Match");
gabrieltetar	1:7e925468f9d9	138	Button DEMONSTRATION (0, 400, 400, 320, "Demo");
gabrieltetar	10:1964bb91b925	139	//menu demo
gabrieltetar	7:44eec996a76e	140	Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
gabrieltetar	14:6aa8aa1699ad	141	Button TEST_MOT(0, 135, 400, 100, "Test moteur");
gabrieltetar	7:44eec996a76e	142	Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
gabrieltetar	7:44eec996a76e	143	Button TEST_BRAS(0,355,400,100,"Test Bras");
gabrieltetar	10:1964bb91b925	144	Button TEST_AUDIO(0,465,400,100,"Test Audio");
gabrieltetar	14:6aa8aa1699ad	145	Button TEST_ELECTRV(0,575,400,100,"Test Divers");
gabrieltetar	10:1964bb91b925	146	//menu demo/demo/
gabrieltetar	10:1964bb91b925	147	Button TEST_A(0,25,195,100,"A");
gabrieltetar	10:1964bb91b925	148	Button TEST_B(205,25,195,100,"B");
gabrieltetar	10:1964bb91b925	149	Button TEST_C(0,135,195,100,"C");
gabrieltetar	10:1964bb91b925	150	Button TEST_D(205,135,195,100,"D");
gabrieltetar	10:1964bb91b925	151	Button TEST_NUM(0,245,400,100,"Bras num");
gabrieltetar	10:1964bb91b925	152	Button TEST_PLUS(205,355,195,100,"+");
gabrieltetar	10:1964bb91b925	153	Button TEST_MOINS(0,355,195,100,"-");
gabrieltetar	7:44eec996a76e	154
gabrieltetar	7:44eec996a76e	155
gabrieltetar	1:7e925468f9d9	156	Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
gabrieltetar	1:7e925468f9d9	157	Button SUIVANT(0,380,200,100,"Suivant");
gabrieltetar	1:7e925468f9d9	158	////////////////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	159
gabrieltetar	1:7e925468f9d9	160	void SendRawId (unsigned short id);
gabrieltetar	1:7e925468f9d9	161	void SelectionStrat (unsigned char numeroStrat);
gabrieltetar	1:7e925468f9d9	162	void Setflag(void);
gabrieltetar	1:7e925468f9d9	163	void can2Rx_ISR(void);
gabrieltetar	1:7e925468f9d9	164	signed char Bouton_Strat (void);
gabrieltetar	1:7e925468f9d9	165	signed char blocage_balise;
gabrieltetar	1:7e925468f9d9	166	void print_segment(int nombre, int decalage);
gabrieltetar	1:7e925468f9d9	167	void affichage_compteur (int nombre);
gabrieltetar	1:7e925468f9d9	168	void effacer_segment(long couleur);
gabrieltetar	14:6aa8aa1699ad	169	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2);
gabrieltetar	1:7e925468f9d9	170	unsigned short telemetreDistance=0;
gabrieltetar	1:7e925468f9d9	171	unsigned short telemetreDistance_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	172	unsigned short telemetreDistance_avant_droite=0;
gabrieltetar	1:7e925468f9d9	173	unsigned short telemetreDistance_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	174	unsigned short telemetreDistance_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	175
gabrieltetar	1:7e925468f9d9	176	unsigned char DT_AVD_interrupt=0;
gabrieltetar	1:7e925468f9d9	177	unsigned char DT_AVG_interrupt=0;
gabrieltetar	1:7e925468f9d9	178	unsigned char DT_ARD_interrupt=0;
gabrieltetar	1:7e925468f9d9	179	unsigned char DT_ARG_interrupt=0;
gabrieltetar	1:7e925468f9d9	180
gabrieltetar	1:7e925468f9d9	181
gabrieltetar	1:7e925468f9d9	182
gabrieltetar	1:7e925468f9d9	183	unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
gabrieltetar	1:7e925468f9d9	184	unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
gabrieltetar	1:7e925468f9d9	185	InterruptIn jack(PG_11); // entrée numerique en interruption pour le jack
gabrieltetar	1:7e925468f9d9	186
gabrieltetar	1:7e925468f9d9	187
gabrieltetar	1:7e925468f9d9	188
gabrieltetar	1:7e925468f9d9	189
gabrieltetar	1:7e925468f9d9	190
gabrieltetar	1:7e925468f9d9	191
gabrieltetar	1:7e925468f9d9	192	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	193	/* FUNCTION NAME: chronometre_ISR */
gabrieltetar	1:7e925468f9d9	194	/* DESCRIPTION : Interruption à la fin des 90s du match */
gabrieltetar	1:7e925468f9d9	195	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	196	void chronometre_ISR (void)
gabrieltetar	1:7e925468f9d9	197	{
gabrieltetar	1:7e925468f9d9	198	SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
gabrieltetar	1:7e925468f9d9	199	SendRawId(GLOBAL_GAME_END);//Indication fin de match
gabrieltetar	1:7e925468f9d9	200	etat=FIN;
gabrieltetar	1:7e925468f9d9	201	gameTimer.stop();//Arret du timer
gabrieltetar	1:7e925468f9d9	202
gabrieltetar	1:7e925468f9d9	203	while(1);//On bloque la programme dans l'interruption
gabrieltetar	1:7e925468f9d9	204	}
gabrieltetar	1:7e925468f9d9	205
gabrieltetar	1:7e925468f9d9	206
gabrieltetar	1:7e925468f9d9	207
gabrieltetar	1:7e925468f9d9	208	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	209	/* FUNCTION NAME: jack_ISR */
gabrieltetar	1:7e925468f9d9	210	/* DESCRIPTION : Interruption en changement d'état sur le Jack */
gabrieltetar	1:7e925468f9d9	211	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	212	void jack_ISR (void)
gabrieltetar	1:7e925468f9d9	213	{
gabrieltetar	1:7e925468f9d9	214	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	215	gameEtat = ETAT_GAME_START;//On débute le match
gabrieltetar	14:6aa8aa1699ad	216	etat=COMPTEUR;
gabrieltetar	1:7e925468f9d9	217	blocage_balise=1;
gabrieltetar	1:7e925468f9d9	218	}
gabrieltetar	1:7e925468f9d9	219	}
gabrieltetar	1:7e925468f9d9	220
gabrieltetar	1:7e925468f9d9	221	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	222	/* FUNCTION NAME: SelectionStrat */
gabrieltetar	1:7e925468f9d9	223	/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
gabrieltetar	1:7e925468f9d9	224	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	225
gabrieltetar	1:7e925468f9d9	226
gabrieltetar	1:7e925468f9d9	227	void SelectionStrat (unsigned char Strategie)
gabrieltetar	1:7e925468f9d9	228	{
gabrieltetar	1:7e925468f9d9	229	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	230	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	231
gabrieltetar	1:7e925468f9d9	232	switch (Strategie+1) {
gabrieltetar	1:7e925468f9d9	233	case 0x1 :
gabrieltetar	1:7e925468f9d9	234	//description de Strategie n°1
gabrieltetar	1:7e925468f9d9	235	lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	236	break;
gabrieltetar	1:7e925468f9d9	237
gabrieltetar	1:7e925468f9d9	238	case 0x2 :
gabrieltetar	1:7e925468f9d9	239	//description de Strategie n°2
gabrieltetar	1:7e925468f9d9	240	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	241	break;
gabrieltetar	1:7e925468f9d9	242
gabrieltetar	1:7e925468f9d9	243	case 0x3 :
gabrieltetar	1:7e925468f9d9	244	//description de Strategie n°3
gabrieltetar	1:7e925468f9d9	245	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	246	break;
gabrieltetar	1:7e925468f9d9	247
gabrieltetar	1:7e925468f9d9	248	case 0x4 :
gabrieltetar	1:7e925468f9d9	249	//description de Strategie n°4
gabrieltetar	1:7e925468f9d9	250	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	251	break;
gabrieltetar	1:7e925468f9d9	252
gabrieltetar	1:7e925468f9d9	253	case 0x5 :
gabrieltetar	1:7e925468f9d9	254	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	255	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	256	break;
gabrieltetar	1:7e925468f9d9	257
gabrieltetar	1:7e925468f9d9	258	case 0x6 :
gabrieltetar	1:7e925468f9d9	259	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	260	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	261	break;
gabrieltetar	1:7e925468f9d9	262
gabrieltetar	1:7e925468f9d9	263	case 0x7 :
gabrieltetar	1:7e925468f9d9	264	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	265	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	266	break;
gabrieltetar	1:7e925468f9d9	267
gabrieltetar	1:7e925468f9d9	268	case 0x8 :
gabrieltetar	1:7e925468f9d9	269	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	270	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	271	break;
gabrieltetar	1:7e925468f9d9	272
gabrieltetar	1:7e925468f9d9	273	case 0x9 :
gabrieltetar	1:7e925468f9d9	274	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	275	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	276	break;
gabrieltetar	1:7e925468f9d9	277
gabrieltetar	1:7e925468f9d9	278	case 0xA :
gabrieltetar	1:7e925468f9d9	279	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	280	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	281	break;
gabrieltetar	1:7e925468f9d9	282	}
gabrieltetar	1:7e925468f9d9	283	}
gabrieltetar	1:7e925468f9d9	284
gabrieltetar	1:7e925468f9d9	285	void Setflag(void)
gabrieltetar	1:7e925468f9d9	286	{
gabrieltetar	10:1964bb91b925	287	flagSendCan = 1;//gab le zgeg
gabrieltetar	1:7e925468f9d9	288	}
gabrieltetar	1:7e925468f9d9	289
gabrieltetar	1:7e925468f9d9	290
gabrieltetar	1:7e925468f9d9	291	//Affiche une variable sur l'écran tactile//
gabrieltetar	1:7e925468f9d9	292	void affichage_var(double Var)
gabrieltetar	1:7e925468f9d9	293	{
gabrieltetar	1:7e925468f9d9	294	if(ligne==7)
gabrieltetar	1:7e925468f9d9	295	ligne=0;
gabrieltetar	1:7e925468f9d9	296	char aff[10]="toto";
gabrieltetar	1:7e925468f9d9	297	sprintf(aff,"%lf ",Var);
gabrieltetar	1:7e925468f9d9	298	lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	299	//ligne++;
gabrieltetar	1:7e925468f9d9	300
gabrieltetar	1:7e925468f9d9	301	}
gabrieltetar	1:7e925468f9d9	302
gabrieltetar	1:7e925468f9d9	303
gabrieltetar	1:7e925468f9d9	304	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	305	/* FUNCTION NAME: affichage_debug */
gabrieltetar	1:7e925468f9d9	306	/* DESCRIPTION : Affiche l'état de gameEtat sur l'écran lcd */
gabrieltetar	1:7e925468f9d9	307	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	308	void affichage_debug(int Var)
gabrieltetar	1:7e925468f9d9	309	{
gabrieltetar	1:7e925468f9d9	310	int i;
gabrieltetar	1:7e925468f9d9	311	int conv=(int)Var;
gabrieltetar	1:7e925468f9d9	312	SUIVANT.Draw(ROUGE, 0);
gabrieltetar	1:7e925468f9d9	313	for(i=0; i<9; i++) {
gabrieltetar	1:7e925468f9d9	314	strcpy(tableau_aff[i],"");
gabrieltetar	1:7e925468f9d9	315	strcpy(tableau_aff[i],tableau_aff[i+1]);
gabrieltetar	1:7e925468f9d9	316	}
gabrieltetar	1:7e925468f9d9	317	strcpy(tableau_aff[9],tableau_etat[conv]);
gabrieltetar	1:7e925468f9d9	318
gabrieltetar	1:7e925468f9d9	319	for(i=0; i<10; i++) {
gabrieltetar	1:7e925468f9d9	320	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	321	lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	322	}
gabrieltetar	1:7e925468f9d9	323	/*while(!ack_bluetooth){ // mode pas à pas en bluetooth ou via écran
gabrieltetar	1:7e925468f9d9	324	//liaison_bluetooth();
gabrieltetar	1:7e925468f9d9	325	}
gabrieltetar	1:7e925468f9d9	326	ack_bluetooth=0;*/
gabrieltetar	1:7e925468f9d9	327	/*while(SUIVANT.Touched()==0);
gabrieltetar	1:7e925468f9d9	328	while(SUIVANT.Touched());*/
gabrieltetar	1:7e925468f9d9	329	}
gabrieltetar	1:7e925468f9d9	330
gabrieltetar	1:7e925468f9d9	331	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	332	/* FUNCTION NAME: automate_etat_ihm */
gabrieltetar	1:7e925468f9d9	333	/* DESCRIPTION : Automate de gestion de l'affichage */
gabrieltetar	1:7e925468f9d9	334	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	335	void automate_etat_ihm(void)
gabrieltetar	1:7e925468f9d9	336	{
gabrieltetar	10:1964bb91b925	337	char toto[2];
gabrieltetar	1:7e925468f9d9	338	int j;
gabrieltetar	10:1964bb91b925	339	unsigned char maximilien=1;
gabrieltetar	1:7e925468f9d9	340	if (j==0) {
gabrieltetar	1:7e925468f9d9	341	ts.Init(lcd.GetXSize(), lcd.GetYSize());
gabrieltetar	1:7e925468f9d9	342	j++;
gabrieltetar	1:7e925468f9d9	343	}
gabrieltetar	1:7e925468f9d9	344	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	345	switch (etat) {
gabrieltetar	1:7e925468f9d9	346	case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
gabrieltetar	1:7e925468f9d9	347	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	348	canProcessRx();
gabrieltetar	1:7e925468f9d9	349	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	350	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	351	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	352	wait(0.15);
gabrieltetar	1:7e925468f9d9	353	lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	354	//cartes non verifiées////////////////
gabrieltetar	1:7e925468f9d9	355	lcd.SetTextColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	356	lcd.FillRect(0,400,400,150); //carte moteur
gabrieltetar	1:7e925468f9d9	357	lcd.FillRect(0,600,400,150); //Balise
gabrieltetar	1:7e925468f9d9	358	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	359	lcd.SetBackColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	360	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	361	lcd.DisplayStringAt(110,650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	362	////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	363	FORCE_LAUNCH.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	364
gabrieltetar	1:7e925468f9d9	365	etat=ATT;
gabrieltetar	1:7e925468f9d9	366	break;
gabrieltetar	1:7e925468f9d9	367
gabrieltetar	1:7e925468f9d9	368	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	369	if (flag==1) {
gabrieltetar	1:7e925468f9d9	370	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	371	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	372	} else if (FORCE_LAUNCH.Touched()) {
gabrieltetar	1:7e925468f9d9	373	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	374	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	375	while(FORCE_LAUNCH.Touched());
gabrieltetar	1:7e925468f9d9	376	}
gabrieltetar	1:7e925468f9d9	377
gabrieltetar	1:7e925468f9d9	378	break;
gabrieltetar	1:7e925468f9d9	379
gabrieltetar	1:7e925468f9d9	380
gabrieltetar	1:7e925468f9d9	381	case CHOIX : //Match ou DEMO
gabrieltetar	1:7e925468f9d9	382	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	383	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	384	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	385	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	386	DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
gabrieltetar	1:7e925468f9d9	387	MATCH.Draw(0xFFF01010, 0);
gabrieltetar	1:7e925468f9d9	388	while(etat == CHOIX) {
gabrieltetar	1:7e925468f9d9	389	canProcessRx();
gabrieltetar	1:7e925468f9d9	390	if(DEMONSTRATION.Touched()) {
gabrieltetar	1:7e925468f9d9	391	etat = DEMO;
gabrieltetar	1:7e925468f9d9	392	while(DEMONSTRATION.Touched());
gabrieltetar	1:7e925468f9d9	393	}
gabrieltetar	1:7e925468f9d9	394
gabrieltetar	1:7e925468f9d9	395	if(MATCH.Touched()) {
gabrieltetar	1:7e925468f9d9	396	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	397	while(MATCH.Touched());
gabrieltetar	1:7e925468f9d9	398	}
gabrieltetar	1:7e925468f9d9	399
gabrieltetar	1:7e925468f9d9	400	}
gabrieltetar	1:7e925468f9d9	401	break;
gabrieltetar	1:7e925468f9d9	402
gabrieltetar	1:7e925468f9d9	403	case DEMO :
gabrieltetar	10:1964bb91b925	404	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	405	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	7:44eec996a76e	406	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	407	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	408	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	7:44eec996a76e	409	TEST_VENT.Draw(VERT, 0);
gabrieltetar	14:6aa8aa1699ad	410	TEST_MOT.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	411	TEST_COUL.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	412	TEST_BRAS.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	413	TEST_AUDIO.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	414	TEST_ELECTRV.Draw(VERT, 0);
gabrieltetar	14:6aa8aa1699ad	415	maximilien=0;
gabrieltetar	7:44eec996a76e	416	while (etat == DEMO) {
gabrieltetar	1:7e925468f9d9	417	canProcessRx();
gabrieltetar	7:44eec996a76e	418	if(TEST_VENT.Touched()) {
gabrieltetar	7:44eec996a76e	419	while(TEST_VENT.Touched());
gabrieltetar	7:44eec996a76e	420	etat = TEST_VENTOUSE;
gabrieltetar	14:6aa8aa1699ad	421	} else if(TEST_MOT.Touched()) {
gabrieltetar	14:6aa8aa1699ad	422	while(TEST_MOT.Touched());
gabrieltetar	14:6aa8aa1699ad	423	etat = TEST_MOTEUR;
gabrieltetar	10:1964bb91b925	424	} else if(TEST_ELECTRV.Touched()) {
gabrieltetar	10:1964bb91b925	425	while(TEST_ELECTRV.Touched());
gabrieltetar	10:1964bb91b925	426	etat = TEST_ELECTROV;
gabrieltetar	7:44eec996a76e	427	} else if (TEST_COUL.Touched()) {
gabrieltetar	7:44eec996a76e	428	while(TEST_COUL.Touched());
gabrieltetar	7:44eec996a76e	429	etat =TEST_COULEUR ;
gabrieltetar	7:44eec996a76e	430	} else if (TEST_BRAS.Touched()) {
gabrieltetar	7:44eec996a76e	431	while(TEST_BRAS.Touched());
gabrieltetar	7:44eec996a76e	432	etat =TEST_SERVO_BRAS ;
gabrieltetar	10:1964bb91b925	433	} else if(TEST_AUDIO.Touched()) {
gabrieltetar	10:1964bb91b925	434	while(TEST_AUDIO.Touched());
gabrieltetar	14:6aa8aa1699ad	435	etat=TEST_AUD;
gabrieltetar	7:44eec996a76e	436	} else if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	437	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	438	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	439	}
gabrieltetar	1:7e925468f9d9	440	}
gabrieltetar	1:7e925468f9d9	441	break;
gabrieltetar	1:7e925468f9d9	442
gabrieltetar	1:7e925468f9d9	443
gabrieltetar	10:1964bb91b925	444	case TEST_VENTOUSE:
gabrieltetar	10:1964bb91b925	445	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	446	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	447	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	448	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	449	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
gabrieltetar	10:1964bb91b925	450	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	451	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	452	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	453	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	454	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	455	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	456	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	11:848ea39838bf	457	while(etat==TEST_VENTOUSE) {
gabrieltetar	7:44eec996a76e	458	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	459	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	460	etat=DEMO;
gabrieltetar	10:1964bb91b925	461	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	462	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	463	//SendRawId(TEST_VENT_A);
gabrieltetar	10:1964bb91b925	464	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	465	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	466	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	467	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	468	switch(maximilien){
gabrieltetar	10:1964bb91b925	469	case 1:
gabrieltetar	14:6aa8aa1699ad	470	//SendRawId(TEST_VENT_1);
gabrieltetar	10:1964bb91b925	471	break;
gabrieltetar	10:1964bb91b925	472	case 2:
gabrieltetar	14:6aa8aa1699ad	473	//SendRawId(TEST_VENT_2);
gabrieltetar	10:1964bb91b925	474	break;
gabrieltetar	10:1964bb91b925	475	case 3:
gabrieltetar	14:6aa8aa1699ad	476	//SendRawId(TEST_VENT_3);
gabrieltetar	10:1964bb91b925	477	break;
gabrieltetar	10:1964bb91b925	478	case 4:
gabrieltetar	14:6aa8aa1699ad	479	//SendRawId(TEST_VENT_4);
gabrieltetar	10:1964bb91b925	480	break;
gabrieltetar	10:1964bb91b925	481	case 5:
gabrieltetar	14:6aa8aa1699ad	482	//SendRawId(TEST_VENT_5);
gabrieltetar	10:1964bb91b925	483	break;
gabrieltetar	10:1964bb91b925	484	case 6:
gabrieltetar	14:6aa8aa1699ad	485	//SendRawId(TEST_VENT_6);
gabrieltetar	10:1964bb91b925	486	break;
gabrieltetar	10:1964bb91b925	487	}
gabrieltetar	10:1964bb91b925	488	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	489	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	490	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	491	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	492	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	493	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	494	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	495	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	496	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	497	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	498	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	499	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	500	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	501	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	502	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	503	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	504	}
gabrieltetar	7:44eec996a76e	505	}
gabrieltetar	7:44eec996a76e	506	break;
gabrieltetar	10:1964bb91b925	507
gabrieltetar	10:1964bb91b925	508	case TEST_ELECTROV:
gabrieltetar	10:1964bb91b925	509	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	510	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	511	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	512	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	513	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE);
gabrieltetar	7:44eec996a76e	514	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	515	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	516	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	11:848ea39838bf	517	while(etat==TEST_ELECTROV) {
gabrieltetar	1:7e925468f9d9	518	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	519	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	520	etat=DEMO;
gabrieltetar	10:1964bb91b925	521	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	522	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	523	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	10:1964bb91b925	524	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	525	} else if(TEST_B.Touched()) {
gabrieltetar	14:6aa8aa1699ad	526	while (TEST_B.Touched());
gabrieltetar	14:6aa8aa1699ad	527	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	14:6aa8aa1699ad	528	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	529	}
gabrieltetar	14:6aa8aa1699ad	530	}
gabrieltetar	14:6aa8aa1699ad	531	break;
gabrieltetar	14:6aa8aa1699ad	532
gabrieltetar	14:6aa8aa1699ad	533	case TEST_AUD:
gabrieltetar	14:6aa8aa1699ad	534
gabrieltetar	14:6aa8aa1699ad	535	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	536	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	14:6aa8aa1699ad	537	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	538	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	539	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	540	sprintf(toto,"%hd",maximilien);
gabrieltetar	14:6aa8aa1699ad	541	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	542	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	14:6aa8aa1699ad	543	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	544	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	545	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	546	while(etat==TEST_AUD) {
gabrieltetar	14:6aa8aa1699ad	547	if(RETOUR.Touched()) {
gabrieltetar	14:6aa8aa1699ad	548	while (RETOUR.Touched());
gabrieltetar	14:6aa8aa1699ad	549	etat=DEMO;
gabrieltetar	10:1964bb91b925	550	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	551	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	552	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	553	Debug_Audio(3,maximilien);
gabrieltetar	10:1964bb91b925	554	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	555	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	556	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	557	if(maximilien!=10)maximilien++;
gabrieltetar	10:1964bb91b925	558	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	559	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	560	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	561	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	562	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	563	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	564	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	565	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	566	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	567	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	568	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	569	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	570	}
gabrieltetar	10:1964bb91b925	571	}
gabrieltetar	10:1964bb91b925	572	break;
gabrieltetar	14:6aa8aa1699ad	573
gabrieltetar	10:1964bb91b925	574	case TEST_SERVO_BRAS:
gabrieltetar	10:1964bb91b925	575
gabrieltetar	10:1964bb91b925	576	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	577	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	578	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	579	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	580	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
gabrieltetar	10:1964bb91b925	581	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	582	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	583	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	584	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	585	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	586	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	587	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	588	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	589	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	590	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	591	while(etat==TEST_SERVO_BRAS) {
gabrieltetar	10:1964bb91b925	592	if(RETOUR.Touched()) {
gabrieltetar	10:1964bb91b925	593	while (RETOUR.Touched());
gabrieltetar	10:1964bb91b925	594	etat=DEMO;
gabrieltetar	10:1964bb91b925	595	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	596	while (TEST_A.Touched());
gabrieltetar	10:1964bb91b925	597	SendRawId(TEST_BRAS_A);
gabrieltetar	10:1964bb91b925	598	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	599	} else if(TEST_B.Touched()) {
gabrieltetar	10:1964bb91b925	600	while (TEST_B.Touched());
gabrieltetar	10:1964bb91b925	601	SendRawId(TEST_BRAS_B);
gabrieltetar	10:1964bb91b925	602	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	603	} else if(TEST_C.Touched()) {
gabrieltetar	10:1964bb91b925	604	while (TEST_C.Touched());
gabrieltetar	10:1964bb91b925	605	SendRawId(TEST_BRAS_C);
gabrieltetar	10:1964bb91b925	606	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	607	} else if(TEST_D.Touched()) {
gabrieltetar	10:1964bb91b925	608	while (TEST_D.Touched());
gabrieltetar	10:1964bb91b925	609	SendRawId(TEST_BRAS_D);
gabrieltetar	10:1964bb91b925	610	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	611	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	612	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	613	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	614	switch(maximilien){
gabrieltetar	10:1964bb91b925	615	case 1:
gabrieltetar	10:1964bb91b925	616	SendRawId(TEST_BRAS_1);
gabrieltetar	10:1964bb91b925	617	break;
gabrieltetar	10:1964bb91b925	618	case 2:
gabrieltetar	10:1964bb91b925	619	SendRawId(TEST_BRAS_2);
gabrieltetar	10:1964bb91b925	620	break;
gabrieltetar	10:1964bb91b925	621	case 3:
gabrieltetar	10:1964bb91b925	622	SendRawId(TEST_BRAS_3);
gabrieltetar	10:1964bb91b925	623	break;
gabrieltetar	10:1964bb91b925	624	case 4:
gabrieltetar	10:1964bb91b925	625	SendRawId(TEST_BRAS_4);
gabrieltetar	10:1964bb91b925	626	break;
gabrieltetar	10:1964bb91b925	627	case 5:
gabrieltetar	10:1964bb91b925	628	SendRawId(TEST_BRAS_5);
gabrieltetar	10:1964bb91b925	629	break;
gabrieltetar	10:1964bb91b925	630	case 6:
gabrieltetar	10:1964bb91b925	631	SendRawId(TEST_BRAS_6);
gabrieltetar	10:1964bb91b925	632	break;
gabrieltetar	10:1964bb91b925	633	}
gabrieltetar	10:1964bb91b925	634	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	635	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	636	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	637	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	638	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	639	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	640	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	641	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	642	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	643	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	644	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	645	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	646	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	647	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	648	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	649	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	650	}
gabrieltetar	1:7e925468f9d9	651	}
gabrieltetar	1:7e925468f9d9	652	break;
gabrieltetar	7:44eec996a76e	653
gabrieltetar	7:44eec996a76e	654	case TEST_COULEUR:
gabrieltetar	7:44eec996a76e	655	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	656	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
gabrieltetar	7:44eec996a76e	657	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	7:44eec996a76e	658	while(etat==TEST_COULEUR) {
gabrieltetar	7:44eec996a76e	659	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	660	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	661	etat=DEMO;
gabrieltetar	7:44eec996a76e	662	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	663	}
gabrieltetar	7:44eec996a76e	664	}
gabrieltetar	1:7e925468f9d9	665	break;
gabrieltetar	1:7e925468f9d9	666
gabrieltetar	14:6aa8aa1699ad	667	case TEST_MOTEUR:
gabrieltetar	14:6aa8aa1699ad	668	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	669	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	14:6aa8aa1699ad	670	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	671	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	672	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	673	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	14:6aa8aa1699ad	674	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	675	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	676	while(etat==TEST_MOTEUR) {
gabrieltetar	1:7e925468f9d9	677	if(RETOUR.Touched()) {
gabrieltetar	14:6aa8aa1699ad	678	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	679	etat=DEMO;
gabrieltetar	14:6aa8aa1699ad	680	} else if(TEST_A.Touched()) {
gabrieltetar	14:6aa8aa1699ad	681	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	682	BendRadius(150,1800,1,0);
gabrieltetar	14:6aa8aa1699ad	683	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	684	} else if(TEST_B.Touched()) {
gabrieltetar	14:6aa8aa1699ad	685	while (TEST_B.Touched());
gabrieltetar	14:6aa8aa1699ad	686	BendRadius(150,1800,0,0);
gabrieltetar	14:6aa8aa1699ad	687	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	688	}
gabrieltetar	1:7e925468f9d9	689	}
gabrieltetar	1:7e925468f9d9	690	break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	691
gabrieltetar	1:7e925468f9d9	692
gabrieltetar	1:7e925468f9d9	693	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	694	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	695	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	696	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	697
gabrieltetar	1:7e925468f9d9	698	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	699	COTE_JAUNE.Draw(JAUNE, 0);
gabrieltetar	1:7e925468f9d9	700	COTE_VIOLET.Draw(VIOLET, 0);
gabrieltetar	1:7e925468f9d9	701	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	1:7e925468f9d9	702
gabrieltetar	1:7e925468f9d9	703
gabrieltetar	1:7e925468f9d9	704	while (etat == SELECT_SIDE) {
gabrieltetar	1:7e925468f9d9	705	canProcessRx();
gabrieltetar	1:7e925468f9d9	706	if(COTE_JAUNE.Touched()) {
gabrieltetar	1:7e925468f9d9	707	Cote = 0x0;
gabrieltetar	1:7e925468f9d9	708	InversStrat = Cote;
gabrieltetar	1:7e925468f9d9	709	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	710	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	711	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	712	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	713	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	714	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	715	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	716	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	717	while(COTE_JAUNE.Touched());
gabrieltetar	1:7e925468f9d9	718
gabrieltetar	1:7e925468f9d9	719	}
gabrieltetar	1:7e925468f9d9	720
gabrieltetar	1:7e925468f9d9	721	if(COTE_VIOLET.Touched()) {
gabrieltetar	1:7e925468f9d9	722	Cote = 0x1;
gabrieltetar	1:7e925468f9d9	723	InversStrat= Cote;
gabrieltetar	1:7e925468f9d9	724	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	725	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	726	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	727	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	728	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	729	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	730	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	731	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	732	while(COTE_VIOLET.Touched());
gabrieltetar	1:7e925468f9d9	733	}
gabrieltetar	1:7e925468f9d9	734
gabrieltetar	1:7e925468f9d9	735	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	736	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	737	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	738	}
gabrieltetar	1:7e925468f9d9	739	}
gabrieltetar	1:7e925468f9d9	740
gabrieltetar	1:7e925468f9d9	741	break;
gabrieltetar	1:7e925468f9d9	742
gabrieltetar	1:7e925468f9d9	743	case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
gabrieltetar	1:7e925468f9d9	744	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	745	lcd.Clear(JAUNE);
gabrieltetar	1:7e925468f9d9	746	lcd.SetBackColor(JAUNE);
gabrieltetar	1:7e925468f9d9	747	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	748	lcd.Clear(VIOLET);
gabrieltetar	1:7e925468f9d9	749	lcd.SetBackColor(VIOLET);
gabrieltetar	1:7e925468f9d9	750	} else {
gabrieltetar	1:7e925468f9d9	751	lcd.Clear(BLEU);
gabrieltetar	1:7e925468f9d9	752	lcd.SetBackColor(BLEU);
gabrieltetar	1:7e925468f9d9	753	}
gabrieltetar	1:7e925468f9d9	754
gabrieltetar	1:7e925468f9d9	755	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	756
gabrieltetar	1:7e925468f9d9	757	lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	758
gabrieltetar	1:7e925468f9d9	759	Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
gabrieltetar	1:7e925468f9d9	760	if (Strategie == -1) {
gabrieltetar	1:7e925468f9d9	761	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	762	} else {
gabrieltetar	1:7e925468f9d9	763	etat = DETAILS;
gabrieltetar	1:7e925468f9d9	764	}
gabrieltetar	1:7e925468f9d9	765	wait(0.1);
gabrieltetar	1:7e925468f9d9	766	break;
gabrieltetar	1:7e925468f9d9	767
gabrieltetar	1:7e925468f9d9	768	case DETAILS : //SECONDE VALIDATION DE LA STRAT
gabrieltetar	1:7e925468f9d9	769	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	770	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	771	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	772	CHECK.Draw(VERT);
gabrieltetar	1:7e925468f9d9	773	RETOUR.Draw(LCD_COLOR_RED);
gabrieltetar	1:7e925468f9d9	774
gabrieltetar	1:7e925468f9d9	775	SelectionStrat(Strategie); //affiche la stratégie selectionnée
gabrieltetar	1:7e925468f9d9	776
gabrieltetar	1:7e925468f9d9	777	while (etat == DETAILS) {
gabrieltetar	1:7e925468f9d9	778	canProcessRx();
gabrieltetar	1:7e925468f9d9	779	if (CHECK.Touched()) {
gabrieltetar	1:7e925468f9d9	780	if(gameEtat == ETAT_CONFIG) {
gabrieltetar	1:7e925468f9d9	781	gameEtat = ETAT_GAME_INIT;
gabrieltetar	1:7e925468f9d9	782	etat=LECTURE;
gabrieltetar	1:7e925468f9d9	783
gabrieltetar	1:7e925468f9d9	784	}
gabrieltetar	1:7e925468f9d9	785	while(CHECK.Touched());
gabrieltetar	1:7e925468f9d9	786	}
gabrieltetar	1:7e925468f9d9	787
gabrieltetar	1:7e925468f9d9	788	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	789	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	790	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	791	}
gabrieltetar	1:7e925468f9d9	792	}
gabrieltetar	1:7e925468f9d9	793	break;
gabrieltetar	1:7e925468f9d9	794
gabrieltetar	1:7e925468f9d9	795
gabrieltetar	1:7e925468f9d9	796	case LECTURE :
gabrieltetar	1:7e925468f9d9	797	break;
gabrieltetar	1:7e925468f9d9	798	case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	799	lcd.Clear(BLANC);
gabrieltetar	1:7e925468f9d9	800	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	801	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	802
gabrieltetar	1:7e925468f9d9	803	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	804	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	805	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	806	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	807	lcd.Clear(ORANGE);
gabrieltetar	1:7e925468f9d9	808	lcd.SetBackColor(ORANGE);
gabrieltetar	1:7e925468f9d9	809	} else {
gabrieltetar	1:7e925468f9d9	810	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	811	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	812	}
gabrieltetar	1:7e925468f9d9	813	canProcessRx();
gabrieltetar	1:7e925468f9d9	814	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
gabrieltetar	1:7e925468f9d9	815	etat=WAIT_JACK;
gabrieltetar	1:7e925468f9d9	816	break;
gabrieltetar	1:7e925468f9d9	817
gabrieltetar	1:7e925468f9d9	818	case WAIT_JACK: //VERITABLE ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	819	break;
gabrieltetar	1:7e925468f9d9	820
gabrieltetar	1:7e925468f9d9	821	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	822	cptf=gameTimer.read();
gabrieltetar	1:7e925468f9d9	823	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	824	cpt=(int)cptf;
gabrieltetar	1:7e925468f9d9	825	if(cpt != cpt1) {
gabrieltetar	1:7e925468f9d9	826	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	827	// affichage_compteur(100-cpt);
gabrieltetar	1:7e925468f9d9	828	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	829	affichage_var(SCORE_PR);
gabrieltetar	1:7e925468f9d9	830	if(liaison_pr.paquet_en_attente()) {
gabrieltetar	1:7e925468f9d9	831	PaquetDomotique *paquet=liaison_pr.lire();
gabrieltetar	1:7e925468f9d9	832	if(paquet->identifiant==PAQUET_IDENTIFIANT_AJOUTERSCORE) {
gabrieltetar	1:7e925468f9d9	833	SCORE_PR+=convertir_score(paquet);
gabrieltetar	1:7e925468f9d9	834	}
gabrieltetar	1:7e925468f9d9	835	delete paquet;
gabrieltetar	1:7e925468f9d9	836	}
gabrieltetar	1:7e925468f9d9	837	}
gabrieltetar	1:7e925468f9d9	838	cpt1=cpt;
gabrieltetar	1:7e925468f9d9	839	flag_timer=0;
gabrieltetar	1:7e925468f9d9	840
gabrieltetar	1:7e925468f9d9	841	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	842	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	843
gabrieltetar	1:7e925468f9d9	844	break;
gabrieltetar	1:7e925468f9d9	845
gabrieltetar	1:7e925468f9d9	846	case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
gabrieltetar	1:7e925468f9d9	847	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	848	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	5:81aac085516f	849
gabrieltetar	1:7e925468f9d9	850	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	851	affichage_var(SCORE_PR);
gabrieltetar	5:81aac085516f	852
gabrieltetar	1:7e925468f9d9	853	while(1); // force le redemarage du robot
gabrieltetar	1:7e925468f9d9	854	//break;
gabrieltetar	1:7e925468f9d9	855
gabrieltetar	1:7e925468f9d9	856	}
gabrieltetar	1:7e925468f9d9	857	}
gabrieltetar	1:7e925468f9d9	858
gabrieltetar	1:7e925468f9d9	859
gabrieltetar	1:7e925468f9d9	860
gabrieltetar	1:7e925468f9d9	861	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	862	/* FUNCTION NAME: automate_process */
gabrieltetar	1:7e925468f9d9	863	/* DESCRIPTION : Automate de gestion de la stratégie du robot */
gabrieltetar	1:7e925468f9d9	864	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	865	void automate_process(void)
gabrieltetar	1:7e925468f9d9	866	{
gabrieltetar	1:7e925468f9d9	867	static unsigned char AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	868	static unsigned char MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	869	signed char localData1 = 0;
gabrieltetar	1:7e925468f9d9	870	signed short localData2 = 0;
gabrieltetar	1:7e925468f9d9	871	unsigned short localData3 = 0;
gabrieltetar	1:7e925468f9d9	872	//signed short localData4 = 0;
gabrieltetar	1:7e925468f9d9	873	unsigned char localData5 = 0;
gabrieltetar	1:7e925468f9d9	874
gabrieltetar	1:7e925468f9d9	875
gabrieltetar	1:7e925468f9d9	876	if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
gabrieltetar	1:7e925468f9d9	877	gameTimer.stop();
gabrieltetar	1:7e925468f9d9	878	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	879	gameEtat = ETAT_END;//Fin du temps
gabrieltetar	1:7e925468f9d9	880	etat=FIN;
gabrieltetar	1:7e925468f9d9	881	}
gabrieltetar	1:7e925468f9d9	882
gabrieltetar	1:7e925468f9d9	883	if(lastEtat != gameEtat \|\| debugetatTimer.read_ms() >= 1000) {
gabrieltetar	1:7e925468f9d9	884	lastEtat = gameEtat;
gabrieltetar	1:7e925468f9d9	885	debugetatTimer.reset();
gabrieltetar	1:7e925468f9d9	886	sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
gabrieltetar	1:7e925468f9d9	887	}
gabrieltetar	1:7e925468f9d9	888
gabrieltetar	1:7e925468f9d9	889
gabrieltetar	1:7e925468f9d9	890
gabrieltetar	1:7e925468f9d9	891	switch(gameEtat) {
gabrieltetar	1:7e925468f9d9	892
gabrieltetar	1:7e925468f9d9	893	case ETAT_CHECK_CARTES:
gabrieltetar	1:7e925468f9d9	894	/*
gabrieltetar	1:7e925468f9d9	895	Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
gabrieltetar	1:7e925468f9d9	896	*/
gabrieltetar	1:7e925468f9d9	897	waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
gabrieltetar	1:7e925468f9d9	898	SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
gabrieltetar	1:7e925468f9d9	899
gabrieltetar	1:7e925468f9d9	900	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	901	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	902	cartesCheker.start();//On lance le timer pour le timeout
gabrieltetar	1:7e925468f9d9	903	gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	904	break;
gabrieltetar	1:7e925468f9d9	905
gabrieltetar	1:7e925468f9d9	906	case ETAT_CHECK_CARTES_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	907	/*
gabrieltetar	1:7e925468f9d9	908	On attend l'ack de la carte en cours de vérification
gabrieltetar	1:7e925468f9d9	909	*/
gabrieltetar	1:7e925468f9d9	910	//printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
gabrieltetar	1:7e925468f9d9	911	if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
gabrieltetar	1:7e925468f9d9	912	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	913	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	914	countAliveCard++;
gabrieltetar	1:7e925468f9d9	915	checkCurrent++;
gabrieltetar	1:7e925468f9d9	916	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	917	printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
gabrieltetar	1:7e925468f9d9	918	if(countAliveCard >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	919	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	920	SendRawId(ECRAN_ALL_CHECK);
gabrieltetar	1:7e925468f9d9	921	flag=1;
gabrieltetar	1:7e925468f9d9	922
gabrieltetar	1:7e925468f9d9	923	//tactile_printf("Selection couleur et strategie");
gabrieltetar	1:7e925468f9d9	924	} else {
gabrieltetar	1:7e925468f9d9	925	gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
gabrieltetar	1:7e925468f9d9	926	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	927	}
gabrieltetar	1:7e925468f9d9	928	} else
gabrieltetar	1:7e925468f9d9	929	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	930	} else if(cartesCheker.read_ms () > 100) {
gabrieltetar	1:7e925468f9d9	931	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	932	if(screenChecktry >=3) {
gabrieltetar	1:7e925468f9d9	933	//printf("missing card %d\n",id_check[checkCurrent]);
gabrieltetar	1:7e925468f9d9	934	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	935	checkCurrent++;
gabrieltetar	1:7e925468f9d9	936
gabrieltetar	1:7e925468f9d9	937	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	938	if(countAliveCard == NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	939	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	940	flag=1;
gabrieltetar	1:7e925468f9d9	941	} else {
gabrieltetar	1:7e925468f9d9	942	gameEtat = ETAT_WAIT_FORCE;
gabrieltetar	1:7e925468f9d9	943	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	944	}
gabrieltetar	1:7e925468f9d9	945	} else
gabrieltetar	1:7e925468f9d9	946	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	947
gabrieltetar	1:7e925468f9d9	948	} else
gabrieltetar	1:7e925468f9d9	949	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	950
gabrieltetar	1:7e925468f9d9	951	}
gabrieltetar	1:7e925468f9d9	952	break;
gabrieltetar	1:7e925468f9d9	953	case ETAT_WAIT_FORCE:
gabrieltetar	1:7e925468f9d9	954	/*
gabrieltetar	1:7e925468f9d9	955	Attente du forçage de la part de la carte IHM
gabrieltetar	1:7e925468f9d9	956	*/
gabrieltetar	1:7e925468f9d9	957	if(waitingAckFrom == 0) {
gabrieltetar	1:7e925468f9d9	958	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	959	}
gabrieltetar	1:7e925468f9d9	960	break;
gabrieltetar	1:7e925468f9d9	961	case ETAT_CONFIG:
gabrieltetar	1:7e925468f9d9	962	/*
gabrieltetar	1:7e925468f9d9	963	Attente de l'odre de choix de mode,
gabrieltetar	1:7e925468f9d9	964	Il est possible de modifier la couleur et l'id de la stratégie
gabrieltetar	1:7e925468f9d9	965	Il est aussi possible d'envoyer les ordres de debug
gabrieltetar	1:7e925468f9d9	966	*/
gabrieltetar	1:7e925468f9d9	967	modeTelemetre = 0;
gabrieltetar	1:7e925468f9d9	968	break;
gabrieltetar	1:7e925468f9d9	969	case ETAT_GAME_INIT:
gabrieltetar	1:7e925468f9d9	970	//On charge la liste des instructions
gabrieltetar	1:7e925468f9d9	971
gabrieltetar	1:7e925468f9d9	972	loadAllInstruction(Strategie);//Mise en cache de toute les instructions
gabrieltetar	1:7e925468f9d9	973	led3=1;
gabrieltetar	1:7e925468f9d9	974
gabrieltetar	1:7e925468f9d9	975	SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	976
gabrieltetar	1:7e925468f9d9	977	gameEtat = ETAT_GAME_WAIT_FOR_JACK;
gabrieltetar	10:1964bb91b925	978	Debug_Audio(3,7);
gabrieltetar	14:6aa8aa1699ad	979	if (etat == TEST_MOTEUR\|\| etat ==TEST_VENTOUSE \|\| etat == TEST_COULEUR \|\| etat ==TEST_SERVO_BRAS) {
gabrieltetar	1:7e925468f9d9	980	SendRawId(DEBUG_FAKE_JAKE);
gabrieltetar	1:7e925468f9d9	981	} else {
gabrieltetar	1:7e925468f9d9	982	etat = AFF_WAIT_JACK;
gabrieltetar	1:7e925468f9d9	983	}
gabrieltetar	1:7e925468f9d9	984	//tactile_printf("Attente du JACK.");
gabrieltetar	1:7e925468f9d9	985	setAsservissementEtat(1);//On réactive l'asservissement
gabrieltetar	1:7e925468f9d9	986	jack.mode(PullDown); // désactivation de la résistance interne du jack
gabrieltetar	1:7e925468f9d9	987	jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
gabrieltetar	1:7e925468f9d9	988
gabrieltetar	1:7e925468f9d9	989	localData2 = POSITION_DEBUT_T;
gabrieltetar	1:7e925468f9d9	990	localData3 = POSITION_DEBUT_Y;
gabrieltetar	1:7e925468f9d9	991	if(InversStrat == 1) {
gabrieltetar	1:7e925468f9d9	992	localData2 = -localData2;//Inversion theta
gabrieltetar	1:7e925468f9d9	993	localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
gabrieltetar	1:7e925468f9d9	994	}
gabrieltetar	1:7e925468f9d9	995	SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
gabrieltetar	1:7e925468f9d9	996
gabrieltetar	1:7e925468f9d9	997	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	998	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	999
gabrieltetar	1:7e925468f9d9	1000	break;
gabrieltetar	1:7e925468f9d9	1001	case ETAT_GAME_WAIT_FOR_JACK:
gabrieltetar	1:7e925468f9d9	1002	if(instruction.order==POSITION_DEBUT) {
gabrieltetar	1:7e925468f9d9	1003	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	1004	case RECALAGE_1:
gabrieltetar	1:7e925468f9d9	1005	SendRawId(RECALAGE_START);
gabrieltetar	1:7e925468f9d9	1006	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1007	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1008	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	1009	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1010	canProcessRx();
gabrieltetar	1:7e925468f9d9	1011	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1012	waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1013	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1014	canProcessRx();
gabrieltetar	1:7e925468f9d9	1015	etat_pos=RECULER_1;
gabrieltetar	1:7e925468f9d9	1016	break;
gabrieltetar	1:7e925468f9d9	1017
gabrieltetar	1:7e925468f9d9	1018	case RECULER_1:
gabrieltetar	1:7e925468f9d9	1019	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1020	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1021	GoStraight(-100, 0, 0, 0);//-450
gabrieltetar	1:7e925468f9d9	1022	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1023	canProcessRx();
gabrieltetar	1:7e925468f9d9	1024	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1025	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1026	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1027	canProcessRx();
gabrieltetar	1:7e925468f9d9	1028	etat_pos=TOURNER;
gabrieltetar	1:7e925468f9d9	1029	break;
gabrieltetar	1:7e925468f9d9	1030
gabrieltetar	1:7e925468f9d9	1031	case TOURNER:
gabrieltetar	1:7e925468f9d9	1032	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1033	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1034	if(Cote==0) {
gabrieltetar	1:7e925468f9d9	1035	localData2 = 900;
gabrieltetar	1:7e925468f9d9	1036	} else {
gabrieltetar	1:7e925468f9d9	1037	localData2=-900;
gabrieltetar	1:7e925468f9d9	1038	}
gabrieltetar	1:7e925468f9d9	1039	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1040	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1041	canProcessRx();
gabrieltetar	1:7e925468f9d9	1042	waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1043	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1044	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1045	canProcessRx();
gabrieltetar	1:7e925468f9d9	1046	etat_pos=RECALAGE_2;
gabrieltetar	1:7e925468f9d9	1047	break;
gabrieltetar	1:7e925468f9d9	1048
gabrieltetar	1:7e925468f9d9	1049	case RECALAGE_2:
gabrieltetar	1:7e925468f9d9	1050	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1051	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1052	if(Cote==1) {
gabrieltetar	1:7e925468f9d9	1053	localData3=3000-(MOITIEE_ROBOT);
gabrieltetar	1:7e925468f9d9	1054	} else {
gabrieltetar	1:7e925468f9d9	1055	localData3=MOITIEE_ROBOT;
gabrieltetar	1:7e925468f9d9	1056	}
gabrieltetar	1:7e925468f9d9	1057	GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
gabrieltetar	1:7e925468f9d9	1058	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1059	canProcessRx();
gabrieltetar	1:7e925468f9d9	1060	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1061	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1062	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1063	canProcessRx();
gabrieltetar	1:7e925468f9d9	1064	etat_pos=RECULER_2;
gabrieltetar	1:7e925468f9d9	1065	break;
gabrieltetar	1:7e925468f9d9	1066
gabrieltetar	1:7e925468f9d9	1067	case RECULER_2:
gabrieltetar	1:7e925468f9d9	1068	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1069	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1070	GoStraight(-100, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1071	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1072	canProcessRx();
gabrieltetar	1:7e925468f9d9	1073	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1074	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1075	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1076	canProcessRx();
gabrieltetar	1:7e925468f9d9	1077	etat_pos=GOTOPOS;
gabrieltetar	1:7e925468f9d9	1078	break;
gabrieltetar	1:7e925468f9d9	1079
gabrieltetar	1:7e925468f9d9	1080	case GOTOPOS:
gabrieltetar	1:7e925468f9d9	1081	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1082
gabrieltetar	1:7e925468f9d9	1083	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1084	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1085	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1086	} else {
gabrieltetar	1:7e925468f9d9	1087	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1088	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1089	}
gabrieltetar	1:7e925468f9d9	1090
gabrieltetar	1:7e925468f9d9	1091	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1092	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1093	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1094
gabrieltetar	1:7e925468f9d9	1095	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1096	canProcessRx();
gabrieltetar	1:7e925468f9d9	1097	waitingAckID_FIN=ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1098	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1099	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1100	canProcessRx();
gabrieltetar	1:7e925468f9d9	1101	etat_pos=FIN_POS;
gabrieltetar	1:7e925468f9d9	1102	break;
gabrieltetar	1:7e925468f9d9	1103	case FIN_POS:
gabrieltetar	1:7e925468f9d9	1104	actual_instruction = instruction.nextLineOK;
gabrieltetar	1:7e925468f9d9	1105	break;
gabrieltetar	1:7e925468f9d9	1106	}
gabrieltetar	1:7e925468f9d9	1107	}
gabrieltetar	1:7e925468f9d9	1108
gabrieltetar	1:7e925468f9d9	1109
gabrieltetar	1:7e925468f9d9	1110	break;
gabrieltetar	1:7e925468f9d9	1111	case ETAT_GAME_START:
gabrieltetar	10:1964bb91b925	1112	Debug_Audio(3,3);
gabrieltetar	1:7e925468f9d9	1113	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1114
gabrieltetar	1:7e925468f9d9	1115	if (ModeDemo == 0) {
gabrieltetar	1:7e925468f9d9	1116	chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
gabrieltetar	1:7e925468f9d9	1117	gameTimer.start();
gabrieltetar	1:7e925468f9d9	1118	}
gabrieltetar	1:7e925468f9d9	1119	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	1120	jack.fall(NULL);//On désactive l'interruption du jack
gabrieltetar	1:7e925468f9d9	1121	//SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	1122	Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
gabrieltetar	1:7e925468f9d9	1123	//tactile_printf("Start");//Pas vraiment utile mais bon
gabrieltetar	1:7e925468f9d9	1124	break;
gabrieltetar	1:7e925468f9d9	1125	case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1126	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1127	/*
gabrieltetar	1:7e925468f9d9	1128	Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
gabrieltetar	1:7e925468f9d9	1129	*/
gabrieltetar	1:7e925468f9d9	1130	//printf("load next instruction\n");
gabrieltetar	1:7e925468f9d9	1131	if(dodgeq.nb > 0){//dodge q
gabrieltetar	1:7e925468f9d9	1132	instruction.order=dodgeq.inst[dodgeq.nb-1].order;
gabrieltetar	1:7e925468f9d9	1133	instruction.arg1=dodgeq.inst[dodgeq.nb-1].arg1;
gabrieltetar	1:7e925468f9d9	1134	instruction.arg2=dodgeq.inst[dodgeq.nb-1].arg2;
gabrieltetar	1:7e925468f9d9	1135	instruction.arg3=dodgeq.inst[dodgeq.nb-1].arg3;
gabrieltetar	1:7e925468f9d9	1136	gameEtat=ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1137	dodgeq.nb--;
gabrieltetar	1:7e925468f9d9	1138	}//end dodge q
gabrieltetar	1:7e925468f9d9	1139	else{// no dodge q
gabrieltetar	1:7e925468f9d9	1140	if(actual_instruction >= nb_instructions \|\| actual_instruction == 255) {
gabrieltetar	1:7e925468f9d9	1141	gameEtat = ETAT_END;
gabrieltetar	1:7e925468f9d9	1142	//Il n'y a plus d'instruction, fin du jeu
gabrieltetar	1:7e925468f9d9	1143	} else {
gabrieltetar	1:7e925468f9d9	1144	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	1145	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	1146	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1147	}
gabrieltetar	1:7e925468f9d9	1148	}//end no dodge q
gabrieltetar	1:7e925468f9d9	1149	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	1150	ingnorInversionOnce = 0;
gabrieltetar	1:7e925468f9d9	1151	break;
gabrieltetar	1:7e925468f9d9	1152	case ETAT_GAME_PROCESS_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1153	/*
gabrieltetar	1:7e925468f9d9	1154	Traitement de l'instruction, envoie de la trame CAN
gabrieltetar	1:7e925468f9d9	1155	*/
gabrieltetar	1:7e925468f9d9	1156	//debug_Instruction(instruction);
gabrieltetar	1:7e925468f9d9	1157	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	1158	//rn42_Tx.printf("A");//lance l'electron
gabrieltetar	1:7e925468f9d9	1159	actionPrecedente = instruction.order;
gabrieltetar	1:7e925468f9d9	1160	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1161	case MV_BEZIER: {
gabrieltetar	1:7e925468f9d9	1162	static vector< vector<short> >P1;
gabrieltetar	1:7e925468f9d9	1163	static vector< vector<short> >C1;
gabrieltetar	1:7e925468f9d9	1164	static vector< vector<short> >C2;
gabrieltetar	1:7e925468f9d9	1165	static int i = 0;
gabrieltetar	1:7e925468f9d9	1166
gabrieltetar	1:7e925468f9d9	1167	//Ajoute une ligne aux tableaux pour chaques courbes de la trajectoire
gabrieltetar	1:7e925468f9d9	1168	P1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1169	C1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1170	C2.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1171
gabrieltetar	1:7e925468f9d9	1172	P1[i].push_back(instruction.arg1); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1173	C1[i].push_back(instruction.arg3); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1174	C2[i].push_back(instruction.arg5); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1175
gabrieltetar	1:7e925468f9d9	1176	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1177	P1[i].push_back(3000-instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1178	C1[i].push_back(3000-instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1179	C2[i].push_back(3000-instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1180	} else {
gabrieltetar	1:7e925468f9d9	1181	P1[i].push_back(instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1182	C1[i].push_back(instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1183	C2[i].push_back(instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1184	}
gabrieltetar	1:7e925468f9d9	1185
gabrieltetar	1:7e925468f9d9	1186	i++;
gabrieltetar	1:7e925468f9d9	1187
gabrieltetar	1:7e925468f9d9	1188	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	1189	//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	1190	//Empeche les vector de ne pas être reset si l'ack n'est pas reçu avant la fin du match
gabrieltetar	1:7e925468f9d9	1191	int nbCourbes = P1.size();
gabrieltetar	1:7e925468f9d9	1192	short P1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1193	short C1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1194	short C2_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1195
gabrieltetar	1:7e925468f9d9	1196	for(int j=0; j<nbCourbes; j++) {
gabrieltetar	1:7e925468f9d9	1197	for(int i=0; i<2; i++) {
gabrieltetar	1:7e925468f9d9	1198	P1_temp[j][i] = P1[j][i];
gabrieltetar	1:7e925468f9d9	1199	C1_temp[j][i] = C1[j][i];
gabrieltetar	1:7e925468f9d9	1200	C2_temp[j][i] = C2[j][i];
gabrieltetar	1:7e925468f9d9	1201	}
gabrieltetar	1:7e925468f9d9	1202	}
gabrieltetar	1:7e925468f9d9	1203
gabrieltetar	1:7e925468f9d9	1204	//Clear des tableaux de points pour la prochaine trajectoire
gabrieltetar	1:7e925468f9d9	1205	P1.clear();
gabrieltetar	1:7e925468f9d9	1206	C1.clear();
gabrieltetar	1:7e925468f9d9	1207	C2.clear();
gabrieltetar	1:7e925468f9d9	1208	i = 0;
gabrieltetar	1:7e925468f9d9	1209
gabrieltetar	1:7e925468f9d9	1210	//Calcul de la courbe et envoi des valeurs
gabrieltetar	1:7e925468f9d9	1211	if(instruction.direction == FORWARD) {
gabrieltetar	1:7e925468f9d9	1212	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 0);
gabrieltetar	1:7e925468f9d9	1213	} else if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1214	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 1);
gabrieltetar	1:7e925468f9d9	1215	}
gabrieltetar	1:7e925468f9d9	1216
gabrieltetar	1:7e925468f9d9	1217	waitingAckID = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1218	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1219	}
gabrieltetar	1:7e925468f9d9	1220	break;
gabrieltetar	1:7e925468f9d9	1221	}
gabrieltetar	1:7e925468f9d9	1222	case MV_COURBURE://C'est un rayon de courbure
gabrieltetar	10:1964bb91b925	1223	Debug_Audio(3,6);
gabrieltetar	1:7e925468f9d9	1224	float alpha=0, theta=0;
gabrieltetar	1:7e925468f9d9	1225	unsigned short alph=0;
gabrieltetar	1:7e925468f9d9	1226	actionPrecedente = MV_COURBURE;
gabrieltetar	1:7e925468f9d9	1227	waitingAckID = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1228	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1229	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1230	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1231	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1232	} else {
gabrieltetar	1:7e925468f9d9	1233	if(MV_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1234	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1235	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1236	} else {
gabrieltetar	1:7e925468f9d9	1237	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1238	}
gabrieltetar	1:7e925468f9d9	1239	}
gabrieltetar	1:7e925468f9d9	1240	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1241	if(instruction.direction == LEFT) instruction.direction = RIGHT;
gabrieltetar	1:7e925468f9d9	1242	else instruction.direction = LEFT;
gabrieltetar	1:7e925468f9d9	1243	}
gabrieltetar	1:7e925468f9d9	1244
gabrieltetar	1:7e925468f9d9	1245	localData1 = ((instruction.direction == LEFT)?1:-1);
gabrieltetar	1:7e925468f9d9	1246	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1247	/*if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1248	localData1 = -localData1;//Inversion de la direction
gabrieltetar	1:7e925468f9d9	1249	}*/
gabrieltetar	1:7e925468f9d9	1250
gabrieltetar	1:7e925468f9d9	1251	BendRadius(instruction.arg1, localData2, localData1, localData5);
gabrieltetar	1:7e925468f9d9	1252	if(localData2>0) {
gabrieltetar	1:7e925468f9d9	1253	direction=1;
gabrieltetar	1:7e925468f9d9	1254	} else {
gabrieltetar	1:7e925468f9d9	1255	direction=-1;
gabrieltetar	1:7e925468f9d9	1256	}
gabrieltetar	1:7e925468f9d9	1257	if(localData2>0)alph=localData2;
gabrieltetar	1:7e925468f9d9	1258	else alph=-localData2;
gabrieltetar	1:7e925468f9d9	1259	alpha = localData2*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1260	theta = theta_robot*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1261
gabrieltetar	1:7e925468f9d9	1262	if(instruction.direction == LEFT) { //-------------LEFT
gabrieltetar	1:7e925468f9d9	1263	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1264	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1265	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1266	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1267	dodgeq.inst[0].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1268	}
gabrieltetar	1:7e925468f9d9	1269	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1270	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1271	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1272	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1273	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1274	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1275	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1276	alph-=alph/2;
gabrieltetar	1:7e925468f9d9	1277	}
gabrieltetar	1:7e925468f9d9	1278	}
gabrieltetar	1:7e925468f9d9	1279	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1280	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1281	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1282	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1283	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1284	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1285	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1286	alph-=alph/3;
gabrieltetar	1:7e925468f9d9	1287	}
gabrieltetar	1:7e925468f9d9	1288	}
gabrieltetar	1:7e925468f9d9	1289	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1290	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1291	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1292	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1293	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1294	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1295	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1296	alph-=alph/4;
gabrieltetar	1:7e925468f9d9	1297	}
gabrieltetar	1:7e925468f9d9	1298	}
gabrieltetar	1:7e925468f9d9	1299	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1300	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1301	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1302	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1303	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1304	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1305	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1306	alph-=alph/5;
gabrieltetar	1:7e925468f9d9	1307	}
gabrieltetar	1:7e925468f9d9	1308	}
gabrieltetar	1:7e925468f9d9	1309	else {
gabrieltetar	1:7e925468f9d9	1310	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1311	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1312	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1313	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1314	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1315	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1316	alph-=alph/6;
gabrieltetar	1:7e925468f9d9	1317	}
gabrieltetar	1:7e925468f9d9	1318	}
gabrieltetar	1:7e925468f9d9	1319	} else { //-----------------------------------------RIGHT
gabrieltetar	1:7e925468f9d9	1320	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1321	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1322	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1323	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1324	dodgeq.inst[0].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1325	}
gabrieltetar	1:7e925468f9d9	1326	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1327	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1328	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1329	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1330	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1331	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1332	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1333	}
gabrieltetar	1:7e925468f9d9	1334	}
gabrieltetar	1:7e925468f9d9	1335	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1336	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1337	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1338	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1339	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1340	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1341	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1342	}
gabrieltetar	1:7e925468f9d9	1343	}
gabrieltetar	1:7e925468f9d9	1344	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1345	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1346	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1347	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1348	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1349	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1350	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1351	}
gabrieltetar	1:7e925468f9d9	1352	}
gabrieltetar	1:7e925468f9d9	1353	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1354	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1355	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1356	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1357	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1358	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1359	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1360	}
gabrieltetar	1:7e925468f9d9	1361	}
gabrieltetar	1:7e925468f9d9	1362	else {
gabrieltetar	1:7e925468f9d9	1363	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1364	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1365	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1366	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1367	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1368	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1369	}
gabrieltetar	1:7e925468f9d9	1370	}
gabrieltetar	1:7e925468f9d9	1371	}
gabrieltetar	1:7e925468f9d9	1372	break;
gabrieltetar	1:7e925468f9d9	1373
gabrieltetar	1:7e925468f9d9	1374
gabrieltetar	1:7e925468f9d9	1375
gabrieltetar	1:7e925468f9d9	1376	case MV_LINE://Ligne droite
gabrieltetar	10:1964bb91b925	1377	Debug_Audio(3,8);
gabrieltetar	1:7e925468f9d9	1378	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1379	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1380	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1381	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1382	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1383	} else {
gabrieltetar	1:7e925468f9d9	1384	if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
gabrieltetar	1:7e925468f9d9	1385	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1386	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1387	} else {
gabrieltetar	1:7e925468f9d9	1388	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1389	}
gabrieltetar	1:7e925468f9d9	1390	}
gabrieltetar	1:7e925468f9d9	1391	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1392	GoStraight(localData2, 0, 0, localData5);
gabrieltetar	1:7e925468f9d9	1393
gabrieltetar	1:7e925468f9d9	1394	target_x_robot = x_robot + localData2cos((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1395	target_y_robot = y_robot + localData2sin((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1396	target_theta_robot = theta_robot;
gabrieltetar	1:7e925468f9d9	1397
gabrieltetar	1:7e925468f9d9	1398	break;
gabrieltetar	1:7e925468f9d9	1399	case MV_TURN: //Rotation sur place
gabrieltetar	10:1964bb91b925	1400	Debug_Audio(3,9);
gabrieltetar	1:7e925468f9d9	1401	target_x_robot = x_robot;
gabrieltetar	1:7e925468f9d9	1402	target_y_robot = y_robot;
gabrieltetar	1:7e925468f9d9	1403	target_theta_robot = theta_robot + localData2;
gabrieltetar	1:7e925468f9d9	1404	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1405
gabrieltetar	1:7e925468f9d9	1406	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1407	localData2 = -localData2;
gabrieltetar	1:7e925468f9d9	1408	}
gabrieltetar	1:7e925468f9d9	1409
gabrieltetar	1:7e925468f9d9	1410
gabrieltetar	1:7e925468f9d9	1411	if(instruction.direction == ABSOLUTE) {
gabrieltetar	1:7e925468f9d9	1412	//C'est un rotation absolu, il faut la convertir en relative
gabrieltetar	1:7e925468f9d9	1413
gabrieltetar	1:7e925468f9d9	1414	localData2 = (localData2 - theta_robot)%3600;
gabrieltetar	1:7e925468f9d9	1415	if(localData2 > 1800) localData2 = localData2-3600;
gabrieltetar	1:7e925468f9d9	1416
gabrieltetar	1:7e925468f9d9	1417	else if(localData2 <-1800) localData2 = localData2+3600;
gabrieltetar	1:7e925468f9d9	1418	}
gabrieltetar	1:7e925468f9d9	1419
gabrieltetar	1:7e925468f9d9	1420
gabrieltetar	1:7e925468f9d9	1421	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1422	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1423	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1424
gabrieltetar	1:7e925468f9d9	1425	break;
gabrieltetar	1:7e925468f9d9	1426	case MV_XYT:
gabrieltetar	10:1964bb91b925	1427	Debug_Audio(3,10);
gabrieltetar	1:7e925468f9d9	1428	if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1429	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1430	} else {
gabrieltetar	1:7e925468f9d9	1431	localData1 = 1;
gabrieltetar	1:7e925468f9d9	1432	}
gabrieltetar	1:7e925468f9d9	1433
gabrieltetar	1:7e925468f9d9	1434	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1435	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1436	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1437	} else {
gabrieltetar	1:7e925468f9d9	1438	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1439	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1440	}
gabrieltetar	1:7e925468f9d9	1441
gabrieltetar	1:7e925468f9d9	1442	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1443	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1444	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1445
gabrieltetar	1:7e925468f9d9	1446	target_x_robot = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1447	target_y_robot = localData3;
gabrieltetar	1:7e925468f9d9	1448	target_theta_robot = localData2;
gabrieltetar	1:7e925468f9d9	1449
gabrieltetar	1:7e925468f9d9	1450	break;
gabrieltetar	1:7e925468f9d9	1451	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1452	if(instruction.nextActionType == MECANIQUE) {
gabrieltetar	1:7e925468f9d9	1453	instruction.nextActionType = WAIT;
gabrieltetar	1:7e925468f9d9	1454
gabrieltetar	1:7e925468f9d9	1455	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1456	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1457
gabrieltetar	1:7e925468f9d9	1458	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	1459
gabrieltetar	1:7e925468f9d9	1460	if(instruction.precision == RECALAGE_Y) {
gabrieltetar	1:7e925468f9d9	1461	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1462	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1463	localData3 = 3000 - instruction.arg1;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1464	} else {
gabrieltetar	1:7e925468f9d9	1465	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1466	}
gabrieltetar	1:7e925468f9d9	1467	} else {
gabrieltetar	1:7e925468f9d9	1468	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1469	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1470	}
gabrieltetar	1:7e925468f9d9	1471	GoStraight(localData2, localData5, localData3, 0);
gabrieltetar	1:7e925468f9d9	1472	} else { //CAPTEUR
gabrieltetar	1:7e925468f9d9	1473	SendRawId(DATA_RECALAGE);
gabrieltetar	1:7e925468f9d9	1474	waitingAckID = RECEPTION_RECALAGE;
gabrieltetar	1:7e925468f9d9	1475	waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
gabrieltetar	1:7e925468f9d9	1476
gabrieltetar	1:7e925468f9d9	1477	// On attend que les variables soient actualisé
gabrieltetar	1:7e925468f9d9	1478	while(!(waitingAckID == 0 && waitingAckFrom == 0))
gabrieltetar	1:7e925468f9d9	1479	canProcessRx();
gabrieltetar	1:7e925468f9d9	1480	while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
gabrieltetar	1:7e925468f9d9	1481	canProcessRx();
gabrieltetar	1:7e925468f9d9	1482
gabrieltetar	1:7e925468f9d9	1483	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	1484	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
gabrieltetar	1:7e925468f9d9	1485	} else if(instruction.precision == RECALAGE_X) {
gabrieltetar	1:7e925468f9d9	1486	SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1487	} else if(instruction.precision == RECALAGE_T) {
gabrieltetar	1:7e925468f9d9	1488	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
gabrieltetar	1:7e925468f9d9	1489	}
gabrieltetar	1:7e925468f9d9	1490	}
gabrieltetar	1:7e925468f9d9	1491	break;
gabrieltetar	1:7e925468f9d9	1492
gabrieltetar	1:7e925468f9d9	1493	case ACTION:
gabrieltetar	1:7e925468f9d9	1494
gabrieltetar	1:7e925468f9d9	1495	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1496	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1497	int tempo = 0;
gabrieltetar	1:7e925468f9d9	1498	waitingAckID= ACK_ACTION; //On veut un ack de type action
gabrieltetar	1:7e925468f9d9	1499	waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
gabrieltetar	14:6aa8aa1699ad	1500	tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
gabrieltetar	1:7e925468f9d9	1501	// unsigned char test=(unsigned char) tempo;
gabrieltetar	1:7e925468f9d9	1502	// SendMsgCan(0x5BD, &test,1);
gabrieltetar	1:7e925468f9d9	1503	if(tempo == 1) {
gabrieltetar	1:7e925468f9d9	1504	//L'action est spécifique
gabrieltetar	1:7e925468f9d9	1505	if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1506	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1507	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1508	} else {
gabrieltetar	1:7e925468f9d9	1509	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1510	}
gabrieltetar	1:7e925468f9d9	1511	return;
gabrieltetar	1:7e925468f9d9	1512	} else if (tempo == 2) {
gabrieltetar	1:7e925468f9d9	1513	// on est dans le cas de l'avance selon le telemetre
gabrieltetar	1:7e925468f9d9	1514	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1515	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1516
gabrieltetar	1:7e925468f9d9	1517	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1518	GoStraight(telemetreDistance, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1519	// on reset la distance du telemetre à 0
gabrieltetar	1:7e925468f9d9	1520	telemetreDistance = 5000;
gabrieltetar	1:7e925468f9d9	1521	} else {
gabrieltetar	1:7e925468f9d9	1522	//C'est un AX12 qu'il faut bouger
gabrieltetar	1:7e925468f9d9	1523	//AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
gabrieltetar	1:7e925468f9d9	1524	//AX12_enchainement++;
gabrieltetar	1:7e925468f9d9	1525
gabrieltetar	1:7e925468f9d9	1526	}
gabrieltetar	1:7e925468f9d9	1527	break;
gabrieltetar	1:7e925468f9d9	1528	default:
gabrieltetar	1:7e925468f9d9	1529	//Instruction inconnue, on l'ignore
gabrieltetar	1:7e925468f9d9	1530	break;
gabrieltetar	1:7e925468f9d9	1531	}
gabrieltetar	1:7e925468f9d9	1532
gabrieltetar	1:7e925468f9d9	1533	if(instruction.nextActionType == JUMP \|\| instruction.nextActionType == WAIT) {
gabrieltetar	1:7e925468f9d9	1534	gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
gabrieltetar	1:7e925468f9d9	1535	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	1536	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1537	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1538	if(AX12_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1539	//AX12_processChange();//Il faut lancer le déplacement des AX12
gabrieltetar	1:7e925468f9d9	1540	//AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1541	}
gabrieltetar	1:7e925468f9d9	1542	} else { //C'est un enchainement
gabrieltetar	1:7e925468f9d9	1543	if(instruction.order == MV_LINE) {
gabrieltetar	1:7e925468f9d9	1544	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1545	} else {
gabrieltetar	1:7e925468f9d9	1546	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1547	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
gabrieltetar	1:7e925468f9d9	1548	}
gabrieltetar	1:7e925468f9d9	1549	}
gabrieltetar	1:7e925468f9d9	1550
gabrieltetar	1:7e925468f9d9	1551	break;
gabrieltetar	1:7e925468f9d9	1552	case ETAT_GAME_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	1553	canProcessRx();
gabrieltetar	1:7e925468f9d9	1554	//SendSpeed(200);//--------------------------------------------------MODE RALENTI !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
gabrieltetar	1:7e925468f9d9	1555	if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
gabrieltetar	1:7e925468f9d9	1556	//if(true) {
gabrieltetar	1:7e925468f9d9	1557	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1558	if(instruction.nextActionType == JUMP) {
gabrieltetar	1:7e925468f9d9	1559	if(instruction.jumpAction == JUMP_POSITION) {
gabrieltetar	1:7e925468f9d9	1560	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1561	} else { //Pour eviter les erreurs, on dit que c'est par défaut un jump time
gabrieltetar	1:7e925468f9d9	1562	gameEtat = ETAT_GAME_JUMP_TIME;
gabrieltetar	1:7e925468f9d9	1563	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1564	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1565	}
gabrieltetar	1:7e925468f9d9	1566	} else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
gabrieltetar	1:7e925468f9d9	1567	/*wait_ms(200);
gabrieltetar	1:7e925468f9d9	1568	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	1569	SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1570	#else
gabrieltetar	1:7e925468f9d9	1571	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1572	#endif
gabrieltetar	1:7e925468f9d9	1573	wait_ms(200);*/
gabrieltetar	1:7e925468f9d9	1574
gabrieltetar	1:7e925468f9d9	1575	gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1576	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1577	case MV_BEZIER:
gabrieltetar	1:7e925468f9d9	1578	waitingAckID_FIN = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1579	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1580	break;
gabrieltetar	1:7e925468f9d9	1581	case MV_COURBURE:
gabrieltetar	1:7e925468f9d9	1582	waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1583	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1584	break;
gabrieltetar	1:7e925468f9d9	1585	case MV_LINE:
gabrieltetar	1:7e925468f9d9	1586	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1587	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1588	break;
gabrieltetar	1:7e925468f9d9	1589	case MV_TURN:
gabrieltetar	1:7e925468f9d9	1590	waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1591	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1592	break;
gabrieltetar	1:7e925468f9d9	1593	case MV_XYT:
gabrieltetar	1:7e925468f9d9	1594	waitingAckID_FIN = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1595	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1596	break;
gabrieltetar	1:7e925468f9d9	1597	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1598	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1599	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1600	break;
gabrieltetar	1:7e925468f9d9	1601	case ACTION:
gabrieltetar	1:7e925468f9d9	1602
gabrieltetar	1:7e925468f9d9	1603	if (modeTelemetre == 0) {
gabrieltetar	1:7e925468f9d9	1604	if (telemetreDistance == 0) {
gabrieltetar	1:7e925468f9d9	1605	waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
gabrieltetar	1:7e925468f9d9	1606	waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
gabrieltetar	1:7e925468f9d9	1607	} else if(telemetreDistance == 5000) {
gabrieltetar	1:7e925468f9d9	1608	// on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
gabrieltetar	1:7e925468f9d9	1609	//waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1610	//waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1611	telemetreDistance = 0;
gabrieltetar	1:7e925468f9d9	1612	}
gabrieltetar	1:7e925468f9d9	1613	} else { // si on attend la reponse du telemetre
gabrieltetar	1:7e925468f9d9	1614	//modeTelemetre = 1;
gabrieltetar	1:7e925468f9d9	1615	waitingAckID_FIN = OBJET_SUR_TABLE;
gabrieltetar	1:7e925468f9d9	1616	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1617	}
gabrieltetar	1:7e925468f9d9	1618	break;
gabrieltetar	1:7e925468f9d9	1619	default:
gabrieltetar	1:7e925468f9d9	1620	break;
gabrieltetar	1:7e925468f9d9	1621	}
gabrieltetar	1:7e925468f9d9	1622	} else {
gabrieltetar	1:7e925468f9d9	1623	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1624	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1625	}
gabrieltetar	1:7e925468f9d9	1626	} else if(cartesCheker.read_ms () > 1000) {
gabrieltetar	1:7e925468f9d9	1627	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1628	if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
gabrieltetar	1:7e925468f9d9	1629	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1630	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1631	} else {
gabrieltetar	1:7e925468f9d9	1632	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
gabrieltetar	1:7e925468f9d9	1633	}
gabrieltetar	1:7e925468f9d9	1634	}
gabrieltetar	1:7e925468f9d9	1635	break;
gabrieltetar	1:7e925468f9d9	1636
gabrieltetar	1:7e925468f9d9	1637	case ETAT_GAME_JUMP_TIME:
gabrieltetar	1:7e925468f9d9	1638	if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1639	cartesCheker.stop();//On arrete le timer
gabrieltetar	1:7e925468f9d9	1640	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1641	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1642	}
gabrieltetar	1:7e925468f9d9	1643	break;
gabrieltetar	1:7e925468f9d9	1644
gabrieltetar	1:7e925468f9d9	1645	case ETAT_GAME_JUMP_CONFIG:
gabrieltetar	1:7e925468f9d9	1646	signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
gabrieltetar	1:7e925468f9d9	1647	// 1 si l'instruction est plus grande que la position du robot
gabrieltetar	1:7e925468f9d9	1648	// -1 si l'instruction est plus petite que la position du robot
gabrieltetar	1:7e925468f9d9	1649	// 0 si l'instruction et position du robot sont proche de moins de 1cm
gabrieltetar	1:7e925468f9d9	1650	if (abs(x_robot-instruction.JumpTimeOrX)<10) {
gabrieltetar	1:7e925468f9d9	1651	depasX = 0;
gabrieltetar	1:7e925468f9d9	1652	} else if(x_robot > instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1653	depasX = -1;
gabrieltetar	1:7e925468f9d9	1654	}
gabrieltetar	1:7e925468f9d9	1655
gabrieltetar	1:7e925468f9d9	1656	if(abs(y_robot-instruction.JumpY)<10) {
gabrieltetar	1:7e925468f9d9	1657	depasY = 0;
gabrieltetar	1:7e925468f9d9	1658	} else if(y_robot > instruction.JumpY) {
gabrieltetar	1:7e925468f9d9	1659	depasY = -1;
gabrieltetar	1:7e925468f9d9	1660	}
gabrieltetar	1:7e925468f9d9	1661
gabrieltetar	1:7e925468f9d9	1662	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1663	break;
gabrieltetar	1:7e925468f9d9	1664	case ETAT_GAME_JUMP_POSITION:
gabrieltetar	1:7e925468f9d9	1665	bool Xok = false, Yok = false;
gabrieltetar	1:7e925468f9d9	1666
gabrieltetar	1:7e925468f9d9	1667	if (depasX == 0) {
gabrieltetar	1:7e925468f9d9	1668	Xok = true;
gabrieltetar	1:7e925468f9d9	1669	} else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5) {
gabrieltetar	1:7e925468f9d9	1670	Xok = true;
gabrieltetar	1:7e925468f9d9	1671	}
gabrieltetar	1:7e925468f9d9	1672
gabrieltetar	1:7e925468f9d9	1673	if (depasY == 0) {
gabrieltetar	1:7e925468f9d9	1674	Yok = true;
gabrieltetar	1:7e925468f9d9	1675	} else if ((instruction.JumpY - y_robot)*depasY < -5) {
gabrieltetar	1:7e925468f9d9	1676	Yok = true;
gabrieltetar	1:7e925468f9d9	1677	}
gabrieltetar	1:7e925468f9d9	1678
gabrieltetar	1:7e925468f9d9	1679	// on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
gabrieltetar	1:7e925468f9d9	1680	if (Xok && Yok) {
gabrieltetar	1:7e925468f9d9	1681	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1682	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1683	}
gabrieltetar	1:7e925468f9d9	1684
gabrieltetar	1:7e925468f9d9	1685	break;
gabrieltetar	1:7e925468f9d9	1686	case ETAT_GAME_WAIT_END_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1687	canProcessRx();
gabrieltetar	1:7e925468f9d9	1688	if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
gabrieltetar	1:7e925468f9d9	1689	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1690	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1691	}
gabrieltetar	1:7e925468f9d9	1692
gabrieltetar	1:7e925468f9d9	1693	break;
gabrieltetar	1:7e925468f9d9	1694
gabrieltetar	1:7e925468f9d9	1695	case ETAT_END:
gabrieltetar	10:1964bb91b925	1696	Debug_Audio(3,4);
gabrieltetar	1:7e925468f9d9	1697	if (ModeDemo) {
gabrieltetar	1:7e925468f9d9	1698	gameEtat = ETAT_CHECK_CARTE_SCREEN;
gabrieltetar	1:7e925468f9d9	1699	ModeDemo = 1;
gabrieltetar	1:7e925468f9d9	1700	} else {
gabrieltetar	1:7e925468f9d9	1701	gameEtat = ETAT_END_LOOP;
gabrieltetar	1:7e925468f9d9	1702	}
gabrieltetar	1:7e925468f9d9	1703	break;
gabrieltetar	1:7e925468f9d9	1704	case ETAT_END_LOOP:
gabrieltetar	1:7e925468f9d9	1705	//Rien, on tourne en rond
gabrieltetar	1:7e925468f9d9	1706
gabrieltetar	1:7e925468f9d9	1707	break;
gabrieltetar	1:7e925468f9d9	1708	default:
gabrieltetar	1:7e925468f9d9	1709
gabrieltetar	1:7e925468f9d9	1710	break;
gabrieltetar	1:7e925468f9d9	1711	}
gabrieltetar	1:7e925468f9d9	1712	}
gabrieltetar	1:7e925468f9d9	1713
gabrieltetar	1:7e925468f9d9	1714
gabrieltetar	1:7e925468f9d9	1715
gabrieltetar	1:7e925468f9d9	1716
gabrieltetar	1:7e925468f9d9	1717
gabrieltetar	1:7e925468f9d9	1718	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1719	/* FUNCTION NAME: canProcessRx */
gabrieltetar	1:7e925468f9d9	1720	/* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
gabrieltetar	1:7e925468f9d9	1721	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1722	void canProcessRx(void)
gabrieltetar	1:7e925468f9d9	1723	{
gabrieltetar	1:7e925468f9d9	1724	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
gabrieltetar	1:7e925468f9d9	1725	char message[10]="toto";
gabrieltetar	1:7e925468f9d9	1726	char message1[10]="toto";
gabrieltetar	1:7e925468f9d9	1727	char message2[10]="toto";
gabrieltetar	1:7e925468f9d9	1728	char message3[10]="toto";
gabrieltetar	1:7e925468f9d9	1729	char message4[10]="toto";
gabrieltetar	1:7e925468f9d9	1730	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
gabrieltetar	1:7e925468f9d9	1731
gabrieltetar	1:7e925468f9d9	1732	if(FIFO_occupation<0)
gabrieltetar	1:7e925468f9d9	1733	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1734
gabrieltetar	1:7e925468f9d9	1735	if(FIFO_max_occupation<FIFO_occupation) {
gabrieltetar	1:7e925468f9d9	1736	FIFO_max_occupation=FIFO_occupation;
gabrieltetar	1:7e925468f9d9	1737	//SendRawId(
gabrieltetar	1:7e925468f9d9	1738	}
gabrieltetar	1:7e925468f9d9	1739
gabrieltetar	1:7e925468f9d9	1740	if(FIFO_occupation!=0) {
gabrieltetar	1:7e925468f9d9	1741	int identifiant=msgRxBuffer[FIFO_lecture].id;
gabrieltetar	1:7e925468f9d9	1742
gabrieltetar	1:7e925468f9d9	1743	if (waitingId == identifiant) waitingId = 0;
gabrieltetar	1:7e925468f9d9	1744	switch(identifiant) {
gabrieltetar	1:7e925468f9d9	1745
gabrieltetar	1:7e925468f9d9	1746	case ALIVE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1747	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1748
gabrieltetar	1:7e925468f9d9	1749	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1750	lcd.FillRect(0,400,400,150);
gabrieltetar	1:7e925468f9d9	1751	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1752	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1753	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1754	}
gabrieltetar	1:7e925468f9d9	1755	break;
gabrieltetar	1:7e925468f9d9	1756
gabrieltetar	1:7e925468f9d9	1757	case ALIVE_BALISE:
gabrieltetar	1:7e925468f9d9	1758	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1759
gabrieltetar	1:7e925468f9d9	1760	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1761	lcd.FillRect(0,600,400,150); //carte AX12
gabrieltetar	1:7e925468f9d9	1762	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1763	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1764	lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1765	}
gabrieltetar	1:7e925468f9d9	1766	break;
gabrieltetar	1:7e925468f9d9	1767
gabrieltetar	1:7e925468f9d9	1768	case RESET_IHM:
gabrieltetar	1:7e925468f9d9	1769	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	1770	break;
gabrieltetar	1:7e925468f9d9	1771
gabrieltetar	1:7e925468f9d9	1772	case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
gabrieltetar	1:7e925468f9d9	1773	case GLOBAL_JACK:
gabrieltetar	1:7e925468f9d9	1774	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	1775	gameEtat = ETAT_GAME_START;
gabrieltetar	1:7e925468f9d9	1776	SendRawId(ACKNOWLEDGE_JACK);
gabrieltetar	1:7e925468f9d9	1777	}
gabrieltetar	1:7e925468f9d9	1778	break;
gabrieltetar	1:7e925468f9d9	1779
gabrieltetar	1:7e925468f9d9	1780	case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1781	case ALIVE_ACTIONNEURS_ARRIERE:
gabrieltetar	1:7e925468f9d9	1782	case ALIVE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1783	case ECRAN_ALL_CHECK:
gabrieltetar	1:7e925468f9d9	1784	if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1785	waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
gabrieltetar	1:7e925468f9d9	1786	}
gabrieltetar	1:7e925468f9d9	1787	flag=1;
gabrieltetar	1:7e925468f9d9	1788	break;
gabrieltetar	1:7e925468f9d9	1789
gabrieltetar	1:7e925468f9d9	1790	case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
gabrieltetar	1:7e925468f9d9	1791	{
gabrieltetar	1:7e925468f9d9	1792
gabrieltetar	1:7e925468f9d9	1793	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1794	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1795	if(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR)
gabrieltetar	1:7e925468f9d9	1796	{
gabrieltetar	1:7e925468f9d9	1797	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1798	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1799	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1800	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1801	} else {
gabrieltetar	1:7e925468f9d9	1802	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1803	timeoutWarningWaitEnd.reset();
gabrieltetar	1:7e925468f9d9	1804	timeoutWarningWaitEnd.start();
gabrieltetar	1:7e925468f9d9	1805	//gameEtat = ETAT_WARING_END_BALISE_WAIT;
gabrieltetar	1:7e925468f9d9	1806	}
gabrieltetar	1:7e925468f9d9	1807	}
gabrieltetar	1:7e925468f9d9	1808	/*
gabrieltetar	1:7e925468f9d9	1809	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1810	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1811	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1812	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1813	} else {
gabrieltetar	1:7e925468f9d9	1814	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1815	gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1816	}*/
gabrieltetar	1:7e925468f9d9	1817	} break;
gabrieltetar	1:7e925468f9d9	1818
gabrieltetar	1:7e925468f9d9	1819	/////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1820	case ACKNOWLEDGE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1821	case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans ACK_FIN_ACTION mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1822
gabrieltetar	1:7e925468f9d9	1823	case ACKNOWLEDGE_TELEMETRE:
gabrieltetar	1:7e925468f9d9	1824	/////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1825	case ACKNOWLEDGE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1826	case INSTRUCTION_END_BALISE:
gabrieltetar	1:7e925468f9d9	1827	case ACK_FIN_ACTION:
gabrieltetar	1:7e925468f9d9	1828	case INSTRUCTION_END_MOTEUR:
gabrieltetar	1:7e925468f9d9	1829	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1830	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1831	/*
gabrieltetar	1:7e925468f9d9	1832	//on desactive la balise dans les rotations XYT
gabrieltetar	1:7e925468f9d9	1833	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_XYT==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1834	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_XYT_ROTATE==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1835
gabrieltetar	1:7e925468f9d9	1836	//on desactive la balise dans les rotations
gabrieltetar	1:7e925468f9d9	1837	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1838	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1839	*/
gabrieltetar	1:7e925468f9d9	1840
gabrieltetar	1:7e925468f9d9	1841	// SendMsgCan(0x666,&ingnorBalise,1);
gabrieltetar	1:7e925468f9d9	1842
gabrieltetar	1:7e925468f9d9	1843	if( waitingAckFrom == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID ) {
gabrieltetar	1:7e925468f9d9	1844	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1845	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1846	}
gabrieltetar	1:7e925468f9d9	1847	if( waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID_FIN ) {
gabrieltetar	1:7e925468f9d9	1848	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1849	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1850	}
gabrieltetar	1:7e925468f9d9	1851
gabrieltetar	1:7e925468f9d9	1852	/*
gabrieltetar	1:7e925468f9d9	1853	if((waitingAckFrom == msgRxBuffer[FIFO_lecture].id) &&
gabrieltetar	1:7e925468f9d9	1854	((unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| (((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID) )
gabrieltetar	1:7e925468f9d9	1855	{
gabrieltetar	1:7e925468f9d9	1856	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1857	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1858	}
gabrieltetar	1:7e925468f9d9	1859	if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]
gabrieltetar	1:7e925468f9d9	1860	\|(((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN))
gabrieltetar	1:7e925468f9d9	1861	{
gabrieltetar	1:7e925468f9d9	1862	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1863	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1864	}
gabrieltetar	1:7e925468f9d9	1865	*/
gabrieltetar	1:7e925468f9d9	1866	break;
gabrieltetar	1:7e925468f9d9	1867	case ODOMETRIE_BIG_POSITION:
gabrieltetar	1:7e925468f9d9	1868	case ODOMETRIE_SMALL_POSITION:
gabrieltetar	1:7e925468f9d9	1869
gabrieltetar	1:7e925468f9d9	1870	x_robot=msgRxBuffer[FIFO_lecture].data[0]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
gabrieltetar	1:7e925468f9d9	1871	y_robot=msgRxBuffer[FIFO_lecture].data[2]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
gabrieltetar	1:7e925468f9d9	1872	theta_robot=msgRxBuffer[FIFO_lecture].data[4]\|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
gabrieltetar	1:7e925468f9d9	1873	break;
gabrieltetar	1:7e925468f9d9	1874
gabrieltetar	1:7e925468f9d9	1875	case ACK_ACTION:
gabrieltetar	1:7e925468f9d9	1876	if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1877	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1878	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1879	}
gabrieltetar	1:7e925468f9d9	1880	break;
gabrieltetar	1:7e925468f9d9	1881
gabrieltetar	1:7e925468f9d9	1882	case BALISE_DANGER :
gabrieltetar	1:7e925468f9d9	1883	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1884	balise_danger();
gabrieltetar	1:7e925468f9d9	1885	break;
gabrieltetar	1:7e925468f9d9	1886
gabrieltetar	1:7e925468f9d9	1887	case BALISE_STOP:
gabrieltetar	1:7e925468f9d9	1888	SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
gabrieltetar	1:7e925468f9d9	1889	balise_stop(FIFO_lecture);
gabrieltetar	1:7e925468f9d9	1890	break;
gabrieltetar	1:7e925468f9d9	1891
gabrieltetar	1:7e925468f9d9	1892	case BALISE_END_DANGER:
gabrieltetar	1:7e925468f9d9	1893	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1894	balise_end_danger(&instruction,&dodgeq,&gameEtat,target_x_robot,target_y_robot,target_theta_robot, theta_robot,x_robot,y_robot);
gabrieltetar	1:7e925468f9d9	1895	break;
gabrieltetar	1:7e925468f9d9	1896
gabrieltetar	1:7e925468f9d9	1897	case RECEPTION_DATA:
gabrieltetar	1:7e925468f9d9	1898	telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
gabrieltetar	1:7e925468f9d9	1899	telemetreDistance= (float)telemetreDistance100.0f35.5f+50.0f;
gabrieltetar	1:7e925468f9d9	1900	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1901	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1902	break;
gabrieltetar	1:7e925468f9d9	1903
gabrieltetar	1:7e925468f9d9	1904	case RECEPTION_RECALAGE:
gabrieltetar	1:7e925468f9d9	1905	wait_us(150);
gabrieltetar	1:7e925468f9d9	1906	flagReceptionTelemetres = 1;
gabrieltetar	1:7e925468f9d9	1907	// 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	1908	memcpy(&telemetreDistance_avant_droite,msgRxBuffer[FIFO_lecture].data,2);
gabrieltetar	1:7e925468f9d9	1909	telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
gabrieltetar	1:7e925468f9d9	1910	telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
gabrieltetar	1:7e925468f9d9	1911	telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
gabrieltetar	1:7e925468f9d9	1912
gabrieltetar	1:7e925468f9d9	1913
gabrieltetar	1:7e925468f9d9	1914	if(ModeDemo==1) {
gabrieltetar	1:7e925468f9d9	1915	sprintf(message,"%04dmm L:%d",telemetreDistance_avant_droite,DT_AVD_interrupt);
gabrieltetar	1:7e925468f9d9	1916	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1917	lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"LASER AVD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1918	lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1919
gabrieltetar	1:7e925468f9d9	1920	sprintf(message1,"%04dmm L:%d",telemetreDistance_avant_gauche,DT_AVG_interrupt);
gabrieltetar	1:7e925468f9d9	1921	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1922	lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER AVG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1923	lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message1, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1924
gabrieltetar	1:7e925468f9d9	1925
gabrieltetar	1:7e925468f9d9	1926	sprintf(message4,"%04d",theta_robot);
gabrieltetar	1:7e925468f9d9	1927	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1928	lcd.DisplayStringAt(0, LINE(13),(unsigned char *)"THETA: ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1929	lcd.DisplayStringAt(200, LINE(13),(unsigned char *)message4, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1930
gabrieltetar	1:7e925468f9d9	1931
gabrieltetar	1:7e925468f9d9	1932	sprintf(message2,"%04dmm L:%d",telemetreDistance_arriere_gauche,DT_ARG_interrupt);
gabrieltetar	1:7e925468f9d9	1933	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1934	lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER ARG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1935	lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message2, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1936
gabrieltetar	1:7e925468f9d9	1937	sprintf(message3,"%04dmm L:%d",telemetreDistance_arriere_droite,DT_ARD_interrupt);
gabrieltetar	1:7e925468f9d9	1938	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1939	lcd.DisplayStringAt(0, LINE(18),(unsigned char *)"LASER ARD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1940	lcd.DisplayStringAt(200, LINE(18),(unsigned char *)message3, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1941	}
gabrieltetar	1:7e925468f9d9	1942	break;
gabrieltetar	1:7e925468f9d9	1943	case RECEPTION_TELEMETRE_LOGIQUE:
gabrieltetar	1:7e925468f9d9	1944
gabrieltetar	1:7e925468f9d9	1945	DT_AVD_interrupt=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1946	DT_AVG_interrupt=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1947	DT_ARG_interrupt=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1948	DT_ARD_interrupt=msgRxBuffer[FIFO_lecture].data[3];
gabrieltetar	1:7e925468f9d9	1949
gabrieltetar	1:7e925468f9d9	1950	break;
gabrieltetar	1:7e925468f9d9	1951	case RECEPTION_COULEUR:
gabrieltetar	1:7e925468f9d9	1952	if (blocage_balise==0) {
gabrieltetar	1:7e925468f9d9	1953	couleur1=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1954	couleur2=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1955	couleur3=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1956
gabrieltetar	1:7e925468f9d9	1957	/lcd.DisplayStringAt(0,LINE(16),(unsigned char )couleur1+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1958	lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1959	lcd.DisplayStringAt(0,LINE(16+2),(unsigned char )couleur3+'0',LEFT_MODE);/
gabrieltetar	1:7e925468f9d9	1960	}
gabrieltetar	1:7e925468f9d9	1961
gabrieltetar	1:7e925468f9d9	1962	break;
gabrieltetar	10:1964bb91b925	1963	default:
gabrieltetar	10:1964bb91b925	1964	break;
gabrieltetar	1:7e925468f9d9	1965	/*
gabrieltetar	1:7e925468f9d9	1966	case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
gabrieltetar	1:7e925468f9d9	1967	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1968	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1969	// waitingAckID_FIN=0;
gabrieltetar	1:7e925468f9d9	1970	// waitingAckFrom_FIN=0;
gabrieltetar	1:7e925468f9d9	1971	SendRawId(0x40);
gabrieltetar	1:7e925468f9d9	1972	break;*/
gabrieltetar	1:7e925468f9d9	1973	}
gabrieltetar	1:7e925468f9d9	1974	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1975	}
gabrieltetar	1:7e925468f9d9	1976	}
gabrieltetar	1:7e925468f9d9	1977
gabrieltetar	1:7e925468f9d9	1978
gabrieltetar	1:7e925468f9d9	1979
gabrieltetar	1:7e925468f9d9	1980
gabrieltetar	1:7e925468f9d9	1981
gabrieltetar	1:7e925468f9d9	1982	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1983	/* FUNCTION NAME: Bouton_Strat */
gabrieltetar	1:7e925468f9d9	1984	/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
gabrieltetar	1:7e925468f9d9	1985	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1986	signed char Bouton_Strat (void)
gabrieltetar	1:7e925468f9d9	1987	{
gabrieltetar	1:7e925468f9d9	1988	Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
gabrieltetar	1:7e925468f9d9	1989	Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
gabrieltetar	1:7e925468f9d9	1990	Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
gabrieltetar	1:7e925468f9d9	1991	Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
gabrieltetar	1:7e925468f9d9	1992	Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
gabrieltetar	1:7e925468f9d9	1993	Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
gabrieltetar	1:7e925468f9d9	1994	Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
gabrieltetar	1:7e925468f9d9	1995	Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
gabrieltetar	1:7e925468f9d9	1996	Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
gabrieltetar	1:7e925468f9d9	1997	Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
gabrieltetar	1:7e925468f9d9	1998	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	1999	//Definition des boutons
gabrieltetar	1:7e925468f9d9	2000
gabrieltetar	1:7e925468f9d9	2001	Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	2002	Strat = 0;
gabrieltetar	1:7e925468f9d9	2003	STRAT_1.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2004	STRAT_2.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2005	STRAT_3.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2006	STRAT_4.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2007	STRAT_5.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2008	STRAT_6.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2009	STRAT_7.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2010	STRAT_8.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2011	STRAT_9.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2012	STRAT_10.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2013	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	2014
gabrieltetar	1:7e925468f9d9	2015	while(Ack_strat == 0) {
gabrieltetar	1:7e925468f9d9	2016	canProcessRx();
gabrieltetar	1:7e925468f9d9	2017	CANMessage msgTx=CANMessage();
gabrieltetar	1:7e925468f9d9	2018	//msgTx.id=ECRAN_CHOICE_STRAT;
gabrieltetar	1:7e925468f9d9	2019	if (RETOUR.Touched())
gabrieltetar	1:7e925468f9d9	2020	return -1;
gabrieltetar	1:7e925468f9d9	2021	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	2022	//////////////////////////////STRATEGIE N°1
gabrieltetar	1:7e925468f9d9	2023	if (STRAT_1.Touched()) {
gabrieltetar	1:7e925468f9d9	2024	Strat = 0;
gabrieltetar	1:7e925468f9d9	2025	//msgTx.data[0] = 0x1;
gabrieltetar	1:7e925468f9d9	2026	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2027	while(STRAT_1.Touched());
gabrieltetar	1:7e925468f9d9	2028	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2029	}
gabrieltetar	1:7e925468f9d9	2030	/////////////////////////////STRATEGIE N°2
gabrieltetar	1:7e925468f9d9	2031	if (STRAT_2.Touched()) {
gabrieltetar	1:7e925468f9d9	2032	Strat = 1;
gabrieltetar	1:7e925468f9d9	2033	//msgTx.data[0] = 0x2;
gabrieltetar	1:7e925468f9d9	2034	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2035	while(STRAT_2.Touched());
gabrieltetar	1:7e925468f9d9	2036	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2037	}
gabrieltetar	1:7e925468f9d9	2038	//////////////////////////////STRATEGIE N°3
gabrieltetar	1:7e925468f9d9	2039	if (STRAT_3.Touched()) {
gabrieltetar	1:7e925468f9d9	2040	Strat = 2;
gabrieltetar	1:7e925468f9d9	2041	//msgTx.data[0] = 0x3;
gabrieltetar	1:7e925468f9d9	2042	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2043	while(STRAT_3.Touched());
gabrieltetar	1:7e925468f9d9	2044	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2045	}
gabrieltetar	1:7e925468f9d9	2046	/////////////////////////////STRATEGIE N°4
gabrieltetar	1:7e925468f9d9	2047	if (STRAT_4.Touched()) {
gabrieltetar	1:7e925468f9d9	2048	Strat = 3;
gabrieltetar	1:7e925468f9d9	2049	//msgTx.data[0] = 0x4;
gabrieltetar	1:7e925468f9d9	2050	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2051	while(STRAT_4.Touched());
gabrieltetar	1:7e925468f9d9	2052	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2053	}
gabrieltetar	1:7e925468f9d9	2054	///////////////////////////////STRATEGIE N°5
gabrieltetar	1:7e925468f9d9	2055	if (STRAT_5.Touched()) {
gabrieltetar	1:7e925468f9d9	2056	Strat = 4;
gabrieltetar	1:7e925468f9d9	2057	//msgTx.data[0] = 0x5;
gabrieltetar	1:7e925468f9d9	2058	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2059	while(STRAT_5.Touched());
gabrieltetar	1:7e925468f9d9	2060	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2061	}
gabrieltetar	1:7e925468f9d9	2062	////////////////////////////////STRATEGIE N°6
gabrieltetar	1:7e925468f9d9	2063	if (STRAT_6.Touched()) {
gabrieltetar	1:7e925468f9d9	2064	Strat = 5;
gabrieltetar	1:7e925468f9d9	2065	//msgTx.data[0] = 0x6;
gabrieltetar	1:7e925468f9d9	2066	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2067	while(STRAT_6.Touched());
gabrieltetar	1:7e925468f9d9	2068	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2069	}
gabrieltetar	1:7e925468f9d9	2070	/////////////////////////////////STRATEGIE N°7
gabrieltetar	1:7e925468f9d9	2071	if (STRAT_7.Touched()) {
gabrieltetar	1:7e925468f9d9	2072	Strat = 6;
gabrieltetar	1:7e925468f9d9	2073	//msgTx.data[0] = 0x7;
gabrieltetar	1:7e925468f9d9	2074	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2075	while(STRAT_7.Touched());
gabrieltetar	1:7e925468f9d9	2076	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2077	}
gabrieltetar	1:7e925468f9d9	2078	/////////////////////////////////STRATEGIE N°8
gabrieltetar	1:7e925468f9d9	2079	if (STRAT_8.Touched()) {
gabrieltetar	1:7e925468f9d9	2080	Strat = 7;
gabrieltetar	1:7e925468f9d9	2081	//msgTx.data[0] = 0x8;
gabrieltetar	1:7e925468f9d9	2082	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2083	while(STRAT_8.Touched());
gabrieltetar	1:7e925468f9d9	2084	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2085	}
gabrieltetar	1:7e925468f9d9	2086	/////////////////////////////////STRATEGIE N°9
gabrieltetar	1:7e925468f9d9	2087	if (STRAT_9.Touched()) {
gabrieltetar	1:7e925468f9d9	2088	Strat = 8;
gabrieltetar	1:7e925468f9d9	2089	//msgTx.data[0] = 0x9;
gabrieltetar	1:7e925468f9d9	2090	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2091	while(STRAT_9.Touched());
gabrieltetar	1:7e925468f9d9	2092	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2093	}
gabrieltetar	1:7e925468f9d9	2094	///////////////////////////////////STRATEGIE N°10
gabrieltetar	1:7e925468f9d9	2095	if (STRAT_10.Touched()) {
gabrieltetar	1:7e925468f9d9	2096	Strat = 9;
gabrieltetar	1:7e925468f9d9	2097	//msgTx.data[0] = 0xA;
gabrieltetar	1:7e925468f9d9	2098	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2099	while(STRAT_10.Touched());
gabrieltetar	1:7e925468f9d9	2100	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2101	}
gabrieltetar	1:7e925468f9d9	2102
gabrieltetar	1:7e925468f9d9	2103	}
gabrieltetar	1:7e925468f9d9	2104	return Strat;
gabrieltetar	1:7e925468f9d9	2105
gabrieltetar	1:7e925468f9d9	2106	}
gabrieltetar	1:7e925468f9d9	2107
gabrieltetar	1:7e925468f9d9	2108	void affichage_compteur (int nombre)
gabrieltetar	1:7e925468f9d9	2109	{
gabrieltetar	1:7e925468f9d9	2110	int dizaine=0,unite=0,centaine=0;
gabrieltetar	1:7e925468f9d9	2111	centaine = nombre/100;
gabrieltetar	1:7e925468f9d9	2112	dizaine = nombre/10;
gabrieltetar	1:7e925468f9d9	2113	unite = nombre-(10*dizaine);
gabrieltetar	1:7e925468f9d9	2114	print_segment(unite,-50);
gabrieltetar	1:7e925468f9d9	2115	print_segment(dizaine,100);
gabrieltetar	1:7e925468f9d9	2116	if(centaine!=0) {
gabrieltetar	1:7e925468f9d9	2117	print_segment(centaine,350);
gabrieltetar	1:7e925468f9d9	2118	}
gabrieltetar	1:7e925468f9d9	2119
gabrieltetar	1:7e925468f9d9	2120	}
gabrieltetar	1:7e925468f9d9	2121
gabrieltetar	1:7e925468f9d9	2122
gabrieltetar	1:7e925468f9d9	2123	//**print_segment*
gabrieltetar	1:7e925468f9d9	2124	//Dessine en 7 segment le nombre en parametre
gabrieltetar	1:7e925468f9d9	2125	// A
gabrieltetar	1:7e925468f9d9	2126	// =====
gabrieltetar	1:7e925468f9d9	2127	// \| \|
gabrieltetar	1:7e925468f9d9	2128	// B \| G \| E
gabrieltetar	1:7e925468f9d9	2129	// \|=====\|
gabrieltetar	1:7e925468f9d9	2130	// C \| \| F
gabrieltetar	1:7e925468f9d9	2131	// \| \|
gabrieltetar	1:7e925468f9d9	2132	// =====
gabrieltetar	1:7e925468f9d9	2133	// D
gabrieltetar	1:7e925468f9d9	2134	/*
gabrieltetar	1:7e925468f9d9	2135	position pour le chiffre des unites
gabrieltetar	1:7e925468f9d9	2136	lcd.FillRect(460,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2137	lcd.FillRect(435,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2138	lcd.FillRect(435,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2139	lcd.FillRect(460,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2140	lcd.FillRect(580,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2141	lcd.FillRect(580,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2142	lcd.FillRect(460,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2143
gabrieltetar	1:7e925468f9d9	2144	position pour le chiffre des dizaines
gabrieltetar	1:7e925468f9d9	2145	lcd.FillRect(260,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2146	lcd.FillRect(235,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2147	lcd.FillRect(235,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2148	lcd.FillRect(260,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2149	lcd.FillRect(380,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2150	lcd.FillRect(380,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2151	lcd.FillRect(260,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2152	*/
gabrieltetar	1:7e925468f9d9	2153
gabrieltetar	1:7e925468f9d9	2154	void print_segment(int nombre, int decalage)
gabrieltetar	1:7e925468f9d9	2155	{
gabrieltetar	1:7e925468f9d9	2156
gabrieltetar	1:7e925468f9d9	2157	switch(nombre) {
gabrieltetar	1:7e925468f9d9	2158	case 0:
gabrieltetar	1:7e925468f9d9	2159	lcd.FillRect(240-decalage,75,120,25);
gabrieltetar	1:7e925468f9d9	2160	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2161	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2162	lcd.FillRect(360-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2163	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2164	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2165	break;
gabrieltetar	1:7e925468f9d9	2166
gabrieltetar	1:7e925468f9d9	2167	case 1:
gabrieltetar	1:7e925468f9d9	2168	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2169	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2170	break;
gabrieltetar	1:7e925468f9d9	2171
gabrieltetar	1:7e925468f9d9	2172	case 2:
gabrieltetar	1:7e925468f9d9	2173	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2174	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2175	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2176	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2177	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2178	break;
gabrieltetar	1:7e925468f9d9	2179
gabrieltetar	1:7e925468f9d9	2180	case 3:
gabrieltetar	1:7e925468f9d9	2181	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2182	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2183	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2184	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2185	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2186	break;
gabrieltetar	1:7e925468f9d9	2187
gabrieltetar	1:7e925468f9d9	2188	case 4:
gabrieltetar	1:7e925468f9d9	2189	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2190	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2191	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2192	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2193	break;
gabrieltetar	1:7e925468f9d9	2194
gabrieltetar	1:7e925468f9d9	2195	case 5:
gabrieltetar	1:7e925468f9d9	2196	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2197	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2198	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2199	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2200	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2201	break;
gabrieltetar	1:7e925468f9d9	2202
gabrieltetar	1:7e925468f9d9	2203	case 6:
gabrieltetar	1:7e925468f9d9	2204	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2205	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2206	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2207	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2208	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2209	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2210	break;
gabrieltetar	1:7e925468f9d9	2211
gabrieltetar	1:7e925468f9d9	2212	case 7:
gabrieltetar	1:7e925468f9d9	2213	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2214	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2215	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2216	break;
gabrieltetar	1:7e925468f9d9	2217
gabrieltetar	1:7e925468f9d9	2218	case 8:
gabrieltetar	1:7e925468f9d9	2219	lcd.FillRect(240-decalage,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2220	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2221	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2222	lcd.FillRect(360-decalage,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2223	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2224	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2225	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2226	break;
gabrieltetar	1:7e925468f9d9	2227
gabrieltetar	1:7e925468f9d9	2228	case 9:
gabrieltetar	1:7e925468f9d9	2229	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2230	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2231	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2232	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2233	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2234	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2235	break;
gabrieltetar	1:7e925468f9d9	2236	}
gabrieltetar	1:7e925468f9d9	2237	}
gabrieltetar	1:7e925468f9d9	2238
gabrieltetar	1:7e925468f9d9	2239	void effacer_segment(long couleur)
gabrieltetar	1:7e925468f9d9	2240	{
gabrieltetar	1:7e925468f9d9	2241	lcd.SetTextColor(couleur);
gabrieltetar	1:7e925468f9d9	2242	lcd.FillRect(240-200,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2243	lcd.FillRect(215-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2244	lcd.FillRect(215-200,245,25,120);
gabrieltetar	1:7e925468f9d9	2245	lcd.FillRect(360-200,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2246	lcd.FillRect(360-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2247	lcd.FillRect(240-200,365,120,25);
gabrieltetar	1:7e925468f9d9	2248	lcd.FillRect(240-200,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2249
gabrieltetar	1:7e925468f9d9	2250	lcd.FillRect(240,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2251	lcd.FillRect(215,100,25,120);
gabrieltetar	1:7e925468f9d9	2252	lcd.FillRect(215,245,25,120);
gabrieltetar	1:7e925468f9d9	2253	lcd.FillRect(360,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2254	lcd.FillRect(360,100,25,120);
gabrieltetar	1:7e925468f9d9	2255	lcd.FillRect(240,365,120,25);
gabrieltetar	1:7e925468f9d9	2256	lcd.FillRect(240,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2257	}
gabrieltetar	1:7e925468f9d9	2258
gabrieltetar	1:7e925468f9d9	2259	short recalageAngulaireCapteur(void)
gabrieltetar	1:7e925468f9d9	2260	{
gabrieltetar	1:7e925468f9d9	2261	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2262	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2263	unsigned short angleAvant = 0;
gabrieltetar	1:7e925468f9d9	2264	unsigned short angleArriere = 0;
gabrieltetar	1:7e925468f9d9	2265	unsigned short orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2266
gabrieltetar	1:7e925468f9d9	2267	unsigned short position_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	2268	unsigned short position_avant_droite=0;
gabrieltetar	1:7e925468f9d9	2269	unsigned short position_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	2270	unsigned short position_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	2271
gabrieltetar	1:7e925468f9d9	2272	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2273	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2274	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2275
gabrieltetar	1:7e925468f9d9	2276
gabrieltetar	1:7e925468f9d9	2277
gabrieltetar	1:7e925468f9d9	2278	if(theta_robot >= 450 && theta_robot <= 1350)
gabrieltetar	1:7e925468f9d9	2279	orientationArrondie = 90;
gabrieltetar	1:7e925468f9d9	2280	else if(theta_robot <= -450 && theta_robot >= -1350)
gabrieltetar	1:7e925468f9d9	2281	orientationArrondie = 270;
gabrieltetar	1:7e925468f9d9	2282	else if(theta_robot <= 450 && theta_robot >= -450)
gabrieltetar	1:7e925468f9d9	2283	orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2284	else if(theta_robot >= 1350 && theta_robot <= -1350)
gabrieltetar	1:7e925468f9d9	2285	orientationArrondie = 180;
gabrieltetar	1:7e925468f9d9	2286
gabrieltetar	1:7e925468f9d9	2287	// Calcul de position pour faire la vérification de cohérence
gabrieltetar	1:7e925468f9d9	2288	if(orientationArrondie == 90 \|\| orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2289	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	2290	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	2291	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	2292	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	2293
gabrieltetar	1:7e925468f9d9	2294	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2295	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	2296	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	2297	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	2298	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	2299	}
gabrieltetar	1:7e925468f9d9	2300
gabrieltetar	1:7e925468f9d9	2301
gabrieltetar	1:7e925468f9d9	2302	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2303	if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2304	if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2305	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2306	angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double)ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2307	else
gabrieltetar	1:7e925468f9d9	2308	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2309
gabrieltetar	1:7e925468f9d9	2310	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2311	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2312	}
gabrieltetar	1:7e925468f9d9	2313	}
gabrieltetar	1:7e925468f9d9	2314	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2315	if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2316	if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2317	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2318	angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2319	else
gabrieltetar	1:7e925468f9d9	2320	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2321
gabrieltetar	1:7e925468f9d9	2322	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2323	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2324	}
gabrieltetar	1:7e925468f9d9	2325	}
gabrieltetar	1:7e925468f9d9	2326	}
gabrieltetar	1:7e925468f9d9	2327
gabrieltetar	1:7e925468f9d9	2328	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2329	if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2330	if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2331	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2332	angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2333	else
gabrieltetar	1:7e925468f9d9	2334	angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2335
gabrieltetar	1:7e925468f9d9	2336	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2337	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2338	}
gabrieltetar	1:7e925468f9d9	2339	}
gabrieltetar	1:7e925468f9d9	2340	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2341	if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2342	if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2343	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2344	angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2345	else
gabrieltetar	1:7e925468f9d9	2346	angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2347
gabrieltetar	1:7e925468f9d9	2348	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2349	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2350	}
gabrieltetar	1:7e925468f9d9	2351	}
gabrieltetar	1:7e925468f9d9	2352	}
gabrieltetar	1:7e925468f9d9	2353
gabrieltetar	1:7e925468f9d9	2354	angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2355
gabrieltetar	1:7e925468f9d9	2356	if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) {
gabrieltetar	1:7e925468f9d9	2357	if(orientationArrondie == 0) {
gabrieltetar	1:7e925468f9d9	2358	angleRecalage -= 900;
gabrieltetar	1:7e925468f9d9	2359
gabrieltetar	1:7e925468f9d9	2360	/*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2361	distanceRecalage = *);
gabrieltetar	1:7e925468f9d9	2362	else
gabrieltetar	1:7e925468f9d9	2363	distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
gabrieltetar	1:7e925468f9d9	2364	} else if(orientationArrondie == 90) {
gabrieltetar	1:7e925468f9d9	2365	angleRecalage += 0;
gabrieltetar	1:7e925468f9d9	2366	} else if(orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2367	angleRecalage += 900;
gabrieltetar	1:7e925468f9d9	2368	} else if(orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2369	angleRecalage += 1800;
gabrieltetar	1:7e925468f9d9	2370	}
gabrieltetar	1:7e925468f9d9	2371	}
gabrieltetar	1:7e925468f9d9	2372
gabrieltetar	1:7e925468f9d9	2373	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
gabrieltetar	1:7e925468f9d9	2374	}
gabrieltetar	1:7e925468f9d9	2375
gabrieltetar	1:7e925468f9d9	2376	short recalageDistanceX(void)
gabrieltetar	1:7e925468f9d9	2377	{
gabrieltetar	1:7e925468f9d9	2378	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2379	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2380
gabrieltetar	1:7e925468f9d9	2381	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2382	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2383	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2384
gabrieltetar	1:7e925468f9d9	2385	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	2386	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	2387	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	2388	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	2389
gabrieltetar	1:7e925468f9d9	2390	if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2391	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2392	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2393	}
gabrieltetar	1:7e925468f9d9	2394	if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2395	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2396	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2397	}
gabrieltetar	1:7e925468f9d9	2398	if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2399	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2400	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2401	}
gabrieltetar	1:7e925468f9d9	2402	if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2403	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2404	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2405	}
gabrieltetar	1:7e925468f9d9	2406
gabrieltetar	1:7e925468f9d9	2407	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2408
gabrieltetar	1:7e925468f9d9	2409	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	2410	}
gabrieltetar	1:7e925468f9d9	2411
gabrieltetar	1:7e925468f9d9	2412	short recalageDistanceY(void)
gabrieltetar	1:7e925468f9d9	2413	{
gabrieltetar	1:7e925468f9d9	2414	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2415	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2416
gabrieltetar	1:7e925468f9d9	2417	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2418	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2419	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2420
gabrieltetar	1:7e925468f9d9	2421	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	2422	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	2423	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	2424	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	2425
gabrieltetar	1:7e925468f9d9	2426	if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2427	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2428	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2429	}
gabrieltetar	1:7e925468f9d9	2430	if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2431	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2432	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2433	}
gabrieltetar	1:7e925468f9d9	2434	if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2435	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2436	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2437	}
gabrieltetar	1:7e925468f9d9	2438	if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2439	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2440	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2441	}
gabrieltetar	1:7e925468f9d9	2442
gabrieltetar	1:7e925468f9d9	2443	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2444
gabrieltetar	1:7e925468f9d9	2445	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
gabrieltetar	1:7e925468f9d9	2446	}
gabrieltetar	1:7e925468f9d9	2447
gabrieltetar	14:6aa8aa1699ad	2448	/*************************************************************************************************/
gabrieltetar	14:6aa8aa1699ad	2449	/* FUNCTION NAME: doAction */
gabrieltetar	14:6aa8aa1699ad	2450	/* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
gabrieltetar	14:6aa8aa1699ad	2451	/*************************************************************************************************/
gabrieltetar	14:6aa8aa1699ad	2452
gabrieltetar	14:6aa8aa1699ad	2453	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
gabrieltetar	14:6aa8aa1699ad	2454	{
gabrieltetar	14:6aa8aa1699ad	2455	int retour = 1;
gabrieltetar	14:6aa8aa1699ad	2456	CANMessage msgTx=CANMessage();
gabrieltetar	14:6aa8aa1699ad	2457	msgTx.format=CANStandard;
gabrieltetar	14:6aa8aa1699ad	2458	msgTx.type=CANData;
gabrieltetar	14:6aa8aa1699ad	2459	switch(id)
gabrieltetar	14:6aa8aa1699ad	2460	{
gabrieltetar	14:6aa8aa1699ad	2461	case 101: //bras avant droit
gabrieltetar	14:6aa8aa1699ad	2462	SendRawId(TEST_BRAS_1_AT);
gabrieltetar	14:6aa8aa1699ad	2463	break;
gabrieltetar	14:6aa8aa1699ad	2464	case 102: //bras avant millieu
gabrieltetar	14:6aa8aa1699ad	2465	SendRawId(TEST_BRAS_2_AT);
gabrieltetar	14:6aa8aa1699ad	2466	break;
gabrieltetar	14:6aa8aa1699ad	2467	case 103: //attraper presentoir arriere
gabrieltetar	14:6aa8aa1699ad	2468	//SendRawId(PRESENTOIR_ARRIERE);
gabrieltetar	14:6aa8aa1699ad	2469	break;
gabrieltetar	14:6aa8aa1699ad	2470	case 104: //balance avant
gabrieltetar	14:6aa8aa1699ad	2471	//SendRawId(BALANCE_AVANT);
gabrieltetar	14:6aa8aa1699ad	2472	break;
gabrieltetar	14:6aa8aa1699ad	2473	case 105: //balance arriere
gabrieltetar	14:6aa8aa1699ad	2474	//SendRawId(BALANCE_ARRIERE);
gabrieltetar	14:6aa8aa1699ad	2475	break;
gabrieltetar	14:6aa8aa1699ad	2476	case 106: //accelerateur avant
gabrieltetar	14:6aa8aa1699ad	2477	//SendRawId(ACCELERATEUR_AVANT);
gabrieltetar	14:6aa8aa1699ad	2478	//distance_recalage=arg1;
gabrieltetar	14:6aa8aa1699ad	2479	//distance_revenir=arg2;
gabrieltetar	14:6aa8aa1699ad	2480	//Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
gabrieltetar	14:6aa8aa1699ad	2481	break;
gabrieltetar	14:6aa8aa1699ad	2482	case 107: //accelerateur arriere
gabrieltetar	14:6aa8aa1699ad	2483	//distance_recalage=arg1;
gabrieltetar	14:6aa8aa1699ad	2484	//distance_revenir=arg2;
gabrieltetar	14:6aa8aa1699ad	2485	//Send2Short(ACCELERATEUR_ARRIERE, distance_recalage,distance_revenir);
gabrieltetar	14:6aa8aa1699ad	2486	break;
gabrieltetar	14:6aa8aa1699ad	2487	case 108: //goldenium avant
gabrieltetar	14:6aa8aa1699ad	2488	//SendRawId(GOLDENIUM_AVANT);
gabrieltetar	14:6aa8aa1699ad	2489	x = arg1;
gabrieltetar	14:6aa8aa1699ad	2490	if(InversStrat == 1) {
gabrieltetar	14:6aa8aa1699ad	2491	y = 3000 - arg2;
gabrieltetar	14:6aa8aa1699ad	2492	} else {
gabrieltetar	14:6aa8aa1699ad	2493	y = arg2;
gabrieltetar	14:6aa8aa1699ad	2494	}
gabrieltetar	14:6aa8aa1699ad	2495	//Send2Short(GOLDENIUM_AVANT, x, y);
gabrieltetar	14:6aa8aa1699ad	2496	break;
gabrieltetar	14:6aa8aa1699ad	2497	case 109: //goldenium arriere
gabrieltetar	14:6aa8aa1699ad	2498	x=arg1;
gabrieltetar	14:6aa8aa1699ad	2499	y=arg2;
gabrieltetar	14:6aa8aa1699ad	2500	//Send2Short(GOLDENIUM_ARRIERE, x,y);
gabrieltetar	14:6aa8aa1699ad	2501	break;
gabrieltetar	14:6aa8aa1699ad	2502	case 110: //sol avant
gabrieltetar	14:6aa8aa1699ad	2503	//SendRawId(SOL_AVANT);
gabrieltetar	14:6aa8aa1699ad	2504	case 130: //sol avant
gabrieltetar	14:6aa8aa1699ad	2505	SendRawId(TEST_BRAS_1_RE);
gabrieltetar	14:6aa8aa1699ad	2506	break;
gabrieltetar	14:6aa8aa1699ad	2507	case 131: //sol avant
gabrieltetar	14:6aa8aa1699ad	2508	SendRawId(TEST_BRAS_2_RE);
gabrieltetar	14:6aa8aa1699ad	2509	break;
gabrieltetar	14:6aa8aa1699ad	2510	case 132: //sol avant
gabrieltetar	14:6aa8aa1699ad	2511	SendRawId(TEST_BRAS_3_RE);
gabrieltetar	14:6aa8aa1699ad	2512	break;
gabrieltetar	14:6aa8aa1699ad	2513	case 133: //sol avant
gabrieltetar	14:6aa8aa1699ad	2514	SendRawId(TEST_BRAS_4_RE);
gabrieltetar	14:6aa8aa1699ad	2515	break;
gabrieltetar	14:6aa8aa1699ad	2516	case 134: //sol avant
gabrieltetar	14:6aa8aa1699ad	2517	SendRawId(TEST_BRAS_5_RE);
gabrieltetar	14:6aa8aa1699ad	2518	break;
gabrieltetar	14:6aa8aa1699ad	2519	case 135: //sol avant
gabrieltetar	14:6aa8aa1699ad	2520	SendRawId(TEST_BRAS_6_RE);
gabrieltetar	14:6aa8aa1699ad	2521	break;
gabrieltetar	14:6aa8aa1699ad	2522	case 111: //sol arriere
gabrieltetar	14:6aa8aa1699ad	2523	// SendRawId(SOL_ARRIERE);
gabrieltetar	14:6aa8aa1699ad	2524	break;
gabrieltetar	14:6aa8aa1699ad	2525	case 112: //sol avant relache
gabrieltetar	14:6aa8aa1699ad	2526	//SendRawId(SOL_AVANT_RELACHE);
gabrieltetar	14:6aa8aa1699ad	2527	break;
gabrieltetar	14:6aa8aa1699ad	2528	case 113: //sol arriere relache
gabrieltetar	14:6aa8aa1699ad	2529	//SendRawId(SOL_ARRIERE_RELACHE);
gabrieltetar	14:6aa8aa1699ad	2530	break;
gabrieltetar	14:6aa8aa1699ad	2531	case 114://relache les 3 ventouses avants
gabrieltetar	14:6aa8aa1699ad	2532	// SendRawId(AVANT_RELACHE);
gabrieltetar	14:6aa8aa1699ad	2533	break;
gabrieltetar	14:6aa8aa1699ad	2534
gabrieltetar	14:6aa8aa1699ad	2535	case 115://bras avant gauche attraper
gabrieltetar	14:6aa8aa1699ad	2536	SendRawId(TEST_BRAS_3_AT);
gabrieltetar	14:6aa8aa1699ad	2537	break;
gabrieltetar	14:6aa8aa1699ad	2538
gabrieltetar	14:6aa8aa1699ad	2539	case 116://bras arreiere droit
gabrieltetar	14:6aa8aa1699ad	2540	SendRawId(TEST_BRAS_6_AT);
gabrieltetar	14:6aa8aa1699ad	2541	break;
gabrieltetar	14:6aa8aa1699ad	2542	/* case 116://relache une pompe
gabrieltetar	14:6aa8aa1699ad	2543	unsigned char arg_tempo;
gabrieltetar	14:6aa8aa1699ad	2544	if(InversStrat == 1) {
gabrieltetar	14:6aa8aa1699ad	2545	switch(arg1) {
gabrieltetar	14:6aa8aa1699ad	2546	case AV_DROIT:
gabrieltetar	14:6aa8aa1699ad	2547	arg_tempo = AV_GAUCHE;
gabrieltetar	14:6aa8aa1699ad	2548	break;
gabrieltetar	14:6aa8aa1699ad	2549	case AV_GAUCHE:
gabrieltetar	14:6aa8aa1699ad	2550	arg_tempo = AV_DROIT;
gabrieltetar	14:6aa8aa1699ad	2551	break;
gabrieltetar	14:6aa8aa1699ad	2552	case AR_DROIT:
gabrieltetar	14:6aa8aa1699ad	2553	arg_tempo = AR_GAUCHE;
gabrieltetar	14:6aa8aa1699ad	2554	break;
gabrieltetar	14:6aa8aa1699ad	2555	case AR_GAUCHE:
gabrieltetar	14:6aa8aa1699ad	2556	arg_tempo = AR_DROIT;
gabrieltetar	14:6aa8aa1699ad	2557	break;
gabrieltetar	14:6aa8aa1699ad	2558	default :
gabrieltetar	14:6aa8aa1699ad	2559	arg_tempo =(unsigned char)arg1;
gabrieltetar	14:6aa8aa1699ad	2560	break;
gabrieltetar	14:6aa8aa1699ad	2561	}
gabrieltetar	14:6aa8aa1699ad	2562
gabrieltetar	14:6aa8aa1699ad	2563	} else arg_tempo =(unsigned char)arg1;
gabrieltetar	14:6aa8aa1699ad	2564	SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
gabrieltetar	14:6aa8aa1699ad	2565	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2566	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2567	break;*/
gabrieltetar	14:6aa8aa1699ad	2568	case 117://bras arriere millieu
gabrieltetar	14:6aa8aa1699ad	2569	SendRawId(TEST_BRAS_5_AT);
gabrieltetar	14:6aa8aa1699ad	2570	break;
gabrieltetar	14:6aa8aa1699ad	2571	case 118://bras arriere gauche
gabrieltetar	14:6aa8aa1699ad	2572	SendRawId(TEST_BRAS_4_AT);
gabrieltetar	14:6aa8aa1699ad	2573	break;
gabrieltetar	14:6aa8aa1699ad	2574	case 119:
gabrieltetar	14:6aa8aa1699ad	2575	//SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
gabrieltetar	14:6aa8aa1699ad	2576	break;
gabrieltetar	14:6aa8aa1699ad	2577	case 120:
gabrieltetar	14:6aa8aa1699ad	2578	//SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
gabrieltetar	14:6aa8aa1699ad	2579	break;
gabrieltetar	14:6aa8aa1699ad	2580
gabrieltetar	14:6aa8aa1699ad	2581	case 121:
gabrieltetar	14:6aa8aa1699ad	2582	//SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
gabrieltetar	14:6aa8aa1699ad	2583	break;
gabrieltetar	14:6aa8aa1699ad	2584
gabrieltetar	14:6aa8aa1699ad	2585	case 150:
gabrieltetar	14:6aa8aa1699ad	2586	SCORE_PR+=arg1;
gabrieltetar	14:6aa8aa1699ad	2587	liaison_Tx.envoyer_short(0x30,SCORE_PR);
gabrieltetar	14:6aa8aa1699ad	2588	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2589	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2590	break;
gabrieltetar	14:6aa8aa1699ad	2591
gabrieltetar	14:6aa8aa1699ad	2592
gabrieltetar	14:6aa8aa1699ad	2593	case 200 :
gabrieltetar	14:6aa8aa1699ad	2594	SendRawId(DATA_TELEMETRE);
gabrieltetar	14:6aa8aa1699ad	2595	/*telemetreDistance = dataTelemetre();
gabrieltetar	14:6aa8aa1699ad	2596	wait_ms(1);
gabrieltetar	14:6aa8aa1699ad	2597	telemetreDistance = dataTelemetre();
gabrieltetar	14:6aa8aa1699ad	2598	telemetreDistance = telemetreDistance - 170;*/
gabrieltetar	14:6aa8aa1699ad	2599	break;
gabrieltetar	14:6aa8aa1699ad	2600
gabrieltetar	14:6aa8aa1699ad	2601	case 201 :
gabrieltetar	14:6aa8aa1699ad	2602	SendRawId(0x99);//
gabrieltetar	14:6aa8aa1699ad	2603	retour = 2;
gabrieltetar	14:6aa8aa1699ad	2604	break;
gabrieltetar	14:6aa8aa1699ad	2605
gabrieltetar	14:6aa8aa1699ad	2606
gabrieltetar	14:6aa8aa1699ad	2607	case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
gabrieltetar	14:6aa8aa1699ad	2608	isStopEnable =(unsigned char) arg1;
gabrieltetar	14:6aa8aa1699ad	2609	// SendMsgCan(0x5BC, &isStopEnable,1);
gabrieltetar	14:6aa8aa1699ad	2610	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2611	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2612	break;
gabrieltetar	14:6aa8aa1699ad	2613
gabrieltetar	14:6aa8aa1699ad	2614
gabrieltetar	14:6aa8aa1699ad	2615
gabrieltetar	14:6aa8aa1699ad	2616	case 20://Désactiver l'asservissement
gabrieltetar	14:6aa8aa1699ad	2617	setAsservissementEtat(0);
gabrieltetar	14:6aa8aa1699ad	2618	break;
gabrieltetar	14:6aa8aa1699ad	2619
gabrieltetar	14:6aa8aa1699ad	2620	case 21://Activer l'asservissement
gabrieltetar	14:6aa8aa1699ad	2621	setAsservissementEtat(1);
gabrieltetar	14:6aa8aa1699ad	2622	break;
gabrieltetar	14:6aa8aa1699ad	2623
gabrieltetar	14:6aa8aa1699ad	2624	case 22://Changer la vitesse du robot
gabrieltetar	14:6aa8aa1699ad	2625	SendSpeed(arg1);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar	14:6aa8aa1699ad	2626	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2627	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2628	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2629	break;
gabrieltetar	14:6aa8aa1699ad	2630	case 23:
gabrieltetar	14:6aa8aa1699ad	2631	SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar	14:6aa8aa1699ad	2632	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2633	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2634	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2635	break;
gabrieltetar	14:6aa8aa1699ad	2636
gabrieltetar	14:6aa8aa1699ad	2637
gabrieltetar	14:6aa8aa1699ad	2638	case 19: // CHANGER LA VITESSE + DECELERATION
gabrieltetar	14:6aa8aa1699ad	2639	//SendSpeedDecel(arg1,(unsigned short) arg2);
gabrieltetar	14:6aa8aa1699ad	2640	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2641	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2642	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2643	break;
gabrieltetar	14:6aa8aa1699ad	2644
gabrieltetar	14:6aa8aa1699ad	2645	case 30://Action tempo
gabrieltetar	14:6aa8aa1699ad	2646	wait_ms(arg1);
gabrieltetar	14:6aa8aa1699ad	2647	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2648	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2649	break;
gabrieltetar	14:6aa8aa1699ad	2650	//pompe 1 à 6 ON
gabrieltetar	14:6aa8aa1699ad	2651	case 202 :
gabrieltetar	14:6aa8aa1699ad	2652	//SendRawId(TEST_VENT_1_ON);
gabrieltetar	14:6aa8aa1699ad	2653	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2654	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2655	break;
gabrieltetar	14:6aa8aa1699ad	2656	case 203 :
gabrieltetar	14:6aa8aa1699ad	2657	//SendRawId(TEST_VENT_2_ON);
gabrieltetar	14:6aa8aa1699ad	2658	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2659	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2660	break;
gabrieltetar	14:6aa8aa1699ad	2661	case 204 :
gabrieltetar	14:6aa8aa1699ad	2662	//SendRawId(TEST_VENT_3_ON);
gabrieltetar	14:6aa8aa1699ad	2663	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2664	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2665	break;
gabrieltetar	14:6aa8aa1699ad	2666	case 205 :
gabrieltetar	14:6aa8aa1699ad	2667	// SendRawId(TEST_VENT_4_ON);
gabrieltetar	14:6aa8aa1699ad	2668	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2669	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2670	break;
gabrieltetar	14:6aa8aa1699ad	2671	case 206 :
gabrieltetar	14:6aa8aa1699ad	2672	// SendRawId(TEST_VENT_5_ON);
gabrieltetar	14:6aa8aa1699ad	2673	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2674	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2675	break;
gabrieltetar	14:6aa8aa1699ad	2676	case 207 :
gabrieltetar	14:6aa8aa1699ad	2677	// SendRawId(TEST_VENT_6_ON);
gabrieltetar	14:6aa8aa1699ad	2678	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2679	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2680	break;
gabrieltetar	14:6aa8aa1699ad	2681	case 208 :
gabrieltetar	14:6aa8aa1699ad	2682	// SendRawId(TEST_VENT_1_OFF);
gabrieltetar	14:6aa8aa1699ad	2683	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2684	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2685	break;
gabrieltetar	14:6aa8aa1699ad	2686	case 209 :
gabrieltetar	14:6aa8aa1699ad	2687	//SendRawId(TEST_VENT_2_OFF);
gabrieltetar	14:6aa8aa1699ad	2688	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2689	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2690	break;
gabrieltetar	14:6aa8aa1699ad	2691	case 210 :
gabrieltetar	14:6aa8aa1699ad	2692	// SendRawId(TEST_VENT_3_OFF);
gabrieltetar	14:6aa8aa1699ad	2693	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2694	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2695	break;
gabrieltetar	14:6aa8aa1699ad	2696	case 211 :
gabrieltetar	14:6aa8aa1699ad	2697	//SendRawId(TEST_VENT_4_OFF);
gabrieltetar	14:6aa8aa1699ad	2698	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2699	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2700	break;
gabrieltetar	14:6aa8aa1699ad	2701	case 212 :
gabrieltetar	14:6aa8aa1699ad	2702	// SendRawId(TEST_VENT_5_OFF);
gabrieltetar	14:6aa8aa1699ad	2703	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2704	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2705	break;
gabrieltetar	14:6aa8aa1699ad	2706	case 213 :
gabrieltetar	14:6aa8aa1699ad	2707	//SendRawId(TEST_VENT_6_OFF);
gabrieltetar	14:6aa8aa1699ad	2708	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2709	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2710	break;
maximilienlv	15:5ece9c3ba389	2711	case 214://test bras competition (avant)
maximilienlv	15:5ece9c3ba389	2712	unsigned char argu_at = arg1;
maximilienlv	15:5ece9c3ba389	2713	SendMsgCan(BRAS_AT, &argu_at,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2714	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2715	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2716	break;
gabrieltetar	14:6aa8aa1699ad	2717
maximilienlv	15:5ece9c3ba389	2718	case 215://test bras competition(arriere)
maximilienlv	15:5ece9c3ba389	2719	unsigned char argu_re = arg1;
maximilienlv	15:5ece9c3ba389	2720	SendMsgCan(BRAS_RE, &argu_re,sizeof(argu_re));
gabrieltetar	14:6aa8aa1699ad	2721	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2722	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2723	break;
gabrieltetar	14:6aa8aa1699ad	2724
gabrieltetar	14:6aa8aa1699ad	2725	default:
gabrieltetar	14:6aa8aa1699ad	2726	retour = 0;//L'action n'existe pas, il faut utiliser le CAN
gabrieltetar	14:6aa8aa1699ad	2727
gabrieltetar	14:6aa8aa1699ad	2728	}
gabrieltetar	14:6aa8aa1699ad	2729	return retour;//L'action est spécifique.
gabrieltetar	14:6aa8aa1699ad	2730
gabrieltetar	14:6aa8aa1699ad	2731	}

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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@15:5ece9c3ba389, 2020-03-11 (annotated)

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