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

CRAC Team » Code » code_carte_IHM_sans_bug

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@1:7e925468f9d9, 2020-01-30 (annotated)

Committer:: gabrieltetar
Date:: Thu Jan 30 16:48:59 2020 +0000
Revision:: 1:7e925468f9d9
Child:: 5:81aac085516f

start

Who changed what in which revision?

User	Revision	Line number	New contents of line
gabrieltetar	1:7e925468f9d9	1	#include "global.h"
gabrieltetar	1:7e925468f9d9	2	#include <string.h>
gabrieltetar	1:7e925468f9d9	3	#include <sstream>
gabrieltetar	1:7e925468f9d9	4	#include <math.h>
gabrieltetar	1:7e925468f9d9	5	#include <vector>
gabrieltetar	1:7e925468f9d9	6	//#include "StrategieManager.h"
gabrieltetar	1:7e925468f9d9	7
gabrieltetar	1:7e925468f9d9	8
gabrieltetar	1:7e925468f9d9	9
gabrieltetar	1:7e925468f9d9	10	#define M_PI 3.14159265358979323846
gabrieltetar	1:7e925468f9d9	11	#define VERT 0xFF00FF00
gabrieltetar	1:7e925468f9d9	12	#define ROUGE 0xFFFF0000
gabrieltetar	1:7e925468f9d9	13	#define BLEU 0xFF0000FF
gabrieltetar	1:7e925468f9d9	14	#define JAUNE 0xFFFDD835//FEFE00
gabrieltetar	1:7e925468f9d9	15	#define BLANC 0xFF000000
gabrieltetar	1:7e925468f9d9	16	#define ORANGE 0xFFFFA500
gabrieltetar	1:7e925468f9d9	17	#define NOIR 0xFF000000
gabrieltetar	1:7e925468f9d9	18	#define DIY_GREY 0xFFDFDFDF
gabrieltetar	1:7e925468f9d9	19	#define VIOLET 0xFF4527A0
gabrieltetar	1:7e925468f9d9	20
gabrieltetar	1:7e925468f9d9	21	char tableau_aff[10][50];
gabrieltetar	1:7e925468f9d9	22	char tableau_etat[22][50]= {
gabrieltetar	1:7e925468f9d9	23	"Check_carte_screen",
gabrieltetar	1:7e925468f9d9	24	"Check_carte_screen_wait_ack",
gabrieltetar	1:7e925468f9d9	25	"Check_cartes",
gabrieltetar	1:7e925468f9d9	26	"Check_cartes_wait_ack",
gabrieltetar	1:7e925468f9d9	27	"Wait_force",
gabrieltetar	1:7e925468f9d9	28	"Config",
gabrieltetar	1:7e925468f9d9	29	"Game_init",
gabrieltetar	1:7e925468f9d9	30	"Game_wait_for_jack",
gabrieltetar	1:7e925468f9d9	31	"Game_start",
gabrieltetar	1:7e925468f9d9	32	"Game_next_instruction",
gabrieltetar	1:7e925468f9d9	33	"Game_instruction",
gabrieltetar	1:7e925468f9d9	34	"Game_wait_ack",
gabrieltetar	1:7e925468f9d9	35	"Game_jump_time",
gabrieltetar	1:7e925468f9d9	36	"Game_jump_config",
gabrieltetar	1:7e925468f9d9	37	"Game_jump_position",
gabrieltetar	1:7e925468f9d9	38	"Game_wait_end_instruction",
gabrieltetar	1:7e925468f9d9	39	"Warning_timeout",
gabrieltetar	1:7e925468f9d9	40	"Waring_end_balise_wait",
gabrieltetar	1:7e925468f9d9	41	"Warning_end_last_instruction",
gabrieltetar	1:7e925468f9d9	42	"Warning_switch_strategie",
gabrieltetar	1:7e925468f9d9	43	"End",
gabrieltetar	1:7e925468f9d9	44	"End_loop",
gabrieltetar	1:7e925468f9d9	45	};
gabrieltetar	1:7e925468f9d9	46
gabrieltetar	1:7e925468f9d9	47	int waitingAckID_FIN;
gabrieltetar	1:7e925468f9d9	48	int waitingAckFrom_FIN;
gabrieltetar	1:7e925468f9d9	49
gabrieltetar	1:7e925468f9d9	50	Ticker ticker;
gabrieltetar	1:7e925468f9d9	51	TS_DISCO_F469NI ts;
gabrieltetar	1:7e925468f9d9	52	LCD_DISCO_F469NI lcd;
gabrieltetar	1:7e925468f9d9	53
gabrieltetar	1:7e925468f9d9	54	TS_StateTypeDef TS_State;
gabrieltetar	1:7e925468f9d9	55
gabrieltetar	1:7e925468f9d9	56	Ticker chrono;
gabrieltetar	1:7e925468f9d9	57	Timeout AffTime;
gabrieltetar	1:7e925468f9d9	58	Timer timer;
gabrieltetar	1:7e925468f9d9	59	Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
gabrieltetar	1:7e925468f9d9	60	Timer gameTimer;
gabrieltetar	1:7e925468f9d9	61	Timer debugetatTimer;
gabrieltetar	1:7e925468f9d9	62	Timer timeoutWarning;
gabrieltetar	1:7e925468f9d9	63	Timer timeoutWarningWaitEnd;
gabrieltetar	1:7e925468f9d9	64	Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
gabrieltetar	1:7e925468f9d9	65
gabrieltetar	1:7e925468f9d9	66	unsigned char screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	67	unsigned char test[32] = {32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32};
gabrieltetar	1:7e925468f9d9	68
gabrieltetar	1:7e925468f9d9	69	char counter = 0;
gabrieltetar	1:7e925468f9d9	70	char check;
gabrieltetar	1:7e925468f9d9	71	char Jack = 1;
gabrieltetar	1:7e925468f9d9	72	short SCORE_GLOBAL=0;
gabrieltetar	1:7e925468f9d9	73	short SCORE_GR=0;
gabrieltetar	1:7e925468f9d9	74	short SCORE_PR=0;
gabrieltetar	1:7e925468f9d9	75
gabrieltetar	1:7e925468f9d9	76	int flag = 0, flag_strat = 0, flag_timer;
gabrieltetar	1:7e925468f9d9	77	int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	78	char Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	79	signed char Strat = 0;
gabrieltetar	1:7e925468f9d9	80	signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
gabrieltetar	1:7e925468f9d9	81
gabrieltetar	1:7e925468f9d9	82	signed short x_robot,y_robot,theta_robot;//La position du robot
gabrieltetar	1:7e925468f9d9	83	signed short target_x_robot, target_y_robot, target_theta_robot;
gabrieltetar	1:7e925468f9d9	84	E_InstructionType actionPrecedente;
gabrieltetar	1:7e925468f9d9	85	signed short start_move_x,start_move_y,start_move_theta;//La position du robot lors du début d'un mouvement, utilisé pour reprendre le mouvement apres stop balise
gabrieltetar	1:7e925468f9d9	86	//unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
gabrieltetar	1:7e925468f9d9	87	int flagSendCan=1;
gabrieltetar	1:7e925468f9d9	88	unsigned char Cote = 0; //0 -> JAUNE \| 1 -> VIOLET
gabrieltetar	1:7e925468f9d9	89	unsigned short angleRecalage = 0;
gabrieltetar	1:7e925468f9d9	90	unsigned char checkCurrent = 0;
gabrieltetar	1:7e925468f9d9	91	unsigned char countAliveCard = 0;
gabrieltetar	1:7e925468f9d9	92	unsigned char ligne=0;
gabrieltetar	1:7e925468f9d9	93
gabrieltetar	1:7e925468f9d9	94
gabrieltetar	1:7e925468f9d9	95	int Fevitement=0;
gabrieltetar	1:7e925468f9d9	96	int EvitEtat= 0;
gabrieltetar	1:7e925468f9d9	97	int stop_evitement=0;
gabrieltetar	1:7e925468f9d9	98
gabrieltetar	1:7e925468f9d9	99
gabrieltetar	1:7e925468f9d9	100
gabrieltetar	1:7e925468f9d9	101
gabrieltetar	1:7e925468f9d9	102
gabrieltetar	1:7e925468f9d9	103	signed char Strategie = 0; //N° de la strategie (1-10)
gabrieltetar	1:7e925468f9d9	104
gabrieltetar	1:7e925468f9d9	105	unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
gabrieltetar	1:7e925468f9d9	106
gabrieltetar	1:7e925468f9d9	107	unsigned char countRobotNear = 0;//Le nombre de robot à proximité
gabrieltetar	1:7e925468f9d9	108
gabrieltetar	1:7e925468f9d9	109	unsigned char ingnorBaliseOnce = 0;//une fois détecté réinitialise
gabrieltetar	1:7e925468f9d9	110	unsigned char ingnorBalise = 0;//0:balise ignore 1:on ecoute la balise
gabrieltetar	1:7e925468f9d9	111	short direction;
gabrieltetar	1:7e925468f9d9	112
gabrieltetar	1:7e925468f9d9	113	unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
gabrieltetar	1:7e925468f9d9	114
gabrieltetar	1:7e925468f9d9	115	struct S_Instruction instruction;
gabrieltetar	1:7e925468f9d9	116	struct S_Dodge_queue dodgeq;
gabrieltetar	1:7e925468f9d9	117
gabrieltetar	1:7e925468f9d9	118	char couleur1, couleur2, couleur3;
gabrieltetar	1:7e925468f9d9	119	float cptf;
gabrieltetar	1:7e925468f9d9	120	int cpt,cpt1;
gabrieltetar	1:7e925468f9d9	121
gabrieltetar	1:7e925468f9d9	122	typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_CAPTEURS, TEST_SERVO, TEST_TIR, DEMO_IMMEUBLE,DEMO_TRIEUR, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
gabrieltetar	1:7e925468f9d9	123	T_etat etat = INIT;
gabrieltetar	1:7e925468f9d9	124	E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	125	E_stratGameEtat memGameEtat= gameEtat;
gabrieltetar	1:7e925468f9d9	126	E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	127	E_Stratposdebut etat_pos=RECALAGE_1;
gabrieltetar	1:7e925468f9d9	128
gabrieltetar	1:7e925468f9d9	129	/////////////////DEFINITION DES BOUTONS////////////////////
gabrieltetar	1:7e925468f9d9	130	Button COTE_VERT(0, 25, 400, 300, "JAUNE");
gabrieltetar	1:7e925468f9d9	131	Button COTE_ORANGE(0, 350, 400, 300, "VIOLET");
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	1:7e925468f9d9	139	Button TEST_HERKULEX(0, 25, 400, 100, "Test servos");
gabrieltetar	1:7e925468f9d9	140	Button TEST_LASER(0, 135, 400, 100, "Test telemetre");
gabrieltetar	1:7e925468f9d9	141	Button TEST_COULEURS(0,245,400,100,"Test capteurs");
gabrieltetar	1:7e925468f9d9	142	Button TEST_TIR_BALLE(0,355,400,100,"Test Lanceur");
gabrieltetar	1:7e925468f9d9	143	Button TEST_IMMEUBLE(0,465,400,100,"Test immeuble");
gabrieltetar	1:7e925468f9d9	144	Button TEST_TRIEUR(0,575,400,100,"Test aiguilleur");
gabrieltetar	1:7e925468f9d9	145	Button TIR_CHATEAU(0, 25, 400, 100, "Tir chateau");
gabrieltetar	1:7e925468f9d9	146	Button EPURATION(0, 150, 400, 100, "epuration");
gabrieltetar	1:7e925468f9d9	147	Button LANCEUR_ON(0,275,400,100,"allumer le lanceur");
gabrieltetar	1:7e925468f9d9	148	Button LANCEUR_OFF(0,400,400,100,"eteindre le lanceur");
gabrieltetar	1:7e925468f9d9	149	Button ABAISSE_BLOC(0, 25, 400, 100, "Ramasser blocs");
gabrieltetar	1:7e925468f9d9	150	Button RELEVE_BLOC(0, 135, 400, 100, "lacher blocs");
gabrieltetar	1:7e925468f9d9	151	Button BRAS_ABEILLE_ON(0,245,400,100,"bras abeille");
gabrieltetar	1:7e925468f9d9	152	Button BRAS_ABEILLE_OFF(0,355,400,100,"baisser bras abeille");
gabrieltetar	1:7e925468f9d9	153	Button INTERRUPTEUR_ON(0,465,400,100,"baisser bras interrupt");
gabrieltetar	1:7e925468f9d9	154	Button INTERRUPTEUR_OFF(0,575,400,100,"baisser bras interrupt");
gabrieltetar	1:7e925468f9d9	155	Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
gabrieltetar	1:7e925468f9d9	156	Button TRI(0, 25, 400, 100, "Test tri");
gabrieltetar	1:7e925468f9d9	157	Button AIGUILLEUR_D(0, 150, 400, 100, "aiguilleur droite");
gabrieltetar	1:7e925468f9d9	158	Button AIGUILLEUR_G(0,275,400,100,"aiguilleur gauche");
gabrieltetar	1:7e925468f9d9	159	Button AIGUILLEUR_CTRE(0,400,400,100,"aiguilleur centre");
gabrieltetar	1:7e925468f9d9	160	Button SUIVANT(0,380,200,100,"Suivant");
gabrieltetar	1:7e925468f9d9	161	Button COLOR_ORANGE (0, 230, 190, 110,"");
gabrieltetar	1:7e925468f9d9	162	Button COLOR_JAUNE (210, 230, 190, 110,"");
gabrieltetar	1:7e925468f9d9	163	Button COLOR_VERT (0, 350, 190, 110,"");
gabrieltetar	1:7e925468f9d9	164	Button COLOR_BLEU (210, 350, 190, 110,"");
gabrieltetar	1:7e925468f9d9	165	Button COLOR_NOIR (105, 470, 190, 110,"");
gabrieltetar	1:7e925468f9d9	166	////////////////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	167
gabrieltetar	1:7e925468f9d9	168	void SendRawId (unsigned short id);
gabrieltetar	1:7e925468f9d9	169	void SelectionStrat (unsigned char numeroStrat);
gabrieltetar	1:7e925468f9d9	170	void Setflag(void);
gabrieltetar	1:7e925468f9d9	171	void can2Rx_ISR(void);
gabrieltetar	1:7e925468f9d9	172	signed char Bouton_Strat (void);
gabrieltetar	1:7e925468f9d9	173	signed char blocage_balise;
gabrieltetar	1:7e925468f9d9	174	void print_segment(int nombre, int decalage);
gabrieltetar	1:7e925468f9d9	175	void affichage_compteur (int nombre);
gabrieltetar	1:7e925468f9d9	176	void effacer_segment(long couleur);
gabrieltetar	1:7e925468f9d9	177
gabrieltetar	1:7e925468f9d9	178	unsigned short telemetreDistance=0;
gabrieltetar	1:7e925468f9d9	179	unsigned short telemetreDistance_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	180	unsigned short telemetreDistance_avant_droite=0;
gabrieltetar	1:7e925468f9d9	181	unsigned short telemetreDistance_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	182	unsigned short telemetreDistance_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	183
gabrieltetar	1:7e925468f9d9	184	unsigned char DT_AVD_interrupt=0;
gabrieltetar	1:7e925468f9d9	185	unsigned char DT_AVG_interrupt=0;
gabrieltetar	1:7e925468f9d9	186	unsigned char DT_ARD_interrupt=0;
gabrieltetar	1:7e925468f9d9	187	unsigned char DT_ARG_interrupt=0;
gabrieltetar	1:7e925468f9d9	188
gabrieltetar	1:7e925468f9d9	189
gabrieltetar	1:7e925468f9d9	190	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	191
gabrieltetar	1:7e925468f9d9	192
gabrieltetar	1:7e925468f9d9	193	unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
gabrieltetar	1:7e925468f9d9	194	unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
gabrieltetar	1:7e925468f9d9	195
gabrieltetar	1:7e925468f9d9	196	InterruptIn jack(PG_11); // entrée numerique en interruption pour le jack
gabrieltetar	1:7e925468f9d9	197	#else
gabrieltetar	1:7e925468f9d9	198
gabrieltetar	1:7e925468f9d9	199
gabrieltetar	1:7e925468f9d9	200	unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
gabrieltetar	1:7e925468f9d9	201	unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
gabrieltetar	1:7e925468f9d9	202	InterruptIn jack(PG_11); // entrée numerique en interruption pour le jack
gabrieltetar	1:7e925468f9d9	203
gabrieltetar	1:7e925468f9d9	204
gabrieltetar	1:7e925468f9d9	205	#endif
gabrieltetar	1:7e925468f9d9	206
gabrieltetar	1:7e925468f9d9	207
gabrieltetar	1:7e925468f9d9	208
gabrieltetar	1:7e925468f9d9	209
gabrieltetar	1:7e925468f9d9	210
gabrieltetar	1:7e925468f9d9	211
gabrieltetar	1:7e925468f9d9	212	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	213	/* FUNCTION NAME: chronometre_ISR */
gabrieltetar	1:7e925468f9d9	214	/* DESCRIPTION : Interruption à la fin des 90s du match */
gabrieltetar	1:7e925468f9d9	215	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	216	void chronometre_ISR (void)
gabrieltetar	1:7e925468f9d9	217	{
gabrieltetar	1:7e925468f9d9	218	SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
gabrieltetar	1:7e925468f9d9	219	SendRawId(GLOBAL_GAME_END);//Indication fin de match
gabrieltetar	1:7e925468f9d9	220	etat=FIN;
gabrieltetar	1:7e925468f9d9	221	gameTimer.stop();//Arret du timer
gabrieltetar	1:7e925468f9d9	222
gabrieltetar	1:7e925468f9d9	223	while(1);//On bloque la programme dans l'interruption
gabrieltetar	1:7e925468f9d9	224	}
gabrieltetar	1:7e925468f9d9	225
gabrieltetar	1:7e925468f9d9	226
gabrieltetar	1:7e925468f9d9	227
gabrieltetar	1:7e925468f9d9	228	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	229	/* FUNCTION NAME: jack_ISR */
gabrieltetar	1:7e925468f9d9	230	/* DESCRIPTION : Interruption en changement d'état sur le Jack */
gabrieltetar	1:7e925468f9d9	231	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	232	void jack_ISR (void)
gabrieltetar	1:7e925468f9d9	233	{
gabrieltetar	1:7e925468f9d9	234	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	235	gameEtat = ETAT_GAME_START;//On débute le match
gabrieltetar	1:7e925468f9d9	236	//etat=COMPTEUR;
gabrieltetar	1:7e925468f9d9	237	blocage_balise=1;
gabrieltetar	1:7e925468f9d9	238	}
gabrieltetar	1:7e925468f9d9	239	}
gabrieltetar	1:7e925468f9d9	240
gabrieltetar	1:7e925468f9d9	241	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	242	/* FUNCTION NAME: SelectionStrat */
gabrieltetar	1:7e925468f9d9	243	/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
gabrieltetar	1:7e925468f9d9	244	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	245
gabrieltetar	1:7e925468f9d9	246
gabrieltetar	1:7e925468f9d9	247	void SelectionStrat (unsigned char Strategie)
gabrieltetar	1:7e925468f9d9	248	{
gabrieltetar	1:7e925468f9d9	249	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	250	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	251
gabrieltetar	1:7e925468f9d9	252	switch (Strategie+1) {
gabrieltetar	1:7e925468f9d9	253	case 0x1 :
gabrieltetar	1:7e925468f9d9	254	//description de Strategie n°1
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 0x2 :
gabrieltetar	1:7e925468f9d9	259	//description de Strategie n°2
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 0x3 :
gabrieltetar	1:7e925468f9d9	264	//description de Strategie n°3
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 0x4 :
gabrieltetar	1:7e925468f9d9	269	//description de Strategie n°4
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 0x5 :
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 0x6 :
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	case 0x7 :
gabrieltetar	1:7e925468f9d9	284	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	285	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	286	break;
gabrieltetar	1:7e925468f9d9	287
gabrieltetar	1:7e925468f9d9	288	case 0x8 :
gabrieltetar	1:7e925468f9d9	289	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	290	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	291	break;
gabrieltetar	1:7e925468f9d9	292
gabrieltetar	1:7e925468f9d9	293	case 0x9 :
gabrieltetar	1:7e925468f9d9	294	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	295	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	296	break;
gabrieltetar	1:7e925468f9d9	297
gabrieltetar	1:7e925468f9d9	298	case 0xA :
gabrieltetar	1:7e925468f9d9	299	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	300	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	301	break;
gabrieltetar	1:7e925468f9d9	302	}
gabrieltetar	1:7e925468f9d9	303	}
gabrieltetar	1:7e925468f9d9	304
gabrieltetar	1:7e925468f9d9	305	void Setflag(void)
gabrieltetar	1:7e925468f9d9	306	{
gabrieltetar	1:7e925468f9d9	307	flagSendCan = 1;
gabrieltetar	1:7e925468f9d9	308	}
gabrieltetar	1:7e925468f9d9	309
gabrieltetar	1:7e925468f9d9	310
gabrieltetar	1:7e925468f9d9	311	//Affiche une variable sur l'écran tactile//
gabrieltetar	1:7e925468f9d9	312	void affichage_var(double Var)
gabrieltetar	1:7e925468f9d9	313	{
gabrieltetar	1:7e925468f9d9	314	if(ligne==7)
gabrieltetar	1:7e925468f9d9	315	ligne=0;
gabrieltetar	1:7e925468f9d9	316	char aff[10]="toto";
gabrieltetar	1:7e925468f9d9	317	sprintf(aff,"%lf ",Var);
gabrieltetar	1:7e925468f9d9	318	lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	319	//ligne++;
gabrieltetar	1:7e925468f9d9	320
gabrieltetar	1:7e925468f9d9	321	}
gabrieltetar	1:7e925468f9d9	322
gabrieltetar	1:7e925468f9d9	323
gabrieltetar	1:7e925468f9d9	324	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	325	/* FUNCTION NAME: affichage_debug */
gabrieltetar	1:7e925468f9d9	326	/* DESCRIPTION : Affiche l'état de gameEtat sur l'écran lcd */
gabrieltetar	1:7e925468f9d9	327	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	328	void affichage_debug(int Var)
gabrieltetar	1:7e925468f9d9	329	{
gabrieltetar	1:7e925468f9d9	330	int i;
gabrieltetar	1:7e925468f9d9	331	int conv=(int)Var;
gabrieltetar	1:7e925468f9d9	332	SUIVANT.Draw(ROUGE, 0);
gabrieltetar	1:7e925468f9d9	333	for(i=0; i<9; i++) {
gabrieltetar	1:7e925468f9d9	334	strcpy(tableau_aff[i],"");
gabrieltetar	1:7e925468f9d9	335	strcpy(tableau_aff[i],tableau_aff[i+1]);
gabrieltetar	1:7e925468f9d9	336	}
gabrieltetar	1:7e925468f9d9	337	strcpy(tableau_aff[9],tableau_etat[conv]);
gabrieltetar	1:7e925468f9d9	338
gabrieltetar	1:7e925468f9d9	339	for(i=0; i<10; i++) {
gabrieltetar	1:7e925468f9d9	340	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	341	lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	342	}
gabrieltetar	1:7e925468f9d9	343	/*while(!ack_bluetooth){ // mode pas à pas en bluetooth ou via écran
gabrieltetar	1:7e925468f9d9	344	//liaison_bluetooth();
gabrieltetar	1:7e925468f9d9	345	}
gabrieltetar	1:7e925468f9d9	346	ack_bluetooth=0;*/
gabrieltetar	1:7e925468f9d9	347	/*while(SUIVANT.Touched()==0);
gabrieltetar	1:7e925468f9d9	348	while(SUIVANT.Touched());*/
gabrieltetar	1:7e925468f9d9	349	}
gabrieltetar	1:7e925468f9d9	350
gabrieltetar	1:7e925468f9d9	351	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	352	/* FUNCTION NAME: automate_etat_ihm */
gabrieltetar	1:7e925468f9d9	353	/* DESCRIPTION : Automate de gestion de l'affichage */
gabrieltetar	1:7e925468f9d9	354	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	355	void automate_etat_ihm(void)
gabrieltetar	1:7e925468f9d9	356	{
gabrieltetar	1:7e925468f9d9	357	int j;
gabrieltetar	1:7e925468f9d9	358	if (j==0) {
gabrieltetar	1:7e925468f9d9	359	ts.Init(lcd.GetXSize(), lcd.GetYSize());
gabrieltetar	1:7e925468f9d9	360	j++;
gabrieltetar	1:7e925468f9d9	361	}
gabrieltetar	1:7e925468f9d9	362	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	363	switch (etat) {
gabrieltetar	1:7e925468f9d9	364	case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
gabrieltetar	1:7e925468f9d9	365	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	366	canProcessRx();
gabrieltetar	1:7e925468f9d9	367	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	368	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	369	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	370	wait(0.15);
gabrieltetar	1:7e925468f9d9	371	lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	372	//cartes non verifiées////////////////
gabrieltetar	1:7e925468f9d9	373	lcd.SetTextColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	374	lcd.FillRect(0,400,400,150); //carte moteur
gabrieltetar	1:7e925468f9d9	375	lcd.FillRect(0,600,400,150); //Balise
gabrieltetar	1:7e925468f9d9	376	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	377	lcd.SetBackColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	378	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	379	lcd.DisplayStringAt(110,650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	380	////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	381	FORCE_LAUNCH.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	382
gabrieltetar	1:7e925468f9d9	383	etat=ATT;
gabrieltetar	1:7e925468f9d9	384	break;
gabrieltetar	1:7e925468f9d9	385
gabrieltetar	1:7e925468f9d9	386	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	387	if (flag==1) {
gabrieltetar	1:7e925468f9d9	388	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	389	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	390	} else if (FORCE_LAUNCH.Touched()) {
gabrieltetar	1:7e925468f9d9	391	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	392	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	393	while(FORCE_LAUNCH.Touched());
gabrieltetar	1:7e925468f9d9	394	}
gabrieltetar	1:7e925468f9d9	395
gabrieltetar	1:7e925468f9d9	396	break;
gabrieltetar	1:7e925468f9d9	397
gabrieltetar	1:7e925468f9d9	398
gabrieltetar	1:7e925468f9d9	399	case CHOIX : //Match ou DEMO
gabrieltetar	1:7e925468f9d9	400	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	401	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	402	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	403	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	404	DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
gabrieltetar	1:7e925468f9d9	405	MATCH.Draw(0xFFF01010, 0);
gabrieltetar	1:7e925468f9d9	406	while(etat == CHOIX) {
gabrieltetar	1:7e925468f9d9	407	canProcessRx();
gabrieltetar	1:7e925468f9d9	408	if(DEMONSTRATION.Touched()) {
gabrieltetar	1:7e925468f9d9	409	etat = DEMO;
gabrieltetar	1:7e925468f9d9	410	while(DEMONSTRATION.Touched());
gabrieltetar	1:7e925468f9d9	411	}
gabrieltetar	1:7e925468f9d9	412
gabrieltetar	1:7e925468f9d9	413	if(MATCH.Touched()) {
gabrieltetar	1:7e925468f9d9	414	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	415	while(MATCH.Touched());
gabrieltetar	1:7e925468f9d9	416	}
gabrieltetar	1:7e925468f9d9	417
gabrieltetar	1:7e925468f9d9	418	}
gabrieltetar	1:7e925468f9d9	419	break;
gabrieltetar	1:7e925468f9d9	420
gabrieltetar	1:7e925468f9d9	421	case DEMO :
gabrieltetar	1:7e925468f9d9	422	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	423	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	424	TEST_HERKULEX.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	425	TEST_LASER.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	426	TEST_COULEURS.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	427	TEST_TIR_BALLE.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	428	TEST_IMMEUBLE.Draw(VERT,0);
gabrieltetar	1:7e925468f9d9	429	TEST_TRIEUR.Draw(VERT,0);
gabrieltetar	1:7e925468f9d9	430	if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config//
gabrieltetar	1:7e925468f9d9	431	InversStrat = 0;//Pas d'inversion de la couleur
gabrieltetar	1:7e925468f9d9	432	}
gabrieltetar	1:7e925468f9d9	433	while (etat == DEMO) { ////////////////////////////LISTE DES DIFFERENTES DEMOS POSSIBLES///////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	434	canProcessRx();
gabrieltetar	1:7e925468f9d9	435	if(TEST_HERKULEX.Touched()) {
gabrieltetar	1:7e925468f9d9	436	//Strat = 0x10;
gabrieltetar	1:7e925468f9d9	437	while(TEST_HERKULEX.Touched());
gabrieltetar	1:7e925468f9d9	438	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	439	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	440	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	441	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	442	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	443	trame_Tx.data[0]=0x2;
gabrieltetar	1:7e925468f9d9	444	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	445	TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	446	etat = TEST_SERVO;
gabrieltetar	1:7e925468f9d9	447	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	448	ModeDemo=1;
gabrieltetar	1:7e925468f9d9	449	} else if(TEST_LASER.Touched()) {
gabrieltetar	1:7e925468f9d9	450	//Strat = 0x11;
gabrieltetar	1:7e925468f9d9	451	while(TEST_LASER.Touched());
gabrieltetar	1:7e925468f9d9	452	TEST_LASER.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	453	etat = TEST_TELEMETRE;
gabrieltetar	1:7e925468f9d9	454	} else if (TEST_COULEURS.Touched()) {
gabrieltetar	1:7e925468f9d9	455	while(TEST_COULEURS.Touched());
gabrieltetar	1:7e925468f9d9	456	TEST_LASER.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	457	etat =TEST_CAPTEURS ;
gabrieltetar	1:7e925468f9d9	458	}
gabrieltetar	1:7e925468f9d9	459
gabrieltetar	1:7e925468f9d9	460	else if (TEST_TIR_BALLE.Touched()) {
gabrieltetar	1:7e925468f9d9	461	while(TEST_TIR_BALLE.Touched());
gabrieltetar	1:7e925468f9d9	462	while(1) {
gabrieltetar	1:7e925468f9d9	463	TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	464	// rn42_Tx.printf("A");//experience
gabrieltetar	1:7e925468f9d9	465	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	466	liaison_Tx.envoyer_short(0x30,666);
gabrieltetar	1:7e925468f9d9	467	pc.printf("data\r");
gabrieltetar	1:7e925468f9d9	468	#else
gabrieltetar	1:7e925468f9d9	469
gabrieltetar	1:7e925468f9d9	470	// lire();
gabrieltetar	1:7e925468f9d9	471	/* if (bluetooth.readable())
gabrieltetar	1:7e925468f9d9	472	pc.putc(bluetooth.getc());
gabrieltetar	1:7e925468f9d9	473
gabrieltetar	1:7e925468f9d9	474	if (pc.readable()) {
gabrieltetar	1:7e925468f9d9	475	char c = pc.getc();
gabrieltetar	1:7e925468f9d9	476	if (c == 'A') {
gabrieltetar	1:7e925468f9d9	477	liaison.envoyer_short(PAQUET_IDENTIFIANT_RAFRAICHIRSCORE, 20);
gabrieltetar	1:7e925468f9d9	478	pc.printf("rafraichir\n");
gabrieltetar	1:7e925468f9d9	479	}
gabrieltetar	1:7e925468f9d9	480	}*/
gabrieltetar	1:7e925468f9d9	481	#endif
gabrieltetar	1:7e925468f9d9	482	}
gabrieltetar	1:7e925468f9d9	483	//ModeDemo=1;
gabrieltetar	1:7e925468f9d9	484	} else if(TEST_IMMEUBLE.Touched()) {
gabrieltetar	1:7e925468f9d9	485	while(TEST_IMMEUBLE.Touched());
gabrieltetar	1:7e925468f9d9	486	TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	487	etat =DEMO_IMMEUBLE;
gabrieltetar	1:7e925468f9d9	488	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	489	} else if(TEST_TRIEUR.Touched()) {
gabrieltetar	1:7e925468f9d9	490	while(TEST_TRIEUR.Touched());
gabrieltetar	1:7e925468f9d9	491	etat=DEMO_TRIEUR;
gabrieltetar	1:7e925468f9d9	492	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	493	}
gabrieltetar	1:7e925468f9d9	494	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	495	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	496	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	497
gabrieltetar	1:7e925468f9d9	498	}
gabrieltetar	1:7e925468f9d9	499	if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
gabrieltetar	1:7e925468f9d9	500	Ack_strat = 1;
gabrieltetar	1:7e925468f9d9	501	wait_ms(10);
gabrieltetar	1:7e925468f9d9	502	}
gabrieltetar	1:7e925468f9d9	503	}
gabrieltetar	1:7e925468f9d9	504	break;
gabrieltetar	1:7e925468f9d9	505
gabrieltetar	1:7e925468f9d9	506
gabrieltetar	1:7e925468f9d9	507	case TEST_SERVO: //TEST DU RESTE DES SERVOS DISPO HORS TIR
gabrieltetar	1:7e925468f9d9	508	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	509	lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	510	ABAISSE_BLOC.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	511	RELEVE_BLOC.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	512	BRAS_ABEILLE_ON.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	513	BRAS_ABEILLE_OFF.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	514	INTERRUPTEUR_ON.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	515	INTERRUPTEUR_OFF.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	516	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	1:7e925468f9d9	517	while(etat==TEST_SERVO) {
gabrieltetar	1:7e925468f9d9	518	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	519	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	520	etat=DEMO;
gabrieltetar	1:7e925468f9d9	521	} else if(ABAISSE_BLOC.Touched()) {
gabrieltetar	1:7e925468f9d9	522	while (ABAISSE_BLOC.Touched());
gabrieltetar	1:7e925468f9d9	523	SendRawId(GABARIT_PETIT_ROBOT);
gabrieltetar	1:7e925468f9d9	524	break;
gabrieltetar	1:7e925468f9d9	525	} else if(RELEVE_BLOC.Touched()) {
gabrieltetar	1:7e925468f9d9	526	while (RELEVE_BLOC.Touched());
gabrieltetar	1:7e925468f9d9	527	SendRawId(PRESENTOIR_AVANT);
gabrieltetar	1:7e925468f9d9	528	break;
gabrieltetar	1:7e925468f9d9	529	} else if(BRAS_ABEILLE_ON.Touched()) {
gabrieltetar	1:7e925468f9d9	530	while (BRAS_ABEILLE_ON.Touched());
gabrieltetar	1:7e925468f9d9	531	//SendRawId(BRAS_ABEILLE_UP);
gabrieltetar	1:7e925468f9d9	532	break;
gabrieltetar	1:7e925468f9d9	533
gabrieltetar	1:7e925468f9d9	534	} else if(BRAS_ABEILLE_OFF.Touched()) {
gabrieltetar	1:7e925468f9d9	535	while (BRAS_ABEILLE_OFF.Touched());
gabrieltetar	1:7e925468f9d9	536	//SendRawId(BRAS_ABEILLE_DOWN);
gabrieltetar	1:7e925468f9d9	537	break;
gabrieltetar	1:7e925468f9d9	538	} else if(INTERRUPTEUR_ON.Touched()) {
gabrieltetar	1:7e925468f9d9	539	while (INTERRUPTEUR_ON.Touched());
gabrieltetar	1:7e925468f9d9	540	//SendRawId(ALLUMER_PANNEAU_UP);
gabrieltetar	1:7e925468f9d9	541	break;
gabrieltetar	1:7e925468f9d9	542	} else if(INTERRUPTEUR_OFF.Touched()) {
gabrieltetar	1:7e925468f9d9	543	while (INTERRUPTEUR_OFF.Touched());
gabrieltetar	1:7e925468f9d9	544	//SendRawId(ALLUMER_PANNEAU_DOWN);
gabrieltetar	1:7e925468f9d9	545	break;
gabrieltetar	1:7e925468f9d9	546	}
gabrieltetar	1:7e925468f9d9	547	}
gabrieltetar	1:7e925468f9d9	548	break;
gabrieltetar	1:7e925468f9d9	549
gabrieltetar	1:7e925468f9d9	550	case TEST_TIR: // TEST DES FONCTIONS LIEES AUX TIRS
gabrieltetar	1:7e925468f9d9	551	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	552	lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	553	TIR_CHATEAU.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	554	EPURATION.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	555	LANCEUR_ON.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	556	LANCEUR_OFF.Draw(VERT, 0);
gabrieltetar	1:7e925468f9d9	557	RETOUR.Draw(ROUGE, 0);
gabrieltetar	1:7e925468f9d9	558
gabrieltetar	1:7e925468f9d9	559	etat=DEMO;
gabrieltetar	1:7e925468f9d9	560
gabrieltetar	1:7e925468f9d9	561	break;
gabrieltetar	1:7e925468f9d9	562
gabrieltetar	1:7e925468f9d9	563
gabrieltetar	1:7e925468f9d9	564
gabrieltetar	1:7e925468f9d9	565	case TEST_TELEMETRE: //AFFICHAGE DE LA VALEUR LUE PAR LES 4 TELEMETRES
gabrieltetar	1:7e925468f9d9	566	ModeDemo=1;
gabrieltetar	1:7e925468f9d9	567	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	568	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	569	lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	570	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	571	while(etat==TEST_TELEMETRE) {
gabrieltetar	1:7e925468f9d9	572	SendRawId(DATA_RECALAGE);
gabrieltetar	1:7e925468f9d9	573	SendRawId(DATA_TELEMETRE_LOGIQUE);
gabrieltetar	1:7e925468f9d9	574	wait_ms(100);
gabrieltetar	1:7e925468f9d9	575	canProcessRx();
gabrieltetar	1:7e925468f9d9	576	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	577	while( RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	578	etat=DEMO;
gabrieltetar	1:7e925468f9d9	579	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	580	}
gabrieltetar	1:7e925468f9d9	581	}
gabrieltetar	1:7e925468f9d9	582	break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	583
gabrieltetar	1:7e925468f9d9	584
gabrieltetar	1:7e925468f9d9	585	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	586	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	587	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	588	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	589
gabrieltetar	1:7e925468f9d9	590	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	591	COTE_JAUNE.Draw(JAUNE, 0);
gabrieltetar	1:7e925468f9d9	592	COTE_VIOLET.Draw(VIOLET, 0);
gabrieltetar	1:7e925468f9d9	593	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	1:7e925468f9d9	594
gabrieltetar	1:7e925468f9d9	595
gabrieltetar	1:7e925468f9d9	596	while (etat == SELECT_SIDE) {
gabrieltetar	1:7e925468f9d9	597	canProcessRx();
gabrieltetar	1:7e925468f9d9	598	if(COTE_JAUNE.Touched()) {
gabrieltetar	1:7e925468f9d9	599	Cote = 0x0;
gabrieltetar	1:7e925468f9d9	600	InversStrat = Cote;
gabrieltetar	1:7e925468f9d9	601	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	602	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	603	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	604	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	605	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	606	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	607	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	608	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	609	while(COTE_JAUNE.Touched());
gabrieltetar	1:7e925468f9d9	610
gabrieltetar	1:7e925468f9d9	611	}
gabrieltetar	1:7e925468f9d9	612
gabrieltetar	1:7e925468f9d9	613	if(COTE_VIOLET.Touched()) {
gabrieltetar	1:7e925468f9d9	614	Cote = 0x1;
gabrieltetar	1:7e925468f9d9	615	InversStrat= Cote;
gabrieltetar	1:7e925468f9d9	616	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	617	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	618	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	619	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	620	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	621	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	622	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	623	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	624	while(COTE_VIOLET.Touched());
gabrieltetar	1:7e925468f9d9	625	}
gabrieltetar	1:7e925468f9d9	626
gabrieltetar	1:7e925468f9d9	627	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	628	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	629	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	630	}
gabrieltetar	1:7e925468f9d9	631	}
gabrieltetar	1:7e925468f9d9	632
gabrieltetar	1:7e925468f9d9	633	break;
gabrieltetar	1:7e925468f9d9	634
gabrieltetar	1:7e925468f9d9	635	case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
gabrieltetar	1:7e925468f9d9	636	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	637	lcd.Clear(JAUNE);
gabrieltetar	1:7e925468f9d9	638	lcd.SetBackColor(JAUNE);
gabrieltetar	1:7e925468f9d9	639	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	640	lcd.Clear(VIOLET);
gabrieltetar	1:7e925468f9d9	641	lcd.SetBackColor(VIOLET);
gabrieltetar	1:7e925468f9d9	642	} else {
gabrieltetar	1:7e925468f9d9	643	lcd.Clear(BLEU);
gabrieltetar	1:7e925468f9d9	644	lcd.SetBackColor(BLEU);
gabrieltetar	1:7e925468f9d9	645	}
gabrieltetar	1:7e925468f9d9	646
gabrieltetar	1:7e925468f9d9	647	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	648
gabrieltetar	1:7e925468f9d9	649	lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	650
gabrieltetar	1:7e925468f9d9	651	Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
gabrieltetar	1:7e925468f9d9	652	if (Strategie == -1) {
gabrieltetar	1:7e925468f9d9	653	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	654	} else {
gabrieltetar	1:7e925468f9d9	655	etat = DETAILS;
gabrieltetar	1:7e925468f9d9	656	}
gabrieltetar	1:7e925468f9d9	657	wait(0.1);
gabrieltetar	1:7e925468f9d9	658	break;
gabrieltetar	1:7e925468f9d9	659
gabrieltetar	1:7e925468f9d9	660	case DETAILS : //SECONDE VALIDATION DE LA STRAT
gabrieltetar	1:7e925468f9d9	661	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	662	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	663	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	664	CHECK.Draw(VERT);
gabrieltetar	1:7e925468f9d9	665	RETOUR.Draw(LCD_COLOR_RED);
gabrieltetar	1:7e925468f9d9	666
gabrieltetar	1:7e925468f9d9	667	SelectionStrat(Strategie); //affiche la stratégie selectionnée
gabrieltetar	1:7e925468f9d9	668
gabrieltetar	1:7e925468f9d9	669	while (etat == DETAILS) {
gabrieltetar	1:7e925468f9d9	670	canProcessRx();
gabrieltetar	1:7e925468f9d9	671	if (CHECK.Touched()) {
gabrieltetar	1:7e925468f9d9	672	if(gameEtat == ETAT_CONFIG) {
gabrieltetar	1:7e925468f9d9	673	gameEtat = ETAT_GAME_INIT;
gabrieltetar	1:7e925468f9d9	674	etat=LECTURE;
gabrieltetar	1:7e925468f9d9	675
gabrieltetar	1:7e925468f9d9	676	}
gabrieltetar	1:7e925468f9d9	677	while(CHECK.Touched());
gabrieltetar	1:7e925468f9d9	678	}
gabrieltetar	1:7e925468f9d9	679
gabrieltetar	1:7e925468f9d9	680	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	681	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	682	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	683	}
gabrieltetar	1:7e925468f9d9	684	}
gabrieltetar	1:7e925468f9d9	685	break;
gabrieltetar	1:7e925468f9d9	686
gabrieltetar	1:7e925468f9d9	687
gabrieltetar	1:7e925468f9d9	688	case LECTURE :
gabrieltetar	1:7e925468f9d9	689	break;
gabrieltetar	1:7e925468f9d9	690	case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	691	lcd.Clear(BLANC);
gabrieltetar	1:7e925468f9d9	692	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	693	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	694
gabrieltetar	1:7e925468f9d9	695	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	696	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	697	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	698	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	699	lcd.Clear(ORANGE);
gabrieltetar	1:7e925468f9d9	700	lcd.SetBackColor(ORANGE);
gabrieltetar	1:7e925468f9d9	701	} else {
gabrieltetar	1:7e925468f9d9	702	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	703	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	704	}
gabrieltetar	1:7e925468f9d9	705	canProcessRx();
gabrieltetar	1:7e925468f9d9	706	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
gabrieltetar	1:7e925468f9d9	707	etat=WAIT_JACK;
gabrieltetar	1:7e925468f9d9	708	break;
gabrieltetar	1:7e925468f9d9	709
gabrieltetar	1:7e925468f9d9	710	case WAIT_JACK: //VERITABLE ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	711	break;
gabrieltetar	1:7e925468f9d9	712
gabrieltetar	1:7e925468f9d9	713	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	714	cptf=gameTimer.read();
gabrieltetar	1:7e925468f9d9	715	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	716	cpt=(int)cptf;
gabrieltetar	1:7e925468f9d9	717	if(cpt != cpt1) {
gabrieltetar	1:7e925468f9d9	718	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	719	// affichage_compteur(100-cpt);
gabrieltetar	1:7e925468f9d9	720	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	721	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	722	affichage_var(SCORE_GR);
gabrieltetar	1:7e925468f9d9	723	#else
gabrieltetar	1:7e925468f9d9	724	affichage_var(SCORE_PR);
gabrieltetar	1:7e925468f9d9	725	#endif
gabrieltetar	1:7e925468f9d9	726	if(liaison_pr.paquet_en_attente()) {
gabrieltetar	1:7e925468f9d9	727	PaquetDomotique *paquet=liaison_pr.lire();
gabrieltetar	1:7e925468f9d9	728	if(paquet->identifiant==PAQUET_IDENTIFIANT_AJOUTERSCORE) {
gabrieltetar	1:7e925468f9d9	729	SCORE_PR+=convertir_score(paquet);
gabrieltetar	1:7e925468f9d9	730	}
gabrieltetar	1:7e925468f9d9	731	delete paquet;
gabrieltetar	1:7e925468f9d9	732	}
gabrieltetar	1:7e925468f9d9	733	}
gabrieltetar	1:7e925468f9d9	734	cpt1=cpt;
gabrieltetar	1:7e925468f9d9	735	flag_timer=0;
gabrieltetar	1:7e925468f9d9	736
gabrieltetar	1:7e925468f9d9	737	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	738	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	739
gabrieltetar	1:7e925468f9d9	740	break;
gabrieltetar	1:7e925468f9d9	741
gabrieltetar	1:7e925468f9d9	742	case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
gabrieltetar	1:7e925468f9d9	743	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	744	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	745	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	746	// affichage_compteur(SCORE_GR);
gabrieltetar	1:7e925468f9d9	747	affichage_var(SCORE_GR);
gabrieltetar	1:7e925468f9d9	748	//liaison_Tx.envoyer_short(PAQUET_IDENTIFIANT_FINMATCH,SCORE_GLOBAL);
gabrieltetar	1:7e925468f9d9	749	#else
gabrieltetar	1:7e925468f9d9	750	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	751	affichage_var(SCORE_PR);
gabrieltetar	1:7e925468f9d9	752	#endif
gabrieltetar	1:7e925468f9d9	753	while(1); // force le redemarage du robot
gabrieltetar	1:7e925468f9d9	754	//break;
gabrieltetar	1:7e925468f9d9	755
gabrieltetar	1:7e925468f9d9	756	}
gabrieltetar	1:7e925468f9d9	757	}
gabrieltetar	1:7e925468f9d9	758
gabrieltetar	1:7e925468f9d9	759
gabrieltetar	1:7e925468f9d9	760
gabrieltetar	1:7e925468f9d9	761	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	762	/* FUNCTION NAME: automate_process */
gabrieltetar	1:7e925468f9d9	763	/* DESCRIPTION : Automate de gestion de la stratégie du robot */
gabrieltetar	1:7e925468f9d9	764	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	765	void automate_process(void)
gabrieltetar	1:7e925468f9d9	766	{
gabrieltetar	1:7e925468f9d9	767	static unsigned char AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	768	static unsigned char MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	769	signed char localData1 = 0;
gabrieltetar	1:7e925468f9d9	770	signed short localData2 = 0;
gabrieltetar	1:7e925468f9d9	771	unsigned short localData3 = 0;
gabrieltetar	1:7e925468f9d9	772	//signed short localData4 = 0;
gabrieltetar	1:7e925468f9d9	773	unsigned char localData5 = 0;
gabrieltetar	1:7e925468f9d9	774
gabrieltetar	1:7e925468f9d9	775
gabrieltetar	1:7e925468f9d9	776	if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
gabrieltetar	1:7e925468f9d9	777	gameTimer.stop();
gabrieltetar	1:7e925468f9d9	778	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	779	gameEtat = ETAT_END;//Fin du temps
gabrieltetar	1:7e925468f9d9	780	etat=FIN;
gabrieltetar	1:7e925468f9d9	781	}
gabrieltetar	1:7e925468f9d9	782
gabrieltetar	1:7e925468f9d9	783	if(lastEtat != gameEtat \|\| debugetatTimer.read_ms() >= 1000) {
gabrieltetar	1:7e925468f9d9	784	lastEtat = gameEtat;
gabrieltetar	1:7e925468f9d9	785	debugetatTimer.reset();
gabrieltetar	1:7e925468f9d9	786	sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
gabrieltetar	1:7e925468f9d9	787	}
gabrieltetar	1:7e925468f9d9	788
gabrieltetar	1:7e925468f9d9	789
gabrieltetar	1:7e925468f9d9	790
gabrieltetar	1:7e925468f9d9	791	switch(gameEtat) {
gabrieltetar	1:7e925468f9d9	792
gabrieltetar	1:7e925468f9d9	793	case ETAT_CHECK_CARTES:
gabrieltetar	1:7e925468f9d9	794	/*
gabrieltetar	1:7e925468f9d9	795	Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
gabrieltetar	1:7e925468f9d9	796	*/
gabrieltetar	1:7e925468f9d9	797	waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
gabrieltetar	1:7e925468f9d9	798	SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
gabrieltetar	1:7e925468f9d9	799
gabrieltetar	1:7e925468f9d9	800	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	801	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	802	cartesCheker.start();//On lance le timer pour le timeout
gabrieltetar	1:7e925468f9d9	803	gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	804	break;
gabrieltetar	1:7e925468f9d9	805
gabrieltetar	1:7e925468f9d9	806	case ETAT_CHECK_CARTES_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	807	/*
gabrieltetar	1:7e925468f9d9	808	On attend l'ack de la carte en cours de vérification
gabrieltetar	1:7e925468f9d9	809	*/
gabrieltetar	1:7e925468f9d9	810	//printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
gabrieltetar	1:7e925468f9d9	811	if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
gabrieltetar	1:7e925468f9d9	812	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	813	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	814	countAliveCard++;
gabrieltetar	1:7e925468f9d9	815	checkCurrent++;
gabrieltetar	1:7e925468f9d9	816	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	817	printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
gabrieltetar	1:7e925468f9d9	818	if(countAliveCard >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	819	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	820	SendRawId(ECRAN_ALL_CHECK);
gabrieltetar	1:7e925468f9d9	821	flag=1;
gabrieltetar	1:7e925468f9d9	822
gabrieltetar	1:7e925468f9d9	823	//tactile_printf("Selection couleur et strategie");
gabrieltetar	1:7e925468f9d9	824	} else {
gabrieltetar	1:7e925468f9d9	825	gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
gabrieltetar	1:7e925468f9d9	826	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	827	}
gabrieltetar	1:7e925468f9d9	828	} else
gabrieltetar	1:7e925468f9d9	829	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	830	} else if(cartesCheker.read_ms () > 100) {
gabrieltetar	1:7e925468f9d9	831	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	832	if(screenChecktry >=3) {
gabrieltetar	1:7e925468f9d9	833	//printf("missing card %d\n",id_check[checkCurrent]);
gabrieltetar	1:7e925468f9d9	834	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	835	checkCurrent++;
gabrieltetar	1:7e925468f9d9	836
gabrieltetar	1:7e925468f9d9	837	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	838	if(countAliveCard == NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	839	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	840	flag=1;
gabrieltetar	1:7e925468f9d9	841	} else {
gabrieltetar	1:7e925468f9d9	842	gameEtat = ETAT_WAIT_FORCE;
gabrieltetar	1:7e925468f9d9	843	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	844	}
gabrieltetar	1:7e925468f9d9	845	} else
gabrieltetar	1:7e925468f9d9	846	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	847
gabrieltetar	1:7e925468f9d9	848	} else
gabrieltetar	1:7e925468f9d9	849	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	850
gabrieltetar	1:7e925468f9d9	851	}
gabrieltetar	1:7e925468f9d9	852	break;
gabrieltetar	1:7e925468f9d9	853	case ETAT_WAIT_FORCE:
gabrieltetar	1:7e925468f9d9	854	/*
gabrieltetar	1:7e925468f9d9	855	Attente du forçage de la part de la carte IHM
gabrieltetar	1:7e925468f9d9	856	*/
gabrieltetar	1:7e925468f9d9	857	if(waitingAckFrom == 0) {
gabrieltetar	1:7e925468f9d9	858	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	859	}
gabrieltetar	1:7e925468f9d9	860	break;
gabrieltetar	1:7e925468f9d9	861	case ETAT_CONFIG:
gabrieltetar	1:7e925468f9d9	862	/*
gabrieltetar	1:7e925468f9d9	863	Attente de l'odre de choix de mode,
gabrieltetar	1:7e925468f9d9	864	Il est possible de modifier la couleur et l'id de la stratégie
gabrieltetar	1:7e925468f9d9	865	Il est aussi possible d'envoyer les ordres de debug
gabrieltetar	1:7e925468f9d9	866	*/
gabrieltetar	1:7e925468f9d9	867	modeTelemetre = 0;
gabrieltetar	1:7e925468f9d9	868	break;
gabrieltetar	1:7e925468f9d9	869	case ETAT_GAME_INIT:
gabrieltetar	1:7e925468f9d9	870	//On charge la liste des instructions
gabrieltetar	1:7e925468f9d9	871
gabrieltetar	1:7e925468f9d9	872	loadAllInstruction(Strategie);//Mise en cache de toute les instructions
gabrieltetar	1:7e925468f9d9	873	led3=1;
gabrieltetar	1:7e925468f9d9	874
gabrieltetar	1:7e925468f9d9	875	SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	876
gabrieltetar	1:7e925468f9d9	877	gameEtat = ETAT_GAME_WAIT_FOR_JACK;
gabrieltetar	1:7e925468f9d9	878	if (etat == TEST_TELEMETRE\|\| etat ==TEST_CAPTEURS \|\| etat == TEST_SERVO \|\| etat ==TEST_TIR \|\| etat == DEMO_IMMEUBLE) {
gabrieltetar	1:7e925468f9d9	879	SendRawId(DEBUG_FAKE_JAKE);
gabrieltetar	1:7e925468f9d9	880	} else {
gabrieltetar	1:7e925468f9d9	881	etat = AFF_WAIT_JACK;
gabrieltetar	1:7e925468f9d9	882	}
gabrieltetar	1:7e925468f9d9	883	//tactile_printf("Attente du JACK.");
gabrieltetar	1:7e925468f9d9	884	setAsservissementEtat(1);//On réactive l'asservissement
gabrieltetar	1:7e925468f9d9	885	jack.mode(PullDown); // désactivation de la résistance interne du jack
gabrieltetar	1:7e925468f9d9	886	jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
gabrieltetar	1:7e925468f9d9	887
gabrieltetar	1:7e925468f9d9	888	localData2 = POSITION_DEBUT_T;
gabrieltetar	1:7e925468f9d9	889	localData3 = POSITION_DEBUT_Y;
gabrieltetar	1:7e925468f9d9	890	if(InversStrat == 1) {
gabrieltetar	1:7e925468f9d9	891	localData2 = -localData2;//Inversion theta
gabrieltetar	1:7e925468f9d9	892	localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
gabrieltetar	1:7e925468f9d9	893	}
gabrieltetar	1:7e925468f9d9	894	SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
gabrieltetar	1:7e925468f9d9	895
gabrieltetar	1:7e925468f9d9	896	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	897	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	898
gabrieltetar	1:7e925468f9d9	899	break;
gabrieltetar	1:7e925468f9d9	900	case ETAT_GAME_WAIT_FOR_JACK:
gabrieltetar	1:7e925468f9d9	901	if(instruction.order==POSITION_DEBUT) {
gabrieltetar	1:7e925468f9d9	902	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	903	case RECALAGE_1:
gabrieltetar	1:7e925468f9d9	904	SendRawId(RECALAGE_START);
gabrieltetar	1:7e925468f9d9	905	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	906	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	907	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	908	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	909	#else
gabrieltetar	1:7e925468f9d9	910	GoStraight(-3000, 1,MOITIEE_ROBOT, 0);
gabrieltetar	1:7e925468f9d9	911	#endif
gabrieltetar	1:7e925468f9d9	912	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	913	canProcessRx();
gabrieltetar	1:7e925468f9d9	914	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	915	waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	916	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	917	canProcessRx();
gabrieltetar	1:7e925468f9d9	918	etat_pos=RECULER_1;
gabrieltetar	1:7e925468f9d9	919	break;
gabrieltetar	1:7e925468f9d9	920
gabrieltetar	1:7e925468f9d9	921	case RECULER_1:
gabrieltetar	1:7e925468f9d9	922	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	923	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	924	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	925	GoStraight(-100, 0, 0, 0);//-450
gabrieltetar	1:7e925468f9d9	926	#else
gabrieltetar	1:7e925468f9d9	927	GoStraight(250, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	928	#endif
gabrieltetar	1:7e925468f9d9	929	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	930	canProcessRx();
gabrieltetar	1:7e925468f9d9	931	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	932	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	933	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	934	canProcessRx();
gabrieltetar	1:7e925468f9d9	935	etat_pos=TOURNER;
gabrieltetar	1:7e925468f9d9	936	break;
gabrieltetar	1:7e925468f9d9	937
gabrieltetar	1:7e925468f9d9	938	case TOURNER:
gabrieltetar	1:7e925468f9d9	939	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	940	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	941	if(Cote==0) {
gabrieltetar	1:7e925468f9d9	942	localData2 = 900;
gabrieltetar	1:7e925468f9d9	943	} else {
gabrieltetar	1:7e925468f9d9	944	localData2=-900;
gabrieltetar	1:7e925468f9d9	945	}
gabrieltetar	1:7e925468f9d9	946	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	947	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	948	canProcessRx();
gabrieltetar	1:7e925468f9d9	949	waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	950	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	951	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	952	canProcessRx();
gabrieltetar	1:7e925468f9d9	953	etat_pos=RECALAGE_2;
gabrieltetar	1:7e925468f9d9	954	break;
gabrieltetar	1:7e925468f9d9	955
gabrieltetar	1:7e925468f9d9	956	case RECALAGE_2:
gabrieltetar	1:7e925468f9d9	957	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	958	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	959	if(Cote==1) {
gabrieltetar	1:7e925468f9d9	960	localData3=3000-(MOITIEE_ROBOT);
gabrieltetar	1:7e925468f9d9	961	} else {
gabrieltetar	1:7e925468f9d9	962	localData3=MOITIEE_ROBOT;
gabrieltetar	1:7e925468f9d9	963	}
gabrieltetar	1:7e925468f9d9	964	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	965	GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
gabrieltetar	1:7e925468f9d9	966	#else
gabrieltetar	1:7e925468f9d9	967	GoStraight(-3000, 2,localData3, 0);
gabrieltetar	1:7e925468f9d9	968	#endif
gabrieltetar	1:7e925468f9d9	969	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	970	canProcessRx();
gabrieltetar	1:7e925468f9d9	971	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	972	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	973	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	974	canProcessRx();
gabrieltetar	1:7e925468f9d9	975	etat_pos=RECULER_2;
gabrieltetar	1:7e925468f9d9	976	break;
gabrieltetar	1:7e925468f9d9	977
gabrieltetar	1:7e925468f9d9	978	case RECULER_2:
gabrieltetar	1:7e925468f9d9	979	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	980	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	981	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	982	GoStraight(-100, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	983	#else
gabrieltetar	1:7e925468f9d9	984	GoStraight(250, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	985	#endif
gabrieltetar	1:7e925468f9d9	986	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	987	canProcessRx();
gabrieltetar	1:7e925468f9d9	988	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	989	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	990	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	991	canProcessRx();
gabrieltetar	1:7e925468f9d9	992	etat_pos=GOTOPOS;
gabrieltetar	1:7e925468f9d9	993	break;
gabrieltetar	1:7e925468f9d9	994
gabrieltetar	1:7e925468f9d9	995	case GOTOPOS:
gabrieltetar	1:7e925468f9d9	996	localData1 = -1;
gabrieltetar	1:7e925468f9d9	997
gabrieltetar	1:7e925468f9d9	998	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	999	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1000	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1001	} else {
gabrieltetar	1:7e925468f9d9	1002	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1003	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1004	}
gabrieltetar	1:7e925468f9d9	1005
gabrieltetar	1:7e925468f9d9	1006	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1007	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1008	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1009
gabrieltetar	1:7e925468f9d9	1010	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1011	canProcessRx();
gabrieltetar	1:7e925468f9d9	1012	waitingAckID_FIN=ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1013	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1014	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1015	canProcessRx();
gabrieltetar	1:7e925468f9d9	1016	etat_pos=FIN_POS;
gabrieltetar	1:7e925468f9d9	1017	break;
gabrieltetar	1:7e925468f9d9	1018	case FIN_POS:
gabrieltetar	1:7e925468f9d9	1019	actual_instruction = instruction.nextLineOK;
gabrieltetar	1:7e925468f9d9	1020	break;
gabrieltetar	1:7e925468f9d9	1021	}
gabrieltetar	1:7e925468f9d9	1022	}
gabrieltetar	1:7e925468f9d9	1023
gabrieltetar	1:7e925468f9d9	1024
gabrieltetar	1:7e925468f9d9	1025	break;
gabrieltetar	1:7e925468f9d9	1026	case ETAT_GAME_START:
gabrieltetar	1:7e925468f9d9	1027
gabrieltetar	1:7e925468f9d9	1028	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1029
gabrieltetar	1:7e925468f9d9	1030	if (ModeDemo == 0) {
gabrieltetar	1:7e925468f9d9	1031	chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
gabrieltetar	1:7e925468f9d9	1032	gameTimer.start();
gabrieltetar	1:7e925468f9d9	1033	}
gabrieltetar	1:7e925468f9d9	1034	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	1035	jack.fall(NULL);//On désactive l'interruption du jack
gabrieltetar	1:7e925468f9d9	1036	//SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	1037	Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
gabrieltetar	1:7e925468f9d9	1038	//tactile_printf("Start");//Pas vraiment utile mais bon
gabrieltetar	1:7e925468f9d9	1039	break;
gabrieltetar	1:7e925468f9d9	1040	case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1041	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1042	/*
gabrieltetar	1:7e925468f9d9	1043	Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
gabrieltetar	1:7e925468f9d9	1044	*/
gabrieltetar	1:7e925468f9d9	1045	//printf("load next instruction\n");
gabrieltetar	1:7e925468f9d9	1046	if(dodgeq.nb > 0){//dodge q
gabrieltetar	1:7e925468f9d9	1047	instruction.order=dodgeq.inst[dodgeq.nb-1].order;
gabrieltetar	1:7e925468f9d9	1048	instruction.arg1=dodgeq.inst[dodgeq.nb-1].arg1;
gabrieltetar	1:7e925468f9d9	1049	instruction.arg2=dodgeq.inst[dodgeq.nb-1].arg2;
gabrieltetar	1:7e925468f9d9	1050	instruction.arg3=dodgeq.inst[dodgeq.nb-1].arg3;
gabrieltetar	1:7e925468f9d9	1051	gameEtat=ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1052	dodgeq.nb--;
gabrieltetar	1:7e925468f9d9	1053	}//end dodge q
gabrieltetar	1:7e925468f9d9	1054	else{// no dodge q
gabrieltetar	1:7e925468f9d9	1055	if(actual_instruction >= nb_instructions \|\| actual_instruction == 255) {
gabrieltetar	1:7e925468f9d9	1056	gameEtat = ETAT_END;
gabrieltetar	1:7e925468f9d9	1057	//Il n'y a plus d'instruction, fin du jeu
gabrieltetar	1:7e925468f9d9	1058	} else {
gabrieltetar	1:7e925468f9d9	1059	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	1060	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	1061	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1062	}
gabrieltetar	1:7e925468f9d9	1063	}//end no dodge q
gabrieltetar	1:7e925468f9d9	1064	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	1065	ingnorInversionOnce = 0;
gabrieltetar	1:7e925468f9d9	1066	break;
gabrieltetar	1:7e925468f9d9	1067	case ETAT_GAME_PROCESS_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1068	/*
gabrieltetar	1:7e925468f9d9	1069	Traitement de l'instruction, envoie de la trame CAN
gabrieltetar	1:7e925468f9d9	1070	*/
gabrieltetar	1:7e925468f9d9	1071	//debug_Instruction(instruction);
gabrieltetar	1:7e925468f9d9	1072	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	1073	//rn42_Tx.printf("A");//lance l'electron
gabrieltetar	1:7e925468f9d9	1074	actionPrecedente = instruction.order;
gabrieltetar	1:7e925468f9d9	1075	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1076	case MV_BEZIER: {
gabrieltetar	1:7e925468f9d9	1077	static vector< vector<short> >P1;
gabrieltetar	1:7e925468f9d9	1078	static vector< vector<short> >C1;
gabrieltetar	1:7e925468f9d9	1079	static vector< vector<short> >C2;
gabrieltetar	1:7e925468f9d9	1080	static int i = 0;
gabrieltetar	1:7e925468f9d9	1081
gabrieltetar	1:7e925468f9d9	1082	//Ajoute une ligne aux tableaux pour chaques courbes de la trajectoire
gabrieltetar	1:7e925468f9d9	1083	P1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1084	C1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1085	C2.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1086
gabrieltetar	1:7e925468f9d9	1087	P1[i].push_back(instruction.arg1); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1088	C1[i].push_back(instruction.arg3); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1089	C2[i].push_back(instruction.arg5); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1090
gabrieltetar	1:7e925468f9d9	1091	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1092	P1[i].push_back(3000-instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1093	C1[i].push_back(3000-instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1094	C2[i].push_back(3000-instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1095	} else {
gabrieltetar	1:7e925468f9d9	1096	P1[i].push_back(instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1097	C1[i].push_back(instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1098	C2[i].push_back(instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1099	}
gabrieltetar	1:7e925468f9d9	1100
gabrieltetar	1:7e925468f9d9	1101	i++;
gabrieltetar	1:7e925468f9d9	1102
gabrieltetar	1:7e925468f9d9	1103	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	1104	//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	1105	//Empeche les vector de ne pas être reset si l'ack n'est pas reçu avant la fin du match
gabrieltetar	1:7e925468f9d9	1106	int nbCourbes = P1.size();
gabrieltetar	1:7e925468f9d9	1107	short P1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1108	short C1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1109	short C2_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1110
gabrieltetar	1:7e925468f9d9	1111	for(int j=0; j<nbCourbes; j++) {
gabrieltetar	1:7e925468f9d9	1112	for(int i=0; i<2; i++) {
gabrieltetar	1:7e925468f9d9	1113	P1_temp[j][i] = P1[j][i];
gabrieltetar	1:7e925468f9d9	1114	C1_temp[j][i] = C1[j][i];
gabrieltetar	1:7e925468f9d9	1115	C2_temp[j][i] = C2[j][i];
gabrieltetar	1:7e925468f9d9	1116	}
gabrieltetar	1:7e925468f9d9	1117	}
gabrieltetar	1:7e925468f9d9	1118
gabrieltetar	1:7e925468f9d9	1119	//Clear des tableaux de points pour la prochaine trajectoire
gabrieltetar	1:7e925468f9d9	1120	P1.clear();
gabrieltetar	1:7e925468f9d9	1121	C1.clear();
gabrieltetar	1:7e925468f9d9	1122	C2.clear();
gabrieltetar	1:7e925468f9d9	1123	i = 0;
gabrieltetar	1:7e925468f9d9	1124
gabrieltetar	1:7e925468f9d9	1125	//Calcul de la courbe et envoi des valeurs
gabrieltetar	1:7e925468f9d9	1126	if(instruction.direction == FORWARD) {
gabrieltetar	1:7e925468f9d9	1127	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 0);
gabrieltetar	1:7e925468f9d9	1128	} else if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1129	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 1);
gabrieltetar	1:7e925468f9d9	1130	}
gabrieltetar	1:7e925468f9d9	1131
gabrieltetar	1:7e925468f9d9	1132	waitingAckID = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1133	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1134	}
gabrieltetar	1:7e925468f9d9	1135	break;
gabrieltetar	1:7e925468f9d9	1136	}
gabrieltetar	1:7e925468f9d9	1137	case MV_COURBURE://C'est un rayon de courbure
gabrieltetar	1:7e925468f9d9	1138	float alpha=0, theta=0;
gabrieltetar	1:7e925468f9d9	1139	unsigned short alph=0;
gabrieltetar	1:7e925468f9d9	1140	actionPrecedente = MV_COURBURE;
gabrieltetar	1:7e925468f9d9	1141	waitingAckID = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1142	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1143	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1144	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1145	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1146	} else {
gabrieltetar	1:7e925468f9d9	1147	if(MV_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1148	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1149	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1150	} else {
gabrieltetar	1:7e925468f9d9	1151	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1152	}
gabrieltetar	1:7e925468f9d9	1153	}
gabrieltetar	1:7e925468f9d9	1154	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1155	if(instruction.direction == LEFT) instruction.direction = RIGHT;
gabrieltetar	1:7e925468f9d9	1156	else instruction.direction = LEFT;
gabrieltetar	1:7e925468f9d9	1157	}
gabrieltetar	1:7e925468f9d9	1158
gabrieltetar	1:7e925468f9d9	1159	localData1 = ((instruction.direction == LEFT)?1:-1);
gabrieltetar	1:7e925468f9d9	1160	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1161	/*if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1162	localData1 = -localData1;//Inversion de la direction
gabrieltetar	1:7e925468f9d9	1163	}*/
gabrieltetar	1:7e925468f9d9	1164
gabrieltetar	1:7e925468f9d9	1165	BendRadius(instruction.arg1, localData2, localData1, localData5);
gabrieltetar	1:7e925468f9d9	1166	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	1167	if(localData2>0) {
gabrieltetar	1:7e925468f9d9	1168	direction=1;
gabrieltetar	1:7e925468f9d9	1169	} else {
gabrieltetar	1:7e925468f9d9	1170	direction=-1;
gabrieltetar	1:7e925468f9d9	1171	}
gabrieltetar	1:7e925468f9d9	1172	#else
gabrieltetar	1:7e925468f9d9	1173	if(localData2>0) {
gabrieltetar	1:7e925468f9d9	1174	direction=-1;
gabrieltetar	1:7e925468f9d9	1175	} else {
gabrieltetar	1:7e925468f9d9	1176	direction=1;
gabrieltetar	1:7e925468f9d9	1177	}
gabrieltetar	1:7e925468f9d9	1178	#endif
gabrieltetar	1:7e925468f9d9	1179	if(localData2>0)alph=localData2;
gabrieltetar	1:7e925468f9d9	1180	else alph=-localData2;
gabrieltetar	1:7e925468f9d9	1181	alpha = localData2*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1182	theta = theta_robot*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1183
gabrieltetar	1:7e925468f9d9	1184	if(instruction.direction == LEFT) { //-------------LEFT
gabrieltetar	1:7e925468f9d9	1185	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1186	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1187	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1188	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1189	dodgeq.inst[0].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1190	}
gabrieltetar	1:7e925468f9d9	1191	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1192	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1193	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1194	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1195	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1196	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1197	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1198	alph-=alph/2;
gabrieltetar	1:7e925468f9d9	1199	}
gabrieltetar	1:7e925468f9d9	1200	}
gabrieltetar	1:7e925468f9d9	1201	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1202	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1203	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1204	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1205	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1206	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1207	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1208	alph-=alph/3;
gabrieltetar	1:7e925468f9d9	1209	}
gabrieltetar	1:7e925468f9d9	1210	}
gabrieltetar	1:7e925468f9d9	1211	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1212	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1213	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1214	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1215	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1216	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1217	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1218	alph-=alph/4;
gabrieltetar	1:7e925468f9d9	1219	}
gabrieltetar	1:7e925468f9d9	1220	}
gabrieltetar	1:7e925468f9d9	1221	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1222	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1223	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1224	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1225	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1226	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1227	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1228	alph-=alph/5;
gabrieltetar	1:7e925468f9d9	1229	}
gabrieltetar	1:7e925468f9d9	1230	}
gabrieltetar	1:7e925468f9d9	1231	else {
gabrieltetar	1:7e925468f9d9	1232	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1233	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1234	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1235	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1236	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1237	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1238	alph-=alph/6;
gabrieltetar	1:7e925468f9d9	1239	}
gabrieltetar	1:7e925468f9d9	1240	}
gabrieltetar	1:7e925468f9d9	1241	} else { //-----------------------------------------RIGHT
gabrieltetar	1:7e925468f9d9	1242	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1243	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1244	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1245	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1246	dodgeq.inst[0].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1247	}
gabrieltetar	1:7e925468f9d9	1248	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1249	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1250	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1251	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1252	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1253	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1254	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1255	}
gabrieltetar	1:7e925468f9d9	1256	}
gabrieltetar	1:7e925468f9d9	1257	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1258	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1259	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1260	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1261	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1262	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1263	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1264	}
gabrieltetar	1:7e925468f9d9	1265	}
gabrieltetar	1:7e925468f9d9	1266	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1267	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1268	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1269	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1270	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1271	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1272	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1273	}
gabrieltetar	1:7e925468f9d9	1274	}
gabrieltetar	1:7e925468f9d9	1275	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1276	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1277	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1278	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1279	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1280	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1281	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1282	}
gabrieltetar	1:7e925468f9d9	1283	}
gabrieltetar	1:7e925468f9d9	1284	else {
gabrieltetar	1:7e925468f9d9	1285	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1286	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1287	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1288	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1289	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1290	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1291	}
gabrieltetar	1:7e925468f9d9	1292	}
gabrieltetar	1:7e925468f9d9	1293	}
gabrieltetar	1:7e925468f9d9	1294	break;
gabrieltetar	1:7e925468f9d9	1295
gabrieltetar	1:7e925468f9d9	1296
gabrieltetar	1:7e925468f9d9	1297
gabrieltetar	1:7e925468f9d9	1298	case MV_LINE://Ligne droite
gabrieltetar	1:7e925468f9d9	1299	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1300	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1301	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1302	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1303	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1304	} else {
gabrieltetar	1:7e925468f9d9	1305	if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
gabrieltetar	1:7e925468f9d9	1306	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1307	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1308	} else {
gabrieltetar	1:7e925468f9d9	1309	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1310	}
gabrieltetar	1:7e925468f9d9	1311	}
gabrieltetar	1:7e925468f9d9	1312	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1313	GoStraight(localData2, 0, 0, localData5);
gabrieltetar	1:7e925468f9d9	1314
gabrieltetar	1:7e925468f9d9	1315	target_x_robot = x_robot + localData2cos((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1316	target_y_robot = y_robot + localData2sin((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1317	target_theta_robot = theta_robot;
gabrieltetar	1:7e925468f9d9	1318
gabrieltetar	1:7e925468f9d9	1319	break;
gabrieltetar	1:7e925468f9d9	1320	case MV_TURN: //Rotation sur place
gabrieltetar	1:7e925468f9d9	1321	target_x_robot = x_robot;
gabrieltetar	1:7e925468f9d9	1322	target_y_robot = y_robot;
gabrieltetar	1:7e925468f9d9	1323	target_theta_robot = theta_robot + localData2;
gabrieltetar	1:7e925468f9d9	1324	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1325
gabrieltetar	1:7e925468f9d9	1326	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1327	localData2 = -localData2;
gabrieltetar	1:7e925468f9d9	1328	}
gabrieltetar	1:7e925468f9d9	1329
gabrieltetar	1:7e925468f9d9	1330
gabrieltetar	1:7e925468f9d9	1331	if(instruction.direction == ABSOLUTE) {
gabrieltetar	1:7e925468f9d9	1332	//C'est un rotation absolu, il faut la convertir en relative
gabrieltetar	1:7e925468f9d9	1333
gabrieltetar	1:7e925468f9d9	1334	localData2 = (localData2 - theta_robot)%3600;
gabrieltetar	1:7e925468f9d9	1335	if(localData2 > 1800) localData2 = localData2-3600;
gabrieltetar	1:7e925468f9d9	1336
gabrieltetar	1:7e925468f9d9	1337	else if(localData2 <-1800) localData2 = localData2+3600;
gabrieltetar	1:7e925468f9d9	1338	}
gabrieltetar	1:7e925468f9d9	1339
gabrieltetar	1:7e925468f9d9	1340
gabrieltetar	1:7e925468f9d9	1341	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1342	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1343	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1344
gabrieltetar	1:7e925468f9d9	1345	break;
gabrieltetar	1:7e925468f9d9	1346	case MV_XYT:
gabrieltetar	1:7e925468f9d9	1347	if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1348	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1349	} else {
gabrieltetar	1:7e925468f9d9	1350	localData1 = 1;
gabrieltetar	1:7e925468f9d9	1351	}
gabrieltetar	1:7e925468f9d9	1352
gabrieltetar	1:7e925468f9d9	1353	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1354	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1355	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1356	} else {
gabrieltetar	1:7e925468f9d9	1357	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1358	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1359	}
gabrieltetar	1:7e925468f9d9	1360
gabrieltetar	1:7e925468f9d9	1361	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1362	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1363	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1364
gabrieltetar	1:7e925468f9d9	1365	target_x_robot = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1366	target_y_robot = localData3;
gabrieltetar	1:7e925468f9d9	1367	target_theta_robot = localData2;
gabrieltetar	1:7e925468f9d9	1368
gabrieltetar	1:7e925468f9d9	1369	break;
gabrieltetar	1:7e925468f9d9	1370	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1371	if(instruction.nextActionType == MECANIQUE) {
gabrieltetar	1:7e925468f9d9	1372	instruction.nextActionType = WAIT;
gabrieltetar	1:7e925468f9d9	1373
gabrieltetar	1:7e925468f9d9	1374	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1375	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1376
gabrieltetar	1:7e925468f9d9	1377	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	1378
gabrieltetar	1:7e925468f9d9	1379	if(instruction.precision == RECALAGE_Y) {
gabrieltetar	1:7e925468f9d9	1380	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1381	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1382	localData3 = 3000 - instruction.arg1;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1383	} else {
gabrieltetar	1:7e925468f9d9	1384	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1385	}
gabrieltetar	1:7e925468f9d9	1386	} else {
gabrieltetar	1:7e925468f9d9	1387	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1388	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1389	}
gabrieltetar	1:7e925468f9d9	1390	GoStraight(localData2, localData5, localData3, 0);
gabrieltetar	1:7e925468f9d9	1391	} else { //CAPTEUR
gabrieltetar	1:7e925468f9d9	1392	SendRawId(DATA_RECALAGE);
gabrieltetar	1:7e925468f9d9	1393	waitingAckID = RECEPTION_RECALAGE;
gabrieltetar	1:7e925468f9d9	1394	waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
gabrieltetar	1:7e925468f9d9	1395
gabrieltetar	1:7e925468f9d9	1396	// On attend que les variables soient actualisé
gabrieltetar	1:7e925468f9d9	1397	while(!(waitingAckID == 0 && waitingAckFrom == 0))
gabrieltetar	1:7e925468f9d9	1398	canProcessRx();
gabrieltetar	1:7e925468f9d9	1399	while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
gabrieltetar	1:7e925468f9d9	1400	canProcessRx();
gabrieltetar	1:7e925468f9d9	1401
gabrieltetar	1:7e925468f9d9	1402	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	1403	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
gabrieltetar	1:7e925468f9d9	1404	} else if(instruction.precision == RECALAGE_X) {
gabrieltetar	1:7e925468f9d9	1405	SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1406	} else if(instruction.precision == RECALAGE_T) {
gabrieltetar	1:7e925468f9d9	1407	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
gabrieltetar	1:7e925468f9d9	1408	}
gabrieltetar	1:7e925468f9d9	1409	}
gabrieltetar	1:7e925468f9d9	1410	break;
gabrieltetar	1:7e925468f9d9	1411
gabrieltetar	1:7e925468f9d9	1412	case ACTION:
gabrieltetar	1:7e925468f9d9	1413
gabrieltetar	1:7e925468f9d9	1414	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1415	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1416
gabrieltetar	1:7e925468f9d9	1417	int tempo = 0;
gabrieltetar	1:7e925468f9d9	1418	waitingAckID= ACK_ACTION; //On veut un ack de type action
gabrieltetar	1:7e925468f9d9	1419	waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
gabrieltetar	1:7e925468f9d9	1420	tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
gabrieltetar	1:7e925468f9d9	1421	// unsigned char test=(unsigned char) tempo;
gabrieltetar	1:7e925468f9d9	1422	// SendMsgCan(0x5BD, &test,1);
gabrieltetar	1:7e925468f9d9	1423	if(tempo == 1) {
gabrieltetar	1:7e925468f9d9	1424	//L'action est spécifique
gabrieltetar	1:7e925468f9d9	1425	if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1426	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1427	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1428	} else {
gabrieltetar	1:7e925468f9d9	1429	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1430	}
gabrieltetar	1:7e925468f9d9	1431	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	1432	/*actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1433	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;*/
gabrieltetar	1:7e925468f9d9	1434	#endif
gabrieltetar	1:7e925468f9d9	1435	return;
gabrieltetar	1:7e925468f9d9	1436	#ifdef ROBOT_SMALL
gabrieltetar	1:7e925468f9d9	1437	} else if (tempo == 2) {
gabrieltetar	1:7e925468f9d9	1438	// on est dans le cas de l'avance selon le telemetre
gabrieltetar	1:7e925468f9d9	1439	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1440	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1441
gabrieltetar	1:7e925468f9d9	1442	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1443	GoStraight(telemetreDistance, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1444	// on reset la distance du telemetre à 0
gabrieltetar	1:7e925468f9d9	1445	telemetreDistance = 5000;
gabrieltetar	1:7e925468f9d9	1446	#endif
gabrieltetar	1:7e925468f9d9	1447	} else {
gabrieltetar	1:7e925468f9d9	1448	//C'est un AX12 qu'il faut bouger
gabrieltetar	1:7e925468f9d9	1449	//AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
gabrieltetar	1:7e925468f9d9	1450	//AX12_enchainement++;
gabrieltetar	1:7e925468f9d9	1451
gabrieltetar	1:7e925468f9d9	1452	}
gabrieltetar	1:7e925468f9d9	1453	break;
gabrieltetar	1:7e925468f9d9	1454	default:
gabrieltetar	1:7e925468f9d9	1455	//Instruction inconnue, on l'ignore
gabrieltetar	1:7e925468f9d9	1456	break;
gabrieltetar	1:7e925468f9d9	1457	}
gabrieltetar	1:7e925468f9d9	1458
gabrieltetar	1:7e925468f9d9	1459	if(instruction.nextActionType == JUMP \|\| instruction.nextActionType == WAIT) {
gabrieltetar	1:7e925468f9d9	1460	gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
gabrieltetar	1:7e925468f9d9	1461	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	1462	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1463	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1464	if(AX12_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1465	//AX12_processChange();//Il faut lancer le déplacement des AX12
gabrieltetar	1:7e925468f9d9	1466	//AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1467	}
gabrieltetar	1:7e925468f9d9	1468	} else { //C'est un enchainement
gabrieltetar	1:7e925468f9d9	1469	if(instruction.order == MV_LINE) {
gabrieltetar	1:7e925468f9d9	1470	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1471	} else {
gabrieltetar	1:7e925468f9d9	1472	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1473	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
gabrieltetar	1:7e925468f9d9	1474	}
gabrieltetar	1:7e925468f9d9	1475	}
gabrieltetar	1:7e925468f9d9	1476
gabrieltetar	1:7e925468f9d9	1477	break;
gabrieltetar	1:7e925468f9d9	1478	case ETAT_GAME_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	1479	canProcessRx();
gabrieltetar	1:7e925468f9d9	1480	//SendSpeed(200);//--------------------------------------------------MODE RALENTI !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
gabrieltetar	1:7e925468f9d9	1481	if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
gabrieltetar	1:7e925468f9d9	1482	//if(true) {
gabrieltetar	1:7e925468f9d9	1483	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1484	if(instruction.nextActionType == JUMP) {
gabrieltetar	1:7e925468f9d9	1485	if(instruction.jumpAction == JUMP_POSITION) {
gabrieltetar	1:7e925468f9d9	1486	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1487	} else { //Pour eviter les erreurs, on dit que c'est par défaut un jump time
gabrieltetar	1:7e925468f9d9	1488	gameEtat = ETAT_GAME_JUMP_TIME;
gabrieltetar	1:7e925468f9d9	1489	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1490	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1491	}
gabrieltetar	1:7e925468f9d9	1492	} else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
gabrieltetar	1:7e925468f9d9	1493	/*wait_ms(200);
gabrieltetar	1:7e925468f9d9	1494	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	1495	SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1496	#else
gabrieltetar	1:7e925468f9d9	1497	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1498	#endif
gabrieltetar	1:7e925468f9d9	1499	wait_ms(200);*/
gabrieltetar	1:7e925468f9d9	1500
gabrieltetar	1:7e925468f9d9	1501	gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1502	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1503	case MV_BEZIER:
gabrieltetar	1:7e925468f9d9	1504	waitingAckID_FIN = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1505	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1506	break;
gabrieltetar	1:7e925468f9d9	1507	case MV_COURBURE:
gabrieltetar	1:7e925468f9d9	1508	waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1509	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1510	break;
gabrieltetar	1:7e925468f9d9	1511	case MV_LINE:
gabrieltetar	1:7e925468f9d9	1512	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1513	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1514	break;
gabrieltetar	1:7e925468f9d9	1515	case MV_TURN:
gabrieltetar	1:7e925468f9d9	1516	waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1517	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1518	break;
gabrieltetar	1:7e925468f9d9	1519	case MV_XYT:
gabrieltetar	1:7e925468f9d9	1520	waitingAckID_FIN = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1521	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1522	break;
gabrieltetar	1:7e925468f9d9	1523	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1524	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1525	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1526	break;
gabrieltetar	1:7e925468f9d9	1527	case ACTION:
gabrieltetar	1:7e925468f9d9	1528
gabrieltetar	1:7e925468f9d9	1529	if (modeTelemetre == 0) {
gabrieltetar	1:7e925468f9d9	1530	if (telemetreDistance == 0) {
gabrieltetar	1:7e925468f9d9	1531	waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
gabrieltetar	1:7e925468f9d9	1532	waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
gabrieltetar	1:7e925468f9d9	1533	} else if(telemetreDistance == 5000) {
gabrieltetar	1:7e925468f9d9	1534	// on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
gabrieltetar	1:7e925468f9d9	1535	//waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1536	//waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1537	telemetreDistance = 0;
gabrieltetar	1:7e925468f9d9	1538	}
gabrieltetar	1:7e925468f9d9	1539	} else { // si on attend la reponse du telemetre
gabrieltetar	1:7e925468f9d9	1540	//modeTelemetre = 1;
gabrieltetar	1:7e925468f9d9	1541	waitingAckID_FIN = OBJET_SUR_TABLE;
gabrieltetar	1:7e925468f9d9	1542	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1543	}
gabrieltetar	1:7e925468f9d9	1544	break;
gabrieltetar	1:7e925468f9d9	1545	default:
gabrieltetar	1:7e925468f9d9	1546	break;
gabrieltetar	1:7e925468f9d9	1547	}
gabrieltetar	1:7e925468f9d9	1548	} else {
gabrieltetar	1:7e925468f9d9	1549	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1550	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1551	}
gabrieltetar	1:7e925468f9d9	1552	} else if(cartesCheker.read_ms () > 1000) {
gabrieltetar	1:7e925468f9d9	1553	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1554	if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
gabrieltetar	1:7e925468f9d9	1555	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1556	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1557	} else {
gabrieltetar	1:7e925468f9d9	1558	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
gabrieltetar	1:7e925468f9d9	1559	}
gabrieltetar	1:7e925468f9d9	1560	}
gabrieltetar	1:7e925468f9d9	1561	break;
gabrieltetar	1:7e925468f9d9	1562
gabrieltetar	1:7e925468f9d9	1563	case ETAT_GAME_JUMP_TIME:
gabrieltetar	1:7e925468f9d9	1564	if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1565	cartesCheker.stop();//On arrete le timer
gabrieltetar	1:7e925468f9d9	1566	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1567	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1568	}
gabrieltetar	1:7e925468f9d9	1569	break;
gabrieltetar	1:7e925468f9d9	1570
gabrieltetar	1:7e925468f9d9	1571	case ETAT_GAME_JUMP_CONFIG:
gabrieltetar	1:7e925468f9d9	1572	signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
gabrieltetar	1:7e925468f9d9	1573	// 1 si l'instruction est plus grande que la position du robot
gabrieltetar	1:7e925468f9d9	1574	// -1 si l'instruction est plus petite que la position du robot
gabrieltetar	1:7e925468f9d9	1575	// 0 si l'instruction et position du robot sont proche de moins de 1cm
gabrieltetar	1:7e925468f9d9	1576	if (abs(x_robot-instruction.JumpTimeOrX)<10) {
gabrieltetar	1:7e925468f9d9	1577	depasX = 0;
gabrieltetar	1:7e925468f9d9	1578	} else if(x_robot > instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1579	depasX = -1;
gabrieltetar	1:7e925468f9d9	1580	}
gabrieltetar	1:7e925468f9d9	1581
gabrieltetar	1:7e925468f9d9	1582	if(abs(y_robot-instruction.JumpY)<10) {
gabrieltetar	1:7e925468f9d9	1583	depasY = 0;
gabrieltetar	1:7e925468f9d9	1584	} else if(y_robot > instruction.JumpY) {
gabrieltetar	1:7e925468f9d9	1585	depasY = -1;
gabrieltetar	1:7e925468f9d9	1586	}
gabrieltetar	1:7e925468f9d9	1587
gabrieltetar	1:7e925468f9d9	1588	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1589	break;
gabrieltetar	1:7e925468f9d9	1590	case ETAT_GAME_JUMP_POSITION:
gabrieltetar	1:7e925468f9d9	1591	bool Xok = false, Yok = false;
gabrieltetar	1:7e925468f9d9	1592
gabrieltetar	1:7e925468f9d9	1593	if (depasX == 0) {
gabrieltetar	1:7e925468f9d9	1594	Xok = true;
gabrieltetar	1:7e925468f9d9	1595	} else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5) {
gabrieltetar	1:7e925468f9d9	1596	Xok = true;
gabrieltetar	1:7e925468f9d9	1597	}
gabrieltetar	1:7e925468f9d9	1598
gabrieltetar	1:7e925468f9d9	1599	if (depasY == 0) {
gabrieltetar	1:7e925468f9d9	1600	Yok = true;
gabrieltetar	1:7e925468f9d9	1601	} else if ((instruction.JumpY - y_robot)*depasY < -5) {
gabrieltetar	1:7e925468f9d9	1602	Yok = true;
gabrieltetar	1:7e925468f9d9	1603	}
gabrieltetar	1:7e925468f9d9	1604
gabrieltetar	1:7e925468f9d9	1605	// on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
gabrieltetar	1:7e925468f9d9	1606	if (Xok && Yok) {
gabrieltetar	1:7e925468f9d9	1607	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1608	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1609	}
gabrieltetar	1:7e925468f9d9	1610
gabrieltetar	1:7e925468f9d9	1611	break;
gabrieltetar	1:7e925468f9d9	1612	case ETAT_GAME_WAIT_END_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1613	canProcessRx();
gabrieltetar	1:7e925468f9d9	1614	if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
gabrieltetar	1:7e925468f9d9	1615	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1616	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1617	}
gabrieltetar	1:7e925468f9d9	1618
gabrieltetar	1:7e925468f9d9	1619	break;
gabrieltetar	1:7e925468f9d9	1620
gabrieltetar	1:7e925468f9d9	1621	case ETAT_END:
gabrieltetar	1:7e925468f9d9	1622	if (ModeDemo) {
gabrieltetar	1:7e925468f9d9	1623	gameEtat = ETAT_CHECK_CARTE_SCREEN;
gabrieltetar	1:7e925468f9d9	1624	ModeDemo = 1;
gabrieltetar	1:7e925468f9d9	1625	} else {
gabrieltetar	1:7e925468f9d9	1626	gameEtat = ETAT_END_LOOP;
gabrieltetar	1:7e925468f9d9	1627	}
gabrieltetar	1:7e925468f9d9	1628	break;
gabrieltetar	1:7e925468f9d9	1629	case ETAT_END_LOOP:
gabrieltetar	1:7e925468f9d9	1630	//Rien, on tourne en rond
gabrieltetar	1:7e925468f9d9	1631
gabrieltetar	1:7e925468f9d9	1632	break;
gabrieltetar	1:7e925468f9d9	1633	default:
gabrieltetar	1:7e925468f9d9	1634
gabrieltetar	1:7e925468f9d9	1635	break;
gabrieltetar	1:7e925468f9d9	1636	}
gabrieltetar	1:7e925468f9d9	1637	}
gabrieltetar	1:7e925468f9d9	1638
gabrieltetar	1:7e925468f9d9	1639
gabrieltetar	1:7e925468f9d9	1640
gabrieltetar	1:7e925468f9d9	1641
gabrieltetar	1:7e925468f9d9	1642
gabrieltetar	1:7e925468f9d9	1643	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1644	/* FUNCTION NAME: canProcessRx */
gabrieltetar	1:7e925468f9d9	1645	/* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
gabrieltetar	1:7e925468f9d9	1646	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1647	void canProcessRx(void)
gabrieltetar	1:7e925468f9d9	1648	{
gabrieltetar	1:7e925468f9d9	1649	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
gabrieltetar	1:7e925468f9d9	1650	char message[10]="toto";
gabrieltetar	1:7e925468f9d9	1651	char message1[10]="toto";
gabrieltetar	1:7e925468f9d9	1652	char message2[10]="toto";
gabrieltetar	1:7e925468f9d9	1653	char message3[10]="toto";
gabrieltetar	1:7e925468f9d9	1654	char message4[10]="toto";
gabrieltetar	1:7e925468f9d9	1655	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
gabrieltetar	1:7e925468f9d9	1656
gabrieltetar	1:7e925468f9d9	1657	if(FIFO_occupation<0)
gabrieltetar	1:7e925468f9d9	1658	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1659
gabrieltetar	1:7e925468f9d9	1660	if(FIFO_max_occupation<FIFO_occupation) {
gabrieltetar	1:7e925468f9d9	1661	FIFO_max_occupation=FIFO_occupation;
gabrieltetar	1:7e925468f9d9	1662	//SendRawId(
gabrieltetar	1:7e925468f9d9	1663	}
gabrieltetar	1:7e925468f9d9	1664
gabrieltetar	1:7e925468f9d9	1665	if(FIFO_occupation!=0) {
gabrieltetar	1:7e925468f9d9	1666	int identifiant=msgRxBuffer[FIFO_lecture].id;
gabrieltetar	1:7e925468f9d9	1667
gabrieltetar	1:7e925468f9d9	1668	if (waitingId == identifiant) waitingId = 0;
gabrieltetar	1:7e925468f9d9	1669	switch(identifiant) {
gabrieltetar	1:7e925468f9d9	1670
gabrieltetar	1:7e925468f9d9	1671	case ALIVE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1672	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1673
gabrieltetar	1:7e925468f9d9	1674	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1675	lcd.FillRect(0,400,400,150);
gabrieltetar	1:7e925468f9d9	1676	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1677	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1678	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1679	}
gabrieltetar	1:7e925468f9d9	1680	break;
gabrieltetar	1:7e925468f9d9	1681
gabrieltetar	1:7e925468f9d9	1682	case ALIVE_BALISE:
gabrieltetar	1:7e925468f9d9	1683	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1684
gabrieltetar	1:7e925468f9d9	1685	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1686	lcd.FillRect(0,600,400,150); //carte AX12
gabrieltetar	1:7e925468f9d9	1687	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1688	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1689	lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1690	}
gabrieltetar	1:7e925468f9d9	1691	break;
gabrieltetar	1:7e925468f9d9	1692
gabrieltetar	1:7e925468f9d9	1693	case RESET_IHM:
gabrieltetar	1:7e925468f9d9	1694	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	1695	break;
gabrieltetar	1:7e925468f9d9	1696
gabrieltetar	1:7e925468f9d9	1697	case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
gabrieltetar	1:7e925468f9d9	1698	case GLOBAL_JACK:
gabrieltetar	1:7e925468f9d9	1699	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	1700	gameEtat = ETAT_GAME_START;
gabrieltetar	1:7e925468f9d9	1701	SendRawId(ACKNOWLEDGE_JACK);
gabrieltetar	1:7e925468f9d9	1702	}
gabrieltetar	1:7e925468f9d9	1703	break;
gabrieltetar	1:7e925468f9d9	1704
gabrieltetar	1:7e925468f9d9	1705	case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1706	case ALIVE_ACTIONNEURS_ARRIERE:
gabrieltetar	1:7e925468f9d9	1707	case ALIVE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1708	case ECRAN_ALL_CHECK:
gabrieltetar	1:7e925468f9d9	1709	if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1710	waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
gabrieltetar	1:7e925468f9d9	1711	}
gabrieltetar	1:7e925468f9d9	1712	flag=1;
gabrieltetar	1:7e925468f9d9	1713	break;
gabrieltetar	1:7e925468f9d9	1714
gabrieltetar	1:7e925468f9d9	1715	case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
gabrieltetar	1:7e925468f9d9	1716	{
gabrieltetar	1:7e925468f9d9	1717
gabrieltetar	1:7e925468f9d9	1718	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1719	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1720	if(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR)
gabrieltetar	1:7e925468f9d9	1721	{
gabrieltetar	1:7e925468f9d9	1722	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1723	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1724	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1725	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1726	} else {
gabrieltetar	1:7e925468f9d9	1727	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1728	timeoutWarningWaitEnd.reset();
gabrieltetar	1:7e925468f9d9	1729	timeoutWarningWaitEnd.start();
gabrieltetar	1:7e925468f9d9	1730	//gameEtat = ETAT_WARING_END_BALISE_WAIT;
gabrieltetar	1:7e925468f9d9	1731	}
gabrieltetar	1:7e925468f9d9	1732	}
gabrieltetar	1:7e925468f9d9	1733	/*
gabrieltetar	1:7e925468f9d9	1734	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1735	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1736	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1737	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1738	} else {
gabrieltetar	1:7e925468f9d9	1739	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1740	gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1741	}*/
gabrieltetar	1:7e925468f9d9	1742	} break;
gabrieltetar	1:7e925468f9d9	1743
gabrieltetar	1:7e925468f9d9	1744	/////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1745	case ACKNOWLEDGE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1746	case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans ACK_FIN_ACTION mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1747
gabrieltetar	1:7e925468f9d9	1748	case ACKNOWLEDGE_TELEMETRE:
gabrieltetar	1:7e925468f9d9	1749	/////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1750	case ACKNOWLEDGE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1751	case INSTRUCTION_END_BALISE:
gabrieltetar	1:7e925468f9d9	1752	case ACK_FIN_ACTION:
gabrieltetar	1:7e925468f9d9	1753	case INSTRUCTION_END_MOTEUR:
gabrieltetar	1:7e925468f9d9	1754	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1755	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1756	/*
gabrieltetar	1:7e925468f9d9	1757	//on desactive la balise dans les rotations XYT
gabrieltetar	1:7e925468f9d9	1758	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_XYT==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1759	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_XYT_ROTATE==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1760
gabrieltetar	1:7e925468f9d9	1761	//on desactive la balise dans les rotations
gabrieltetar	1:7e925468f9d9	1762	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1763	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1764	*/
gabrieltetar	1:7e925468f9d9	1765
gabrieltetar	1:7e925468f9d9	1766	// SendMsgCan(0x666,&ingnorBalise,1);
gabrieltetar	1:7e925468f9d9	1767
gabrieltetar	1:7e925468f9d9	1768	if( waitingAckFrom == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID ) {
gabrieltetar	1:7e925468f9d9	1769	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1770	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1771	}
gabrieltetar	1:7e925468f9d9	1772	if( waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID_FIN ) {
gabrieltetar	1:7e925468f9d9	1773	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1774	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1775	}
gabrieltetar	1:7e925468f9d9	1776
gabrieltetar	1:7e925468f9d9	1777	/*
gabrieltetar	1:7e925468f9d9	1778	if((waitingAckFrom == msgRxBuffer[FIFO_lecture].id) &&
gabrieltetar	1:7e925468f9d9	1779	((unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| (((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID) )
gabrieltetar	1:7e925468f9d9	1780	{
gabrieltetar	1:7e925468f9d9	1781	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1782	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1783	}
gabrieltetar	1:7e925468f9d9	1784	if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]
gabrieltetar	1:7e925468f9d9	1785	\|(((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN))
gabrieltetar	1:7e925468f9d9	1786	{
gabrieltetar	1:7e925468f9d9	1787	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1788	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1789	}
gabrieltetar	1:7e925468f9d9	1790	*/
gabrieltetar	1:7e925468f9d9	1791	break;
gabrieltetar	1:7e925468f9d9	1792
gabrieltetar	1:7e925468f9d9	1793
gabrieltetar	1:7e925468f9d9	1794	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	1795	#define point_balance 12
gabrieltetar	1:7e925468f9d9	1796	#define point_accelerateur 10
gabrieltetar	1:7e925468f9d9	1797	case NB_PALETS_BLEU: //nb de palets bleu mis dans l'accelerateur
gabrieltetar	1:7e925468f9d9	1798	unsigned short palets_bleu=(unsigned short)msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1799	SCORE_GR+=palets_bleu*point_balance;
gabrieltetar	1:7e925468f9d9	1800	//SCORE_GLOBAL=SCORE_GR+SCORE_PR;
gabrieltetar	1:7e925468f9d9	1801	//liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
gabrieltetar	1:7e925468f9d9	1802	break;
gabrieltetar	1:7e925468f9d9	1803
gabrieltetar	1:7e925468f9d9	1804	case NB_PALETS_VERTS://nb de palets vert/rouge mis dans l'accelerateur
gabrieltetar	1:7e925468f9d9	1805	unsigned short palets_verts=(unsigned short)msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1806	SCORE_GR+=palets_verts*point_accelerateur;
gabrieltetar	1:7e925468f9d9	1807	//SCORE_GLOBAL=SCORE_GR+SCORE_PR;
gabrieltetar	1:7e925468f9d9	1808	//liaison_Tx.envoyer_short(0x30,SCORE_GLOBAL);
gabrieltetar	1:7e925468f9d9	1809	break;
gabrieltetar	1:7e925468f9d9	1810	#endif
gabrieltetar	1:7e925468f9d9	1811	case ODOMETRIE_BIG_POSITION:
gabrieltetar	1:7e925468f9d9	1812	case ODOMETRIE_SMALL_POSITION:
gabrieltetar	1:7e925468f9d9	1813
gabrieltetar	1:7e925468f9d9	1814	x_robot=msgRxBuffer[FIFO_lecture].data[0]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
gabrieltetar	1:7e925468f9d9	1815	y_robot=msgRxBuffer[FIFO_lecture].data[2]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
gabrieltetar	1:7e925468f9d9	1816	theta_robot=msgRxBuffer[FIFO_lecture].data[4]\|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
gabrieltetar	1:7e925468f9d9	1817	break;
gabrieltetar	1:7e925468f9d9	1818
gabrieltetar	1:7e925468f9d9	1819	case ACK_ACTION:
gabrieltetar	1:7e925468f9d9	1820	if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1821	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1822	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1823	}
gabrieltetar	1:7e925468f9d9	1824	break;
gabrieltetar	1:7e925468f9d9	1825
gabrieltetar	1:7e925468f9d9	1826	case BALISE_DANGER :
gabrieltetar	1:7e925468f9d9	1827	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1828	balise_danger();
gabrieltetar	1:7e925468f9d9	1829	break;
gabrieltetar	1:7e925468f9d9	1830
gabrieltetar	1:7e925468f9d9	1831	case BALISE_STOP:
gabrieltetar	1:7e925468f9d9	1832	SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
gabrieltetar	1:7e925468f9d9	1833	balise_stop(FIFO_lecture);
gabrieltetar	1:7e925468f9d9	1834	break;
gabrieltetar	1:7e925468f9d9	1835
gabrieltetar	1:7e925468f9d9	1836	case BALISE_END_DANGER:
gabrieltetar	1:7e925468f9d9	1837	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1838	balise_end_danger(&instruction,&dodgeq,&gameEtat,target_x_robot,target_y_robot,target_theta_robot, theta_robot,x_robot,y_robot);
gabrieltetar	1:7e925468f9d9	1839	break;
gabrieltetar	1:7e925468f9d9	1840
gabrieltetar	1:7e925468f9d9	1841	case RECEPTION_DATA:
gabrieltetar	1:7e925468f9d9	1842	telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
gabrieltetar	1:7e925468f9d9	1843	telemetreDistance= (float)telemetreDistance100.0f35.5f+50.0f;
gabrieltetar	1:7e925468f9d9	1844	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1845	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1846	break;
gabrieltetar	1:7e925468f9d9	1847
gabrieltetar	1:7e925468f9d9	1848	case RECEPTION_RECALAGE:
gabrieltetar	1:7e925468f9d9	1849	wait_us(150);
gabrieltetar	1:7e925468f9d9	1850	flagReceptionTelemetres = 1;
gabrieltetar	1:7e925468f9d9	1851	// 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	1852	memcpy(&telemetreDistance_avant_droite,msgRxBuffer[FIFO_lecture].data,2);
gabrieltetar	1:7e925468f9d9	1853	telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
gabrieltetar	1:7e925468f9d9	1854	telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
gabrieltetar	1:7e925468f9d9	1855	telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
gabrieltetar	1:7e925468f9d9	1856
gabrieltetar	1:7e925468f9d9	1857
gabrieltetar	1:7e925468f9d9	1858	if(ModeDemo==1) {
gabrieltetar	1:7e925468f9d9	1859	sprintf(message,"%04dmm L:%d",telemetreDistance_avant_droite,DT_AVD_interrupt);
gabrieltetar	1:7e925468f9d9	1860	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1861	lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"LASER AVD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1862	lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1863
gabrieltetar	1:7e925468f9d9	1864	sprintf(message1,"%04dmm L:%d",telemetreDistance_avant_gauche,DT_AVG_interrupt);
gabrieltetar	1:7e925468f9d9	1865	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1866	lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER AVG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1867	lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message1, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1868
gabrieltetar	1:7e925468f9d9	1869
gabrieltetar	1:7e925468f9d9	1870	sprintf(message4,"%04d",theta_robot);
gabrieltetar	1:7e925468f9d9	1871	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1872	lcd.DisplayStringAt(0, LINE(13),(unsigned char *)"THETA: ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1873	lcd.DisplayStringAt(200, LINE(13),(unsigned char *)message4, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1874
gabrieltetar	1:7e925468f9d9	1875
gabrieltetar	1:7e925468f9d9	1876	sprintf(message2,"%04dmm L:%d",telemetreDistance_arriere_gauche,DT_ARG_interrupt);
gabrieltetar	1:7e925468f9d9	1877	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1878	lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER ARG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1879	lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message2, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1880
gabrieltetar	1:7e925468f9d9	1881	sprintf(message3,"%04dmm L:%d",telemetreDistance_arriere_droite,DT_ARD_interrupt);
gabrieltetar	1:7e925468f9d9	1882	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1883	lcd.DisplayStringAt(0, LINE(18),(unsigned char *)"LASER ARD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1884	lcd.DisplayStringAt(200, LINE(18),(unsigned char *)message3, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1885	}
gabrieltetar	1:7e925468f9d9	1886	break;
gabrieltetar	1:7e925468f9d9	1887	case RECEPTION_TELEMETRE_LOGIQUE:
gabrieltetar	1:7e925468f9d9	1888
gabrieltetar	1:7e925468f9d9	1889	DT_AVD_interrupt=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1890	DT_AVG_interrupt=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1891	DT_ARG_interrupt=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1892	DT_ARD_interrupt=msgRxBuffer[FIFO_lecture].data[3];
gabrieltetar	1:7e925468f9d9	1893
gabrieltetar	1:7e925468f9d9	1894	break;
gabrieltetar	1:7e925468f9d9	1895	case RECEPTION_COULEUR:
gabrieltetar	1:7e925468f9d9	1896	if (blocage_balise==0) {
gabrieltetar	1:7e925468f9d9	1897	couleur1=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1898	couleur2=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1899	couleur3=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1900
gabrieltetar	1:7e925468f9d9	1901	/lcd.DisplayStringAt(0,LINE(16),(unsigned char )couleur1+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1902	lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1903	lcd.DisplayStringAt(0,LINE(16+2),(unsigned char )couleur3+'0',LEFT_MODE);/
gabrieltetar	1:7e925468f9d9	1904	}
gabrieltetar	1:7e925468f9d9	1905
gabrieltetar	1:7e925468f9d9	1906	break;
gabrieltetar	1:7e925468f9d9	1907	/*
gabrieltetar	1:7e925468f9d9	1908	case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
gabrieltetar	1:7e925468f9d9	1909	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1910	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1911	// waitingAckID_FIN=0;
gabrieltetar	1:7e925468f9d9	1912	// waitingAckFrom_FIN=0;
gabrieltetar	1:7e925468f9d9	1913	SendRawId(0x40);
gabrieltetar	1:7e925468f9d9	1914	break;*/
gabrieltetar	1:7e925468f9d9	1915	}
gabrieltetar	1:7e925468f9d9	1916	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1917	}
gabrieltetar	1:7e925468f9d9	1918	}
gabrieltetar	1:7e925468f9d9	1919
gabrieltetar	1:7e925468f9d9	1920
gabrieltetar	1:7e925468f9d9	1921
gabrieltetar	1:7e925468f9d9	1922
gabrieltetar	1:7e925468f9d9	1923
gabrieltetar	1:7e925468f9d9	1924	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1925	/* FUNCTION NAME: Bouton_Strat */
gabrieltetar	1:7e925468f9d9	1926	/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
gabrieltetar	1:7e925468f9d9	1927	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1928	signed char Bouton_Strat (void)
gabrieltetar	1:7e925468f9d9	1929	{
gabrieltetar	1:7e925468f9d9	1930	Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
gabrieltetar	1:7e925468f9d9	1931	Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
gabrieltetar	1:7e925468f9d9	1932	Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
gabrieltetar	1:7e925468f9d9	1933	Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
gabrieltetar	1:7e925468f9d9	1934	Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
gabrieltetar	1:7e925468f9d9	1935	Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
gabrieltetar	1:7e925468f9d9	1936	Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
gabrieltetar	1:7e925468f9d9	1937	Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
gabrieltetar	1:7e925468f9d9	1938	Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
gabrieltetar	1:7e925468f9d9	1939	Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
gabrieltetar	1:7e925468f9d9	1940	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	1941	//Definition des boutons
gabrieltetar	1:7e925468f9d9	1942
gabrieltetar	1:7e925468f9d9	1943	Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	1944	Strat = 0;
gabrieltetar	1:7e925468f9d9	1945	STRAT_1.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1946	STRAT_2.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1947	STRAT_3.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1948	STRAT_4.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1949	STRAT_5.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1950	STRAT_6.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1951	STRAT_7.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1952	STRAT_8.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1953	STRAT_9.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1954	STRAT_10.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1955	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	1956
gabrieltetar	1:7e925468f9d9	1957	while(Ack_strat == 0) {
gabrieltetar	1:7e925468f9d9	1958	canProcessRx();
gabrieltetar	1:7e925468f9d9	1959	CANMessage msgTx=CANMessage();
gabrieltetar	1:7e925468f9d9	1960	//msgTx.id=ECRAN_CHOICE_STRAT;
gabrieltetar	1:7e925468f9d9	1961	if (RETOUR.Touched())
gabrieltetar	1:7e925468f9d9	1962	return -1;
gabrieltetar	1:7e925468f9d9	1963	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	1964	//////////////////////////////STRATEGIE N°1
gabrieltetar	1:7e925468f9d9	1965	if (STRAT_1.Touched()) {
gabrieltetar	1:7e925468f9d9	1966	Strat = 0;
gabrieltetar	1:7e925468f9d9	1967	//msgTx.data[0] = 0x1;
gabrieltetar	1:7e925468f9d9	1968	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	1969	while(STRAT_1.Touched());
gabrieltetar	1:7e925468f9d9	1970	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	1971	}
gabrieltetar	1:7e925468f9d9	1972	/////////////////////////////STRATEGIE N°2
gabrieltetar	1:7e925468f9d9	1973	if (STRAT_2.Touched()) {
gabrieltetar	1:7e925468f9d9	1974	Strat = 1;
gabrieltetar	1:7e925468f9d9	1975	//msgTx.data[0] = 0x2;
gabrieltetar	1:7e925468f9d9	1976	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	1977	while(STRAT_2.Touched());
gabrieltetar	1:7e925468f9d9	1978	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	1979	}
gabrieltetar	1:7e925468f9d9	1980	//////////////////////////////STRATEGIE N°3
gabrieltetar	1:7e925468f9d9	1981	if (STRAT_3.Touched()) {
gabrieltetar	1:7e925468f9d9	1982	Strat = 2;
gabrieltetar	1:7e925468f9d9	1983	//msgTx.data[0] = 0x3;
gabrieltetar	1:7e925468f9d9	1984	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	1985	while(STRAT_3.Touched());
gabrieltetar	1:7e925468f9d9	1986	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	1987	}
gabrieltetar	1:7e925468f9d9	1988	/////////////////////////////STRATEGIE N°4
gabrieltetar	1:7e925468f9d9	1989	if (STRAT_4.Touched()) {
gabrieltetar	1:7e925468f9d9	1990	Strat = 3;
gabrieltetar	1:7e925468f9d9	1991	//msgTx.data[0] = 0x4;
gabrieltetar	1:7e925468f9d9	1992	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	1993	while(STRAT_4.Touched());
gabrieltetar	1:7e925468f9d9	1994	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	1995	}
gabrieltetar	1:7e925468f9d9	1996	///////////////////////////////STRATEGIE N°5
gabrieltetar	1:7e925468f9d9	1997	if (STRAT_5.Touched()) {
gabrieltetar	1:7e925468f9d9	1998	Strat = 4;
gabrieltetar	1:7e925468f9d9	1999	//msgTx.data[0] = 0x5;
gabrieltetar	1:7e925468f9d9	2000	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2001	while(STRAT_5.Touched());
gabrieltetar	1:7e925468f9d9	2002	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2003	}
gabrieltetar	1:7e925468f9d9	2004	////////////////////////////////STRATEGIE N°6
gabrieltetar	1:7e925468f9d9	2005	if (STRAT_6.Touched()) {
gabrieltetar	1:7e925468f9d9	2006	Strat = 5;
gabrieltetar	1:7e925468f9d9	2007	//msgTx.data[0] = 0x6;
gabrieltetar	1:7e925468f9d9	2008	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2009	while(STRAT_6.Touched());
gabrieltetar	1:7e925468f9d9	2010	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2011	}
gabrieltetar	1:7e925468f9d9	2012	/////////////////////////////////STRATEGIE N°7
gabrieltetar	1:7e925468f9d9	2013	if (STRAT_7.Touched()) {
gabrieltetar	1:7e925468f9d9	2014	Strat = 6;
gabrieltetar	1:7e925468f9d9	2015	//msgTx.data[0] = 0x7;
gabrieltetar	1:7e925468f9d9	2016	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2017	while(STRAT_7.Touched());
gabrieltetar	1:7e925468f9d9	2018	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2019	}
gabrieltetar	1:7e925468f9d9	2020	/////////////////////////////////STRATEGIE N°8
gabrieltetar	1:7e925468f9d9	2021	if (STRAT_8.Touched()) {
gabrieltetar	1:7e925468f9d9	2022	Strat = 7;
gabrieltetar	1:7e925468f9d9	2023	//msgTx.data[0] = 0x8;
gabrieltetar	1:7e925468f9d9	2024	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2025	while(STRAT_8.Touched());
gabrieltetar	1:7e925468f9d9	2026	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2027	}
gabrieltetar	1:7e925468f9d9	2028	/////////////////////////////////STRATEGIE N°9
gabrieltetar	1:7e925468f9d9	2029	if (STRAT_9.Touched()) {
gabrieltetar	1:7e925468f9d9	2030	Strat = 8;
gabrieltetar	1:7e925468f9d9	2031	//msgTx.data[0] = 0x9;
gabrieltetar	1:7e925468f9d9	2032	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2033	while(STRAT_9.Touched());
gabrieltetar	1:7e925468f9d9	2034	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2035	}
gabrieltetar	1:7e925468f9d9	2036	///////////////////////////////////STRATEGIE N°10
gabrieltetar	1:7e925468f9d9	2037	if (STRAT_10.Touched()) {
gabrieltetar	1:7e925468f9d9	2038	Strat = 9;
gabrieltetar	1:7e925468f9d9	2039	//msgTx.data[0] = 0xA;
gabrieltetar	1:7e925468f9d9	2040	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2041	while(STRAT_10.Touched());
gabrieltetar	1:7e925468f9d9	2042	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2043	}
gabrieltetar	1:7e925468f9d9	2044
gabrieltetar	1:7e925468f9d9	2045	}
gabrieltetar	1:7e925468f9d9	2046	return Strat;
gabrieltetar	1:7e925468f9d9	2047
gabrieltetar	1:7e925468f9d9	2048	}
gabrieltetar	1:7e925468f9d9	2049
gabrieltetar	1:7e925468f9d9	2050	void affichage_compteur (int nombre)
gabrieltetar	1:7e925468f9d9	2051	{
gabrieltetar	1:7e925468f9d9	2052	int dizaine=0,unite=0,centaine=0;
gabrieltetar	1:7e925468f9d9	2053	centaine = nombre/100;
gabrieltetar	1:7e925468f9d9	2054	dizaine = nombre/10;
gabrieltetar	1:7e925468f9d9	2055	unite = nombre-(10*dizaine);
gabrieltetar	1:7e925468f9d9	2056	print_segment(unite,-50);
gabrieltetar	1:7e925468f9d9	2057	print_segment(dizaine,100);
gabrieltetar	1:7e925468f9d9	2058	if(centaine!=0) {
gabrieltetar	1:7e925468f9d9	2059	print_segment(centaine,350);
gabrieltetar	1:7e925468f9d9	2060	}
gabrieltetar	1:7e925468f9d9	2061
gabrieltetar	1:7e925468f9d9	2062	}
gabrieltetar	1:7e925468f9d9	2063
gabrieltetar	1:7e925468f9d9	2064
gabrieltetar	1:7e925468f9d9	2065	//**print_segment*
gabrieltetar	1:7e925468f9d9	2066	//Dessine en 7 segment le nombre en parametre
gabrieltetar	1:7e925468f9d9	2067	// A
gabrieltetar	1:7e925468f9d9	2068	// =====
gabrieltetar	1:7e925468f9d9	2069	// \| \|
gabrieltetar	1:7e925468f9d9	2070	// B \| G \| E
gabrieltetar	1:7e925468f9d9	2071	// \|=====\|
gabrieltetar	1:7e925468f9d9	2072	// C \| \| F
gabrieltetar	1:7e925468f9d9	2073	// \| \|
gabrieltetar	1:7e925468f9d9	2074	// =====
gabrieltetar	1:7e925468f9d9	2075	// D
gabrieltetar	1:7e925468f9d9	2076	/*
gabrieltetar	1:7e925468f9d9	2077	position pour le chiffre des unites
gabrieltetar	1:7e925468f9d9	2078	lcd.FillRect(460,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2079	lcd.FillRect(435,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2080	lcd.FillRect(435,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2081	lcd.FillRect(460,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2082	lcd.FillRect(580,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2083	lcd.FillRect(580,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2084	lcd.FillRect(460,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2085
gabrieltetar	1:7e925468f9d9	2086	position pour le chiffre des dizaines
gabrieltetar	1:7e925468f9d9	2087	lcd.FillRect(260,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2088	lcd.FillRect(235,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2089	lcd.FillRect(235,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2090	lcd.FillRect(260,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2091	lcd.FillRect(380,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2092	lcd.FillRect(380,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2093	lcd.FillRect(260,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2094	*/
gabrieltetar	1:7e925468f9d9	2095
gabrieltetar	1:7e925468f9d9	2096	void print_segment(int nombre, int decalage)
gabrieltetar	1:7e925468f9d9	2097	{
gabrieltetar	1:7e925468f9d9	2098
gabrieltetar	1:7e925468f9d9	2099	switch(nombre) {
gabrieltetar	1:7e925468f9d9	2100	case 0:
gabrieltetar	1:7e925468f9d9	2101	lcd.FillRect(240-decalage,75,120,25);
gabrieltetar	1:7e925468f9d9	2102	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2103	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2104	lcd.FillRect(360-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2105	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2106	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2107	break;
gabrieltetar	1:7e925468f9d9	2108
gabrieltetar	1:7e925468f9d9	2109	case 1:
gabrieltetar	1:7e925468f9d9	2110	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2111	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2112	break;
gabrieltetar	1:7e925468f9d9	2113
gabrieltetar	1:7e925468f9d9	2114	case 2:
gabrieltetar	1:7e925468f9d9	2115	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2116	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2117	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2118	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2119	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2120	break;
gabrieltetar	1:7e925468f9d9	2121
gabrieltetar	1:7e925468f9d9	2122	case 3:
gabrieltetar	1:7e925468f9d9	2123	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2124	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2125	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2126	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2127	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2128	break;
gabrieltetar	1:7e925468f9d9	2129
gabrieltetar	1:7e925468f9d9	2130	case 4:
gabrieltetar	1:7e925468f9d9	2131	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2132	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2133	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2134	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2135	break;
gabrieltetar	1:7e925468f9d9	2136
gabrieltetar	1:7e925468f9d9	2137	case 5:
gabrieltetar	1:7e925468f9d9	2138	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2139	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2140	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2141	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2142	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2143	break;
gabrieltetar	1:7e925468f9d9	2144
gabrieltetar	1:7e925468f9d9	2145	case 6:
gabrieltetar	1:7e925468f9d9	2146	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2147	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2148	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2149	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2150	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2151	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2152	break;
gabrieltetar	1:7e925468f9d9	2153
gabrieltetar	1:7e925468f9d9	2154	case 7:
gabrieltetar	1:7e925468f9d9	2155	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2156	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2157	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2158	break;
gabrieltetar	1:7e925468f9d9	2159
gabrieltetar	1:7e925468f9d9	2160	case 8:
gabrieltetar	1:7e925468f9d9	2161	lcd.FillRect(240-decalage,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2162	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2163	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2164	lcd.FillRect(360-decalage,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2165	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2166	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2167	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2168	break;
gabrieltetar	1:7e925468f9d9	2169
gabrieltetar	1:7e925468f9d9	2170	case 9:
gabrieltetar	1:7e925468f9d9	2171	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2172	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2173	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2174	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2175	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2176	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2177	break;
gabrieltetar	1:7e925468f9d9	2178	}
gabrieltetar	1:7e925468f9d9	2179	}
gabrieltetar	1:7e925468f9d9	2180
gabrieltetar	1:7e925468f9d9	2181	void effacer_segment(long couleur)
gabrieltetar	1:7e925468f9d9	2182	{
gabrieltetar	1:7e925468f9d9	2183	lcd.SetTextColor(couleur);
gabrieltetar	1:7e925468f9d9	2184	lcd.FillRect(240-200,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2185	lcd.FillRect(215-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2186	lcd.FillRect(215-200,245,25,120);
gabrieltetar	1:7e925468f9d9	2187	lcd.FillRect(360-200,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2188	lcd.FillRect(360-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2189	lcd.FillRect(240-200,365,120,25);
gabrieltetar	1:7e925468f9d9	2190	lcd.FillRect(240-200,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2191
gabrieltetar	1:7e925468f9d9	2192	lcd.FillRect(240,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2193	lcd.FillRect(215,100,25,120);
gabrieltetar	1:7e925468f9d9	2194	lcd.FillRect(215,245,25,120);
gabrieltetar	1:7e925468f9d9	2195	lcd.FillRect(360,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2196	lcd.FillRect(360,100,25,120);
gabrieltetar	1:7e925468f9d9	2197	lcd.FillRect(240,365,120,25);
gabrieltetar	1:7e925468f9d9	2198	lcd.FillRect(240,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2199	}
gabrieltetar	1:7e925468f9d9	2200
gabrieltetar	1:7e925468f9d9	2201	short recalageAngulaireCapteur(void)
gabrieltetar	1:7e925468f9d9	2202	{
gabrieltetar	1:7e925468f9d9	2203	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2204	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2205	unsigned short angleAvant = 0;
gabrieltetar	1:7e925468f9d9	2206	unsigned short angleArriere = 0;
gabrieltetar	1:7e925468f9d9	2207	unsigned short orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2208
gabrieltetar	1:7e925468f9d9	2209	unsigned short position_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	2210	unsigned short position_avant_droite=0;
gabrieltetar	1:7e925468f9d9	2211	unsigned short position_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	2212	unsigned short position_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	2213
gabrieltetar	1:7e925468f9d9	2214	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2215	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2216	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2217
gabrieltetar	1:7e925468f9d9	2218
gabrieltetar	1:7e925468f9d9	2219
gabrieltetar	1:7e925468f9d9	2220	if(theta_robot >= 450 && theta_robot <= 1350)
gabrieltetar	1:7e925468f9d9	2221	orientationArrondie = 90;
gabrieltetar	1:7e925468f9d9	2222	else if(theta_robot <= -450 && theta_robot >= -1350)
gabrieltetar	1:7e925468f9d9	2223	orientationArrondie = 270;
gabrieltetar	1:7e925468f9d9	2224	else if(theta_robot <= 450 && theta_robot >= -450)
gabrieltetar	1:7e925468f9d9	2225	orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2226	else if(theta_robot >= 1350 && theta_robot <= -1350)
gabrieltetar	1:7e925468f9d9	2227	orientationArrondie = 180;
gabrieltetar	1:7e925468f9d9	2228
gabrieltetar	1:7e925468f9d9	2229	// Calcul de position pour faire la vérification de cohérence
gabrieltetar	1:7e925468f9d9	2230	if(orientationArrondie == 90 \|\| orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2231	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	2232	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	2233	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	2234	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	2235
gabrieltetar	1:7e925468f9d9	2236	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2237	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	2238	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	2239	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	2240	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	2241	}
gabrieltetar	1:7e925468f9d9	2242
gabrieltetar	1:7e925468f9d9	2243
gabrieltetar	1:7e925468f9d9	2244	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2245	if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2246	if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2247	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2248	angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double)ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2249	else
gabrieltetar	1:7e925468f9d9	2250	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2251
gabrieltetar	1:7e925468f9d9	2252	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2253	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2254	}
gabrieltetar	1:7e925468f9d9	2255	}
gabrieltetar	1:7e925468f9d9	2256	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2257	if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2258	if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2259	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2260	angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2261	else
gabrieltetar	1:7e925468f9d9	2262	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2263
gabrieltetar	1:7e925468f9d9	2264	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2265	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2266	}
gabrieltetar	1:7e925468f9d9	2267	}
gabrieltetar	1:7e925468f9d9	2268	}
gabrieltetar	1:7e925468f9d9	2269
gabrieltetar	1:7e925468f9d9	2270	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2271	if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2272	if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2273	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2274	angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2275	else
gabrieltetar	1:7e925468f9d9	2276	angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2277
gabrieltetar	1:7e925468f9d9	2278	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2279	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2280	}
gabrieltetar	1:7e925468f9d9	2281	}
gabrieltetar	1:7e925468f9d9	2282	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2283	if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2284	if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2285	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2286	angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2287	else
gabrieltetar	1:7e925468f9d9	2288	angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2289
gabrieltetar	1:7e925468f9d9	2290	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2291	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2292	}
gabrieltetar	1:7e925468f9d9	2293	}
gabrieltetar	1:7e925468f9d9	2294	}
gabrieltetar	1:7e925468f9d9	2295
gabrieltetar	1:7e925468f9d9	2296	angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2297
gabrieltetar	1:7e925468f9d9	2298	if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) {
gabrieltetar	1:7e925468f9d9	2299	if(orientationArrondie == 0) {
gabrieltetar	1:7e925468f9d9	2300	angleRecalage -= 900;
gabrieltetar	1:7e925468f9d9	2301
gabrieltetar	1:7e925468f9d9	2302	/*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2303	distanceRecalage = *);
gabrieltetar	1:7e925468f9d9	2304	else
gabrieltetar	1:7e925468f9d9	2305	distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
gabrieltetar	1:7e925468f9d9	2306	} else if(orientationArrondie == 90) {
gabrieltetar	1:7e925468f9d9	2307	angleRecalage += 0;
gabrieltetar	1:7e925468f9d9	2308	} else if(orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2309	angleRecalage += 900;
gabrieltetar	1:7e925468f9d9	2310	} else if(orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2311	angleRecalage += 1800;
gabrieltetar	1:7e925468f9d9	2312	}
gabrieltetar	1:7e925468f9d9	2313	}
gabrieltetar	1:7e925468f9d9	2314
gabrieltetar	1:7e925468f9d9	2315	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
gabrieltetar	1:7e925468f9d9	2316	}
gabrieltetar	1:7e925468f9d9	2317
gabrieltetar	1:7e925468f9d9	2318	short recalageDistanceX(void)
gabrieltetar	1:7e925468f9d9	2319	{
gabrieltetar	1:7e925468f9d9	2320	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2321	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2322
gabrieltetar	1:7e925468f9d9	2323	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2324	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2325	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2326
gabrieltetar	1:7e925468f9d9	2327	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	2328	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	2329	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	2330	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	2331
gabrieltetar	1:7e925468f9d9	2332	if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2333	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2334	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2335	}
gabrieltetar	1:7e925468f9d9	2336	if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2337	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2338	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2339	}
gabrieltetar	1:7e925468f9d9	2340	if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2341	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2342	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2343	}
gabrieltetar	1:7e925468f9d9	2344	if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2345	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2346	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2347	}
gabrieltetar	1:7e925468f9d9	2348
gabrieltetar	1:7e925468f9d9	2349	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2350
gabrieltetar	1:7e925468f9d9	2351	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	2352	}
gabrieltetar	1:7e925468f9d9	2353
gabrieltetar	1:7e925468f9d9	2354	short recalageDistanceY(void)
gabrieltetar	1:7e925468f9d9	2355	{
gabrieltetar	1:7e925468f9d9	2356	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2357	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2358
gabrieltetar	1:7e925468f9d9	2359	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2360	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2361	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2362
gabrieltetar	1:7e925468f9d9	2363	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	2364	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	2365	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	2366	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	2367
gabrieltetar	1:7e925468f9d9	2368	if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2369	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2370	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2371	}
gabrieltetar	1:7e925468f9d9	2372	if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2373	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2374	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2375	}
gabrieltetar	1:7e925468f9d9	2376	if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2377	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2378	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2379	}
gabrieltetar	1:7e925468f9d9	2380	if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2381	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2382	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2383	}
gabrieltetar	1:7e925468f9d9	2384
gabrieltetar	1:7e925468f9d9	2385	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2386
gabrieltetar	1:7e925468f9d9	2387	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
gabrieltetar	1:7e925468f9d9	2388	}
gabrieltetar	1:7e925468f9d9	2389

Repository toolbox

Export to desktop IDE

Build repository

Repository details

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@1:7e925468f9d9, 2020-01-30 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning