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

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CRAC Team / Mbed 2 deprecated code_carte_IHM_sans_bug

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

Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait

Strategie/Strategie.cpp@19:e70b9d4a319c, 2020-05-25 (annotated)

Committer:: gabrieltetar
Date:: Mon May 25 18:25:20 2020 +0000
Revision:: 19:e70b9d4a319c
Parent:: 18:746bc235199d
Child:: 20:2f0b1c48a35f

correctif precedent publish + suppression affichage_debug

Who changed what in which revision?

User	Revision	Line number	New contents of line
gabrieltetar	1:7e925468f9d9	1	#include "global.h"
gabrieltetar	1:7e925468f9d9	2	#include <string.h>
gabrieltetar	1:7e925468f9d9	3	#include <sstream>
gabrieltetar	1:7e925468f9d9	4	#include <math.h>
gabrieltetar	1:7e925468f9d9	5	#include <vector>
gabrieltetar	1:7e925468f9d9	6
gabrieltetar	1:7e925468f9d9	7
gabrieltetar	1:7e925468f9d9	8	#define M_PI 3.14159265358979323846
gabrieltetar	1:7e925468f9d9	9	#define VERT 0xFF00FF00
gabrieltetar	1:7e925468f9d9	10	#define ROUGE 0xFFFF0000
gabrieltetar	1:7e925468f9d9	11	#define BLEU 0xFF0000FF
gabrieltetar	1:7e925468f9d9	12	#define JAUNE 0xFFFDD835//FEFE00
gabrieltetar	1:7e925468f9d9	13	#define BLANC 0xFF000000
gabrieltetar	1:7e925468f9d9	14	#define ORANGE 0xFFFFA500
gabrieltetar	1:7e925468f9d9	15	#define NOIR 0xFF000000
gabrieltetar	1:7e925468f9d9	16	#define DIY_GREY 0xFFDFDFDF
gabrieltetar	1:7e925468f9d9	17	#define VIOLET 0xFF4527A0
gabrieltetar	1:7e925468f9d9	18
gabrieltetar	1:7e925468f9d9	19	char tableau_aff[10][50];
gabrieltetar	1:7e925468f9d9	20	char tableau_etat[22][50]= {
gabrieltetar	1:7e925468f9d9	21	"Check_carte_screen",
gabrieltetar	1:7e925468f9d9	22	"Check_carte_screen_wait_ack",
gabrieltetar	1:7e925468f9d9	23	"Check_cartes",
gabrieltetar	1:7e925468f9d9	24	"Check_cartes_wait_ack",
gabrieltetar	1:7e925468f9d9	25	"Wait_force",
gabrieltetar	1:7e925468f9d9	26	"Config",
gabrieltetar	1:7e925468f9d9	27	"Game_init",
gabrieltetar	1:7e925468f9d9	28	"Game_wait_for_jack",
gabrieltetar	1:7e925468f9d9	29	"Game_start",
gabrieltetar	1:7e925468f9d9	30	"Game_next_instruction",
gabrieltetar	1:7e925468f9d9	31	"Game_instruction",
gabrieltetar	1:7e925468f9d9	32	"Game_wait_ack",
gabrieltetar	1:7e925468f9d9	33	"Game_jump_time",
gabrieltetar	1:7e925468f9d9	34	"Game_jump_config",
gabrieltetar	1:7e925468f9d9	35	"Game_jump_position",
gabrieltetar	1:7e925468f9d9	36	"Game_wait_end_instruction",
gabrieltetar	1:7e925468f9d9	37	"Warning_timeout",
gabrieltetar	1:7e925468f9d9	38	"Waring_end_balise_wait",
gabrieltetar	1:7e925468f9d9	39	"Warning_end_last_instruction",
gabrieltetar	1:7e925468f9d9	40	"Warning_switch_strategie",
gabrieltetar	1:7e925468f9d9	41	"End",
gabrieltetar	1:7e925468f9d9	42	"End_loop",
gabrieltetar	1:7e925468f9d9	43	};
gabrieltetar	1:7e925468f9d9	44
gabrieltetar	1:7e925468f9d9	45	int waitingAckID_FIN;
gabrieltetar	1:7e925468f9d9	46	int waitingAckFrom_FIN;
gabrieltetar	1:7e925468f9d9	47
gabrieltetar	1:7e925468f9d9	48	Ticker ticker;
gabrieltetar	1:7e925468f9d9	49	TS_DISCO_F469NI ts;
gabrieltetar	1:7e925468f9d9	50	LCD_DISCO_F469NI lcd;
gabrieltetar	1:7e925468f9d9	51
gabrieltetar	1:7e925468f9d9	52	TS_StateTypeDef TS_State;
gabrieltetar	1:7e925468f9d9	53
gabrieltetar	1:7e925468f9d9	54	Ticker chrono;
gabrieltetar	1:7e925468f9d9	55	Timeout AffTime;
gabrieltetar	1:7e925468f9d9	56	Timer timer;
gabrieltetar	1:7e925468f9d9	57	Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
gabrieltetar	1:7e925468f9d9	58	Timer gameTimer;
gabrieltetar	1:7e925468f9d9	59	Timer debugetatTimer;
gabrieltetar	1:7e925468f9d9	60	Timer timeoutWarning;
gabrieltetar	1:7e925468f9d9	61	Timer timeoutWarningWaitEnd;
gabrieltetar	1:7e925468f9d9	62	Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
gabrieltetar	1:7e925468f9d9	63
gabrieltetar	1:7e925468f9d9	64	unsigned char screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	65	unsigned char test[32] = {32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32};
gabrieltetar	1:7e925468f9d9	66
gabrieltetar	1:7e925468f9d9	67	char counter = 0;
gabrieltetar	1:7e925468f9d9	68	char check;
gabrieltetar	1:7e925468f9d9	69	char Jack = 1;
gabrieltetar	1:7e925468f9d9	70	short SCORE_GLOBAL=0;
gabrieltetar	1:7e925468f9d9	71	short SCORE_GR=0;
gabrieltetar	1:7e925468f9d9	72	short SCORE_PR=0;
gabrieltetar	14:6aa8aa1699ad	73	unsigned short distance_recalage;
gabrieltetar	14:6aa8aa1699ad	74	unsigned short distance_revenir;
gabrieltetar	1:7e925468f9d9	75
gabrieltetar	14:6aa8aa1699ad	76	unsigned short x;
gabrieltetar	14:6aa8aa1699ad	77	unsigned short y;
gabrieltetar	14:6aa8aa1699ad	78	unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
gabrieltetar	1:7e925468f9d9	79	int flag = 0, flag_strat = 0, flag_timer;
gabrieltetar	1:7e925468f9d9	80	int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	81	char Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	82	signed char Strat = 0;
gabrieltetar	1:7e925468f9d9	83	signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
gabrieltetar	1:7e925468f9d9	84
gabrieltetar	1:7e925468f9d9	85	signed short x_robot,y_robot,theta_robot;//La position du robot
gabrieltetar	1:7e925468f9d9	86	signed short target_x_robot, target_y_robot, target_theta_robot;
gabrieltetar	1:7e925468f9d9	87	E_InstructionType actionPrecedente;
gabrieltetar	1:7e925468f9d9	88	//unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
gabrieltetar	1:7e925468f9d9	89	int flagSendCan=1;
gabrieltetar	1:7e925468f9d9	90	unsigned char Cote = 0; //0 -> JAUNE \| 1 -> VIOLET
gabrieltetar	1:7e925468f9d9	91	unsigned short angleRecalage = 0;
gabrieltetar	1:7e925468f9d9	92	unsigned char checkCurrent = 0;
gabrieltetar	1:7e925468f9d9	93	unsigned char countAliveCard = 0;
gabrieltetar	1:7e925468f9d9	94	unsigned char ligne=0;
gabrieltetar	1:7e925468f9d9	95
gabrieltetar	1:7e925468f9d9	96
gabrieltetar	1:7e925468f9d9	97	int Fevitement=0;
gabrieltetar	1:7e925468f9d9	98	int EvitEtat= 0;
gabrieltetar	1:7e925468f9d9	99	int stop_evitement=0;
gabrieltetar	1:7e925468f9d9	100
gabrieltetar	1:7e925468f9d9	101
gabrieltetar	1:7e925468f9d9	102
gabrieltetar	1:7e925468f9d9	103
gabrieltetar	1:7e925468f9d9	104
gabrieltetar	19:e70b9d4a319c	105	signed char nbStrat = 0; //N° de la strategie (1-10)
gabrieltetar	1:7e925468f9d9	106
gabrieltetar	1:7e925468f9d9	107	unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
gabrieltetar	1:7e925468f9d9	108
gabrieltetar	1:7e925468f9d9	109	unsigned char countRobotNear = 0;//Le nombre de robot à proximité
gabrieltetar	1:7e925468f9d9	110
gabrieltetar	1:7e925468f9d9	111	unsigned char ingnorBaliseOnce = 0;//une fois détecté réinitialise
gabrieltetar	1:7e925468f9d9	112	unsigned char ingnorBalise = 0;//0:balise ignore 1:on ecoute la balise
gabrieltetar	1:7e925468f9d9	113	short direction;
gabrieltetar	1:7e925468f9d9	114
gabrieltetar	1:7e925468f9d9	115	unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
gabrieltetar	1:7e925468f9d9	116
gabrieltetar	1:7e925468f9d9	117	struct S_Instruction instruction;
gabrieltetar	1:7e925468f9d9	118	struct S_Dodge_queue dodgeq;
gabrieltetar	1:7e925468f9d9	119
gabrieltetar	1:7e925468f9d9	120	char couleur1, couleur2, couleur3;
gabrieltetar	1:7e925468f9d9	121	float cptf;
gabrieltetar	1:7e925468f9d9	122	int cpt,cpt1;
gabrieltetar	1:7e925468f9d9	123
gabrieltetar	14:6aa8aa1699ad	124	typedef enum {INIT, ATT, CHOIX, DEMO, TEST_MOTEUR, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, TEST_ELECTROV,TEST_AUD, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
gabrieltetar	1:7e925468f9d9	125	T_etat etat = INIT;
gabrieltetar	1:7e925468f9d9	126	E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	127	E_stratGameEtat memGameEtat= gameEtat;
gabrieltetar	1:7e925468f9d9	128	E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	129	E_Stratposdebut etat_pos=RECALAGE_1;
gabrieltetar	1:7e925468f9d9	130
gabrieltetar	1:7e925468f9d9	131	/////////////////DEFINITION DES BOUTONS////////////////////
gabrieltetar	1:7e925468f9d9	132	Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
gabrieltetar	1:7e925468f9d9	133	Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
gabrieltetar	1:7e925468f9d9	134	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	135	Button LANCER (0, 200, 400, 200, "--LANCER--");
gabrieltetar	1:7e925468f9d9	136	Button CHECK (0, 420, 400, 200, "Valider");
gabrieltetar	1:7e925468f9d9	137	Button MATCH (0, 50, 400, 320, "Match");
gabrieltetar	1:7e925468f9d9	138	Button DEMONSTRATION (0, 400, 400, 320, "Demo");
gabrieltetar	10:1964bb91b925	139	//menu demo
gabrieltetar	7:44eec996a76e	140	Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
gabrieltetar	14:6aa8aa1699ad	141	Button TEST_MOT(0, 135, 400, 100, "Test moteur");
gabrieltetar	7:44eec996a76e	142	Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
gabrieltetar	7:44eec996a76e	143	Button TEST_BRAS(0,355,400,100,"Test Bras");
gabrieltetar	10:1964bb91b925	144	Button TEST_AUDIO(0,465,400,100,"Test Audio");
gabrieltetar	14:6aa8aa1699ad	145	Button TEST_ELECTRV(0,575,400,100,"Test Divers");
gabrieltetar	10:1964bb91b925	146	//menu demo/demo/
gabrieltetar	10:1964bb91b925	147	Button TEST_A(0,25,195,100,"A");
gabrieltetar	10:1964bb91b925	148	Button TEST_B(205,25,195,100,"B");
gabrieltetar	10:1964bb91b925	149	Button TEST_C(0,135,195,100,"C");
gabrieltetar	10:1964bb91b925	150	Button TEST_D(205,135,195,100,"D");
gabrieltetar	10:1964bb91b925	151	Button TEST_NUM(0,245,400,100,"Bras num");
gabrieltetar	10:1964bb91b925	152	Button TEST_PLUS(205,355,195,100,"+");
gabrieltetar	10:1964bb91b925	153	Button TEST_MOINS(0,355,195,100,"-");
gabrieltetar	7:44eec996a76e	154
gabrieltetar	7:44eec996a76e	155
gabrieltetar	1:7e925468f9d9	156	Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
gabrieltetar	1:7e925468f9d9	157	Button SUIVANT(0,380,200,100,"Suivant");
gabrieltetar	1:7e925468f9d9	158	////////////////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	159
gabrieltetar	1:7e925468f9d9	160	void SendRawId (unsigned short id);
gabrieltetar	1:7e925468f9d9	161	void SelectionStrat (unsigned char numeroStrat);
gabrieltetar	1:7e925468f9d9	162	void Setflag(void);
gabrieltetar	1:7e925468f9d9	163	void can2Rx_ISR(void);
gabrieltetar	1:7e925468f9d9	164	signed char Bouton_Strat (void);
gabrieltetar	1:7e925468f9d9	165	signed char blocage_balise;
gabrieltetar	1:7e925468f9d9	166	void print_segment(int nombre, int decalage);
gabrieltetar	1:7e925468f9d9	167	void affichage_compteur (int nombre);
gabrieltetar	1:7e925468f9d9	168	void effacer_segment(long couleur);
gabrieltetar	14:6aa8aa1699ad	169	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2);
gabrieltetar	1:7e925468f9d9	170	unsigned short telemetreDistance=0;
gabrieltetar	1:7e925468f9d9	171	unsigned short telemetreDistance_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	172	unsigned short telemetreDistance_avant_droite=0;
gabrieltetar	1:7e925468f9d9	173	unsigned short telemetreDistance_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	174	unsigned short telemetreDistance_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	175
gabrieltetar	1:7e925468f9d9	176	unsigned char DT_AVD_interrupt=0;
gabrieltetar	1:7e925468f9d9	177	unsigned char DT_AVG_interrupt=0;
gabrieltetar	1:7e925468f9d9	178	unsigned char DT_ARD_interrupt=0;
gabrieltetar	1:7e925468f9d9	179	unsigned char DT_ARG_interrupt=0;
gabrieltetar	1:7e925468f9d9	180
gabrieltetar	1:7e925468f9d9	181
gabrieltetar	1:7e925468f9d9	182
gabrieltetar	1:7e925468f9d9	183	unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
gabrieltetar	1:7e925468f9d9	184	unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
gabrieltetar	1:7e925468f9d9	185	InterruptIn jack(PG_11); // entrée numerique en interruption pour le jack
gabrieltetar	1:7e925468f9d9	186
gabrieltetar	1:7e925468f9d9	187
gabrieltetar	1:7e925468f9d9	188
gabrieltetar	1:7e925468f9d9	189
gabrieltetar	1:7e925468f9d9	190
gabrieltetar	1:7e925468f9d9	191
gabrieltetar	1:7e925468f9d9	192	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	193	/* FUNCTION NAME: chronometre_ISR */
gabrieltetar	1:7e925468f9d9	194	/* DESCRIPTION : Interruption à la fin des 90s du match */
gabrieltetar	1:7e925468f9d9	195	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	196	void chronometre_ISR (void)
gabrieltetar	1:7e925468f9d9	197	{
gabrieltetar	1:7e925468f9d9	198	SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
gabrieltetar	1:7e925468f9d9	199	SendRawId(GLOBAL_GAME_END);//Indication fin de match
gabrieltetar	1:7e925468f9d9	200	etat=FIN;
gabrieltetar	1:7e925468f9d9	201	gameTimer.stop();//Arret du timer
gabrieltetar	1:7e925468f9d9	202
gabrieltetar	1:7e925468f9d9	203	while(1);//On bloque la programme dans l'interruption
gabrieltetar	1:7e925468f9d9	204	}
gabrieltetar	1:7e925468f9d9	205
gabrieltetar	1:7e925468f9d9	206
gabrieltetar	1:7e925468f9d9	207
gabrieltetar	1:7e925468f9d9	208	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	209	/* FUNCTION NAME: jack_ISR */
gabrieltetar	1:7e925468f9d9	210	/* DESCRIPTION : Interruption en changement d'état sur le Jack */
gabrieltetar	1:7e925468f9d9	211	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	212	void jack_ISR (void)
gabrieltetar	1:7e925468f9d9	213	{
gabrieltetar	1:7e925468f9d9	214	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	215	gameEtat = ETAT_GAME_START;//On débute le match
gabrieltetar	14:6aa8aa1699ad	216	etat=COMPTEUR;
gabrieltetar	1:7e925468f9d9	217	blocage_balise=1;
gabrieltetar	1:7e925468f9d9	218	}
gabrieltetar	1:7e925468f9d9	219	}
gabrieltetar	1:7e925468f9d9	220
gabrieltetar	1:7e925468f9d9	221	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	222	/* FUNCTION NAME: SelectionStrat */
gabrieltetar	1:7e925468f9d9	223	/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
gabrieltetar	1:7e925468f9d9	224	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	225
gabrieltetar	1:7e925468f9d9	226
gabrieltetar	1:7e925468f9d9	227	void SelectionStrat (unsigned char Strategie)
gabrieltetar	1:7e925468f9d9	228	{
gabrieltetar	1:7e925468f9d9	229	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	230	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	231
gabrieltetar	1:7e925468f9d9	232	switch (Strategie+1) {
gabrieltetar	1:7e925468f9d9	233	case 0x1 :
gabrieltetar	1:7e925468f9d9	234	//description de Strategie n°1
gabrieltetar	1:7e925468f9d9	235	lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	236	break;
gabrieltetar	1:7e925468f9d9	237
gabrieltetar	1:7e925468f9d9	238	case 0x2 :
gabrieltetar	1:7e925468f9d9	239	//description de Strategie n°2
gabrieltetar	1:7e925468f9d9	240	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	241	break;
gabrieltetar	1:7e925468f9d9	242
gabrieltetar	1:7e925468f9d9	243	case 0x3 :
gabrieltetar	1:7e925468f9d9	244	//description de Strategie n°3
gabrieltetar	1:7e925468f9d9	245	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	246	break;
gabrieltetar	1:7e925468f9d9	247
gabrieltetar	1:7e925468f9d9	248	case 0x4 :
gabrieltetar	1:7e925468f9d9	249	//description de Strategie n°4
gabrieltetar	1:7e925468f9d9	250	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	251	break;
gabrieltetar	1:7e925468f9d9	252
gabrieltetar	1:7e925468f9d9	253	case 0x5 :
gabrieltetar	1:7e925468f9d9	254	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	255	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	256	break;
gabrieltetar	1:7e925468f9d9	257
gabrieltetar	1:7e925468f9d9	258	case 0x6 :
gabrieltetar	1:7e925468f9d9	259	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	260	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	261	break;
gabrieltetar	1:7e925468f9d9	262
gabrieltetar	1:7e925468f9d9	263	case 0x7 :
gabrieltetar	1:7e925468f9d9	264	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	265	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	266	break;
gabrieltetar	1:7e925468f9d9	267
gabrieltetar	1:7e925468f9d9	268	case 0x8 :
gabrieltetar	1:7e925468f9d9	269	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	270	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	271	break;
gabrieltetar	1:7e925468f9d9	272
gabrieltetar	1:7e925468f9d9	273	case 0x9 :
gabrieltetar	1:7e925468f9d9	274	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	275	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	276	break;
gabrieltetar	1:7e925468f9d9	277
gabrieltetar	1:7e925468f9d9	278	case 0xA :
gabrieltetar	1:7e925468f9d9	279	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	280	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	281	break;
gabrieltetar	1:7e925468f9d9	282	}
gabrieltetar	1:7e925468f9d9	283	}
gabrieltetar	1:7e925468f9d9	284
gabrieltetar	1:7e925468f9d9	285	void Setflag(void)
gabrieltetar	1:7e925468f9d9	286	{
gabrieltetar	10:1964bb91b925	287	flagSendCan = 1;//gab le zgeg
gabrieltetar	1:7e925468f9d9	288	}
gabrieltetar	1:7e925468f9d9	289
gabrieltetar	1:7e925468f9d9	290
gabrieltetar	1:7e925468f9d9	291	//Affiche une variable sur l'écran tactile//
gabrieltetar	1:7e925468f9d9	292	void affichage_var(double Var)
gabrieltetar	1:7e925468f9d9	293	{
gabrieltetar	1:7e925468f9d9	294	if(ligne==7)
gabrieltetar	1:7e925468f9d9	295	ligne=0;
gabrieltetar	1:7e925468f9d9	296	char aff[10]="toto";
gabrieltetar	1:7e925468f9d9	297	sprintf(aff,"%lf ",Var);
gabrieltetar	1:7e925468f9d9	298	lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	299	//ligne++;
gabrieltetar	1:7e925468f9d9	300
gabrieltetar	1:7e925468f9d9	301	}
gabrieltetar	1:7e925468f9d9	302
gabrieltetar	1:7e925468f9d9	303
gabrieltetar	1:7e925468f9d9	304
gabrieltetar	1:7e925468f9d9	305	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	306	/* FUNCTION NAME: automate_etat_ihm */
gabrieltetar	1:7e925468f9d9	307	/* DESCRIPTION : Automate de gestion de l'affichage */
gabrieltetar	1:7e925468f9d9	308	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	309	void automate_etat_ihm(void)
gabrieltetar	1:7e925468f9d9	310	{
gabrieltetar	10:1964bb91b925	311	char toto[2];
gabrieltetar	1:7e925468f9d9	312	int j;
gabrieltetar	10:1964bb91b925	313	unsigned char maximilien=1;
gabrieltetar	1:7e925468f9d9	314	if (j==0) {
gabrieltetar	1:7e925468f9d9	315	ts.Init(lcd.GetXSize(), lcd.GetYSize());
gabrieltetar	1:7e925468f9d9	316	j++;
gabrieltetar	1:7e925468f9d9	317	}
gabrieltetar	1:7e925468f9d9	318	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	319	switch (etat) {
gabrieltetar	1:7e925468f9d9	320	case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
gabrieltetar	1:7e925468f9d9	321	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	322	canProcessRx();
gabrieltetar	1:7e925468f9d9	323	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	324	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	325	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	326	wait(0.15);
gabrieltetar	1:7e925468f9d9	327	lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	328	//cartes non verifiées////////////////
gabrieltetar	1:7e925468f9d9	329	lcd.SetTextColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	330	lcd.FillRect(0,400,400,150); //carte moteur
gabrieltetar	1:7e925468f9d9	331	lcd.FillRect(0,600,400,150); //Balise
gabrieltetar	1:7e925468f9d9	332	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	333	lcd.SetBackColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	334	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	335	lcd.DisplayStringAt(110,650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	336	////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	337	FORCE_LAUNCH.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	338
gabrieltetar	1:7e925468f9d9	339	etat=ATT;
gabrieltetar	1:7e925468f9d9	340	break;
gabrieltetar	1:7e925468f9d9	341
gabrieltetar	1:7e925468f9d9	342	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	343	if (flag==1) {
gabrieltetar	1:7e925468f9d9	344	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	345	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	346	} else if (FORCE_LAUNCH.Touched()) {
gabrieltetar	1:7e925468f9d9	347	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	348	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	349	while(FORCE_LAUNCH.Touched());
gabrieltetar	1:7e925468f9d9	350	}
gabrieltetar	1:7e925468f9d9	351
gabrieltetar	1:7e925468f9d9	352	break;
gabrieltetar	1:7e925468f9d9	353
gabrieltetar	1:7e925468f9d9	354
gabrieltetar	1:7e925468f9d9	355	case CHOIX : //Match ou DEMO
gabrieltetar	1:7e925468f9d9	356	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	357	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	358	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	359	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	360	DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
gabrieltetar	1:7e925468f9d9	361	MATCH.Draw(0xFFF01010, 0);
gabrieltetar	1:7e925468f9d9	362	while(etat == CHOIX) {
gabrieltetar	1:7e925468f9d9	363	canProcessRx();
gabrieltetar	1:7e925468f9d9	364	if(DEMONSTRATION.Touched()) {
gabrieltetar	1:7e925468f9d9	365	etat = DEMO;
gabrieltetar	1:7e925468f9d9	366	while(DEMONSTRATION.Touched());
gabrieltetar	1:7e925468f9d9	367	}
gabrieltetar	1:7e925468f9d9	368
gabrieltetar	1:7e925468f9d9	369	if(MATCH.Touched()) {
gabrieltetar	1:7e925468f9d9	370	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	371	while(MATCH.Touched());
gabrieltetar	1:7e925468f9d9	372	}
gabrieltetar	1:7e925468f9d9	373
gabrieltetar	1:7e925468f9d9	374	}
gabrieltetar	1:7e925468f9d9	375	break;
gabrieltetar	1:7e925468f9d9	376
gabrieltetar	1:7e925468f9d9	377	case DEMO :
gabrieltetar	10:1964bb91b925	378	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	379	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	7:44eec996a76e	380	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	381	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	382	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	7:44eec996a76e	383	TEST_VENT.Draw(VERT, 0);
gabrieltetar	14:6aa8aa1699ad	384	TEST_MOT.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	385	TEST_COUL.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	386	TEST_BRAS.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	387	TEST_AUDIO.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	388	TEST_ELECTRV.Draw(VERT, 0);
gabrieltetar	14:6aa8aa1699ad	389	maximilien=0;
gabrieltetar	7:44eec996a76e	390	while (etat == DEMO) {
gabrieltetar	1:7e925468f9d9	391	canProcessRx();
gabrieltetar	7:44eec996a76e	392	if(TEST_VENT.Touched()) {
gabrieltetar	7:44eec996a76e	393	while(TEST_VENT.Touched());
gabrieltetar	7:44eec996a76e	394	etat = TEST_VENTOUSE;
gabrieltetar	14:6aa8aa1699ad	395	} else if(TEST_MOT.Touched()) {
gabrieltetar	14:6aa8aa1699ad	396	while(TEST_MOT.Touched());
gabrieltetar	14:6aa8aa1699ad	397	etat = TEST_MOTEUR;
gabrieltetar	10:1964bb91b925	398	} else if(TEST_ELECTRV.Touched()) {
gabrieltetar	10:1964bb91b925	399	while(TEST_ELECTRV.Touched());
gabrieltetar	10:1964bb91b925	400	etat = TEST_ELECTROV;
gabrieltetar	7:44eec996a76e	401	} else if (TEST_COUL.Touched()) {
gabrieltetar	7:44eec996a76e	402	while(TEST_COUL.Touched());
gabrieltetar	7:44eec996a76e	403	etat =TEST_COULEUR ;
gabrieltetar	7:44eec996a76e	404	} else if (TEST_BRAS.Touched()) {
gabrieltetar	7:44eec996a76e	405	while(TEST_BRAS.Touched());
gabrieltetar	7:44eec996a76e	406	etat =TEST_SERVO_BRAS ;
gabrieltetar	10:1964bb91b925	407	} else if(TEST_AUDIO.Touched()) {
gabrieltetar	10:1964bb91b925	408	while(TEST_AUDIO.Touched());
gabrieltetar	14:6aa8aa1699ad	409	etat=TEST_AUD;
gabrieltetar	7:44eec996a76e	410	} else if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	411	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	412	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	413	}
gabrieltetar	1:7e925468f9d9	414	}
gabrieltetar	1:7e925468f9d9	415	break;
gabrieltetar	1:7e925468f9d9	416
gabrieltetar	1:7e925468f9d9	417
gabrieltetar	10:1964bb91b925	418	case TEST_VENTOUSE:
gabrieltetar	10:1964bb91b925	419	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	420	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	421	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	422	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	423	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
gabrieltetar	10:1964bb91b925	424	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	425	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	426	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	427	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	428	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	429	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	430	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	11:848ea39838bf	431	while(etat==TEST_VENTOUSE) {
gabrieltetar	7:44eec996a76e	432	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	433	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	434	etat=DEMO;
gabrieltetar	10:1964bb91b925	435	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	436	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	437	//SendRawId(TEST_VENT_A);
gabrieltetar	10:1964bb91b925	438	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	439	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	440	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	441	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	442	switch(maximilien){
gabrieltetar	10:1964bb91b925	443	case 1:
gabrieltetar	14:6aa8aa1699ad	444	//SendRawId(TEST_VENT_1);
gabrieltetar	10:1964bb91b925	445	break;
gabrieltetar	10:1964bb91b925	446	case 2:
gabrieltetar	14:6aa8aa1699ad	447	//SendRawId(TEST_VENT_2);
gabrieltetar	10:1964bb91b925	448	break;
gabrieltetar	10:1964bb91b925	449	case 3:
gabrieltetar	14:6aa8aa1699ad	450	//SendRawId(TEST_VENT_3);
gabrieltetar	10:1964bb91b925	451	break;
gabrieltetar	10:1964bb91b925	452	case 4:
gabrieltetar	14:6aa8aa1699ad	453	//SendRawId(TEST_VENT_4);
gabrieltetar	10:1964bb91b925	454	break;
gabrieltetar	10:1964bb91b925	455	case 5:
gabrieltetar	14:6aa8aa1699ad	456	//SendRawId(TEST_VENT_5);
gabrieltetar	10:1964bb91b925	457	break;
gabrieltetar	10:1964bb91b925	458	case 6:
gabrieltetar	14:6aa8aa1699ad	459	//SendRawId(TEST_VENT_6);
gabrieltetar	10:1964bb91b925	460	break;
gabrieltetar	10:1964bb91b925	461	}
gabrieltetar	10:1964bb91b925	462	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	463	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	464	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	465	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	466	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	467	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	468	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	469	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	470	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	471	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	472	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	473	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	474	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	475	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	476	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	477	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	478	}
gabrieltetar	7:44eec996a76e	479	}
gabrieltetar	7:44eec996a76e	480	break;
gabrieltetar	10:1964bb91b925	481
gabrieltetar	10:1964bb91b925	482	case TEST_ELECTROV:
gabrieltetar	10:1964bb91b925	483	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	484	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	485	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	486	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	487	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE);
gabrieltetar	7:44eec996a76e	488	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	489	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	490	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	11:848ea39838bf	491	while(etat==TEST_ELECTROV) {
gabrieltetar	1:7e925468f9d9	492	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	493	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	494	etat=DEMO;
gabrieltetar	10:1964bb91b925	495	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	496	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	497	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	10:1964bb91b925	498	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	499	} else if(TEST_B.Touched()) {
gabrieltetar	14:6aa8aa1699ad	500	while (TEST_B.Touched());
gabrieltetar	14:6aa8aa1699ad	501	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	14:6aa8aa1699ad	502	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	503	}
gabrieltetar	14:6aa8aa1699ad	504	}
gabrieltetar	14:6aa8aa1699ad	505	break;
gabrieltetar	14:6aa8aa1699ad	506
gabrieltetar	14:6aa8aa1699ad	507	case TEST_AUD:
gabrieltetar	14:6aa8aa1699ad	508
gabrieltetar	14:6aa8aa1699ad	509	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	510	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	14:6aa8aa1699ad	511	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	512	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	513	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	514	sprintf(toto,"%hd",maximilien);
gabrieltetar	14:6aa8aa1699ad	515	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	516	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	14:6aa8aa1699ad	517	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	518	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	519	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	520	while(etat==TEST_AUD) {
gabrieltetar	14:6aa8aa1699ad	521	if(RETOUR.Touched()) {
gabrieltetar	14:6aa8aa1699ad	522	while (RETOUR.Touched());
gabrieltetar	14:6aa8aa1699ad	523	etat=DEMO;
gabrieltetar	10:1964bb91b925	524	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	525	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	526	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	19:e70b9d4a319c	527	Debug_Audio(3,maximilien);
gabrieltetar	10:1964bb91b925	528	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	529	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	530	TEST_PLUS.Draw(BLEU, BLANC);
maximilienlv	16:c6c765e8b982	531	if(maximilien!=20)maximilien++;
gabrieltetar	10:1964bb91b925	532	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	533	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	534	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	535	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	536	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	537	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	538	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	539	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	540	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	541	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	542	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	543	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	544	}
gabrieltetar	10:1964bb91b925	545	}
gabrieltetar	10:1964bb91b925	546	break;
gabrieltetar	14:6aa8aa1699ad	547
gabrieltetar	10:1964bb91b925	548	case TEST_SERVO_BRAS:
gabrieltetar	10:1964bb91b925	549
gabrieltetar	10:1964bb91b925	550	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	551	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	552	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	553	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	554	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
gabrieltetar	10:1964bb91b925	555	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	556	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	557	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	558	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	559	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	560	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	561	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	562	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	563	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	564	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	565	while(etat==TEST_SERVO_BRAS) {
gabrieltetar	10:1964bb91b925	566	if(RETOUR.Touched()) {
gabrieltetar	10:1964bb91b925	567	while (RETOUR.Touched());
gabrieltetar	10:1964bb91b925	568	etat=DEMO;
gabrieltetar	10:1964bb91b925	569	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	570	while (TEST_A.Touched());
gabrieltetar	10:1964bb91b925	571	SendRawId(TEST_BRAS_A);
gabrieltetar	10:1964bb91b925	572	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	573	} else if(TEST_B.Touched()) {
gabrieltetar	10:1964bb91b925	574	while (TEST_B.Touched());
gabrieltetar	10:1964bb91b925	575	SendRawId(TEST_BRAS_B);
gabrieltetar	10:1964bb91b925	576	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	577	} else if(TEST_C.Touched()) {
gabrieltetar	10:1964bb91b925	578	while (TEST_C.Touched());
gabrieltetar	10:1964bb91b925	579	SendRawId(TEST_BRAS_C);
gabrieltetar	10:1964bb91b925	580	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	581	} else if(TEST_D.Touched()) {
gabrieltetar	10:1964bb91b925	582	while (TEST_D.Touched());
gabrieltetar	10:1964bb91b925	583	SendRawId(TEST_BRAS_D);
gabrieltetar	10:1964bb91b925	584	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	585	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	586	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	587	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	588	switch(maximilien){
gabrieltetar	10:1964bb91b925	589	case 1:
gabrieltetar	10:1964bb91b925	590	SendRawId(TEST_BRAS_1);
gabrieltetar	10:1964bb91b925	591	break;
gabrieltetar	10:1964bb91b925	592	case 2:
gabrieltetar	10:1964bb91b925	593	SendRawId(TEST_BRAS_2);
gabrieltetar	10:1964bb91b925	594	break;
gabrieltetar	10:1964bb91b925	595	case 3:
gabrieltetar	10:1964bb91b925	596	SendRawId(TEST_BRAS_3);
gabrieltetar	10:1964bb91b925	597	break;
gabrieltetar	10:1964bb91b925	598	case 4:
gabrieltetar	10:1964bb91b925	599	SendRawId(TEST_BRAS_4);
gabrieltetar	10:1964bb91b925	600	break;
gabrieltetar	10:1964bb91b925	601	case 5:
gabrieltetar	10:1964bb91b925	602	SendRawId(TEST_BRAS_5);
gabrieltetar	10:1964bb91b925	603	break;
gabrieltetar	10:1964bb91b925	604	case 6:
gabrieltetar	10:1964bb91b925	605	SendRawId(TEST_BRAS_6);
gabrieltetar	10:1964bb91b925	606	break;
gabrieltetar	10:1964bb91b925	607	}
gabrieltetar	10:1964bb91b925	608	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	609	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	610	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	611	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	612	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	613	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	614	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	615	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	616	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	617	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	618	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	619	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	620	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	621	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	622	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	623	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	624	}
gabrieltetar	1:7e925468f9d9	625	}
gabrieltetar	1:7e925468f9d9	626	break;
gabrieltetar	7:44eec996a76e	627
gabrieltetar	7:44eec996a76e	628	case TEST_COULEUR:
gabrieltetar	7:44eec996a76e	629	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	630	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
gabrieltetar	7:44eec996a76e	631	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	7:44eec996a76e	632	while(etat==TEST_COULEUR) {
gabrieltetar	7:44eec996a76e	633	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	634	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	635	etat=DEMO;
gabrieltetar	7:44eec996a76e	636	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	637	}
gabrieltetar	7:44eec996a76e	638	}
gabrieltetar	1:7e925468f9d9	639	break;
gabrieltetar	1:7e925468f9d9	640
gabrieltetar	14:6aa8aa1699ad	641	case TEST_MOTEUR:
gabrieltetar	14:6aa8aa1699ad	642	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	643	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	14:6aa8aa1699ad	644	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	645	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	646	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	647	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	14:6aa8aa1699ad	648	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	649	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	650	while(etat==TEST_MOTEUR) {
gabrieltetar	1:7e925468f9d9	651	if(RETOUR.Touched()) {
gabrieltetar	14:6aa8aa1699ad	652	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	653	etat=DEMO;
gabrieltetar	14:6aa8aa1699ad	654	} else if(TEST_A.Touched()) {
gabrieltetar	14:6aa8aa1699ad	655	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	656	BendRadius(150,1800,1,0);
gabrieltetar	14:6aa8aa1699ad	657	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	658	} else if(TEST_B.Touched()) {
gabrieltetar	14:6aa8aa1699ad	659	while (TEST_B.Touched());
gabrieltetar	14:6aa8aa1699ad	660	BendRadius(150,1800,0,0);
gabrieltetar	14:6aa8aa1699ad	661	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	662	}
gabrieltetar	1:7e925468f9d9	663	}
gabrieltetar	1:7e925468f9d9	664	break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	665
gabrieltetar	1:7e925468f9d9	666
gabrieltetar	1:7e925468f9d9	667	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	668	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	669	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	670	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	671
gabrieltetar	1:7e925468f9d9	672	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	673	COTE_JAUNE.Draw(JAUNE, 0);
gabrieltetar	1:7e925468f9d9	674	COTE_VIOLET.Draw(VIOLET, 0);
gabrieltetar	1:7e925468f9d9	675	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	1:7e925468f9d9	676
gabrieltetar	1:7e925468f9d9	677
gabrieltetar	1:7e925468f9d9	678	while (etat == SELECT_SIDE) {
gabrieltetar	1:7e925468f9d9	679	canProcessRx();
gabrieltetar	1:7e925468f9d9	680	if(COTE_JAUNE.Touched()) {
gabrieltetar	1:7e925468f9d9	681	Cote = 0x0;
gabrieltetar	1:7e925468f9d9	682	InversStrat = Cote;
gabrieltetar	1:7e925468f9d9	683	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	684	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	685	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	686	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	687	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	688	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	689	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	690	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	691	while(COTE_JAUNE.Touched());
gabrieltetar	1:7e925468f9d9	692
gabrieltetar	1:7e925468f9d9	693	}
gabrieltetar	1:7e925468f9d9	694
gabrieltetar	1:7e925468f9d9	695	if(COTE_VIOLET.Touched()) {
gabrieltetar	1:7e925468f9d9	696	Cote = 0x1;
gabrieltetar	1:7e925468f9d9	697	InversStrat= Cote;
gabrieltetar	1:7e925468f9d9	698	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	699	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	700	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	701	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	702	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	703	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	704	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	705	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	706	while(COTE_VIOLET.Touched());
gabrieltetar	1:7e925468f9d9	707	}
gabrieltetar	1:7e925468f9d9	708
gabrieltetar	1:7e925468f9d9	709	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	710	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	711	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	712	}
gabrieltetar	1:7e925468f9d9	713	}
gabrieltetar	1:7e925468f9d9	714
gabrieltetar	1:7e925468f9d9	715	break;
gabrieltetar	1:7e925468f9d9	716
gabrieltetar	1:7e925468f9d9	717	case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
gabrieltetar	1:7e925468f9d9	718	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	719	lcd.Clear(JAUNE);
gabrieltetar	1:7e925468f9d9	720	lcd.SetBackColor(JAUNE);
gabrieltetar	1:7e925468f9d9	721	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	722	lcd.Clear(VIOLET);
gabrieltetar	1:7e925468f9d9	723	lcd.SetBackColor(VIOLET);
gabrieltetar	1:7e925468f9d9	724	} else {
gabrieltetar	1:7e925468f9d9	725	lcd.Clear(BLEU);
gabrieltetar	1:7e925468f9d9	726	lcd.SetBackColor(BLEU);
gabrieltetar	1:7e925468f9d9	727	}
gabrieltetar	1:7e925468f9d9	728
gabrieltetar	1:7e925468f9d9	729	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	730
gabrieltetar	1:7e925468f9d9	731	lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	732
gabrieltetar	19:e70b9d4a319c	733	nbStrat = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
gabrieltetar	19:e70b9d4a319c	734	if (nbStrat == -1) {
gabrieltetar	1:7e925468f9d9	735	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	736	} else {
gabrieltetar	1:7e925468f9d9	737	etat = DETAILS;
gabrieltetar	1:7e925468f9d9	738	}
gabrieltetar	1:7e925468f9d9	739	wait(0.1);
gabrieltetar	1:7e925468f9d9	740	break;
gabrieltetar	1:7e925468f9d9	741
gabrieltetar	1:7e925468f9d9	742	case DETAILS : //SECONDE VALIDATION DE LA STRAT
gabrieltetar	1:7e925468f9d9	743	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	744	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	745	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	746	CHECK.Draw(VERT);
gabrieltetar	1:7e925468f9d9	747	RETOUR.Draw(LCD_COLOR_RED);
gabrieltetar	1:7e925468f9d9	748
gabrieltetar	19:e70b9d4a319c	749	SelectionStrat(nbStrat); //affiche la stratégie selectionnée
gabrieltetar	1:7e925468f9d9	750
gabrieltetar	1:7e925468f9d9	751	while (etat == DETAILS) {
gabrieltetar	1:7e925468f9d9	752	canProcessRx();
gabrieltetar	1:7e925468f9d9	753	if (CHECK.Touched()) {
gabrieltetar	1:7e925468f9d9	754	if(gameEtat == ETAT_CONFIG) {
gabrieltetar	1:7e925468f9d9	755	gameEtat = ETAT_GAME_INIT;
gabrieltetar	1:7e925468f9d9	756	etat=LECTURE;
gabrieltetar	1:7e925468f9d9	757
gabrieltetar	1:7e925468f9d9	758	}
gabrieltetar	1:7e925468f9d9	759	while(CHECK.Touched());
gabrieltetar	1:7e925468f9d9	760	}
gabrieltetar	1:7e925468f9d9	761
gabrieltetar	1:7e925468f9d9	762	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	763	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	764	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	765	}
gabrieltetar	1:7e925468f9d9	766	}
gabrieltetar	1:7e925468f9d9	767	break;
gabrieltetar	1:7e925468f9d9	768
gabrieltetar	1:7e925468f9d9	769
gabrieltetar	1:7e925468f9d9	770	case LECTURE :
gabrieltetar	1:7e925468f9d9	771	break;
gabrieltetar	1:7e925468f9d9	772	case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	773	lcd.Clear(BLANC);
gabrieltetar	1:7e925468f9d9	774	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	775	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	776
gabrieltetar	1:7e925468f9d9	777	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	778	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	779	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	780	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	781	lcd.Clear(ORANGE);
gabrieltetar	1:7e925468f9d9	782	lcd.SetBackColor(ORANGE);
gabrieltetar	1:7e925468f9d9	783	} else {
gabrieltetar	1:7e925468f9d9	784	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	785	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	786	}
gabrieltetar	1:7e925468f9d9	787	canProcessRx();
gabrieltetar	1:7e925468f9d9	788	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
gabrieltetar	1:7e925468f9d9	789	etat=WAIT_JACK;
gabrieltetar	1:7e925468f9d9	790	break;
gabrieltetar	1:7e925468f9d9	791
gabrieltetar	1:7e925468f9d9	792	case WAIT_JACK: //VERITABLE ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	793	break;
gabrieltetar	1:7e925468f9d9	794
gabrieltetar	1:7e925468f9d9	795	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	796	cptf=gameTimer.read();
gabrieltetar	1:7e925468f9d9	797	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	798	cpt=(int)cptf;
gabrieltetar	1:7e925468f9d9	799	if(cpt != cpt1) {
gabrieltetar	1:7e925468f9d9	800	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	801	// affichage_compteur(100-cpt);
gabrieltetar	1:7e925468f9d9	802	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	803	affichage_var(SCORE_PR);
gabrieltetar	1:7e925468f9d9	804	}
gabrieltetar	1:7e925468f9d9	805	cpt1=cpt;
gabrieltetar	1:7e925468f9d9	806	flag_timer=0;
gabrieltetar	1:7e925468f9d9	807
gabrieltetar	19:e70b9d4a319c	808
gabrieltetar	1:7e925468f9d9	809	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	810
gabrieltetar	1:7e925468f9d9	811	break;
gabrieltetar	1:7e925468f9d9	812
gabrieltetar	1:7e925468f9d9	813	case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
gabrieltetar	1:7e925468f9d9	814	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	815	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	5:81aac085516f	816
gabrieltetar	1:7e925468f9d9	817	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	818	affichage_var(SCORE_PR);
gabrieltetar	5:81aac085516f	819
gabrieltetar	1:7e925468f9d9	820	while(1); // force le redemarage du robot
gabrieltetar	1:7e925468f9d9	821	//break;
gabrieltetar	1:7e925468f9d9	822
gabrieltetar	1:7e925468f9d9	823	}
gabrieltetar	1:7e925468f9d9	824	}
gabrieltetar	1:7e925468f9d9	825
gabrieltetar	1:7e925468f9d9	826
gabrieltetar	1:7e925468f9d9	827
gabrieltetar	1:7e925468f9d9	828	/****************************************************************************************/
gabrieltetar	19:e70b9d4a319c	829	/* FUNCTION NAME: Strategie */
gabrieltetar	1:7e925468f9d9	830	/* DESCRIPTION : Automate de gestion de la stratégie du robot */
gabrieltetar	1:7e925468f9d9	831	/****************************************************************************************/
gabrieltetar	19:e70b9d4a319c	832	void Strategie(void)
gabrieltetar	1:7e925468f9d9	833	{
gabrieltetar	1:7e925468f9d9	834	static unsigned char AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	835	static unsigned char MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	836	signed char localData1 = 0;
gabrieltetar	1:7e925468f9d9	837	signed short localData2 = 0;
gabrieltetar	1:7e925468f9d9	838	unsigned short localData3 = 0;
gabrieltetar	1:7e925468f9d9	839	//signed short localData4 = 0;
gabrieltetar	1:7e925468f9d9	840	unsigned char localData5 = 0;
gabrieltetar	1:7e925468f9d9	841
gabrieltetar	1:7e925468f9d9	842
gabrieltetar	1:7e925468f9d9	843	if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
gabrieltetar	1:7e925468f9d9	844	gameTimer.stop();
gabrieltetar	1:7e925468f9d9	845	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	846	gameEtat = ETAT_END;//Fin du temps
gabrieltetar	1:7e925468f9d9	847	etat=FIN;
gabrieltetar	1:7e925468f9d9	848	}
gabrieltetar	1:7e925468f9d9	849
gabrieltetar	1:7e925468f9d9	850	if(lastEtat != gameEtat \|\| debugetatTimer.read_ms() >= 1000) {
gabrieltetar	1:7e925468f9d9	851	lastEtat = gameEtat;
gabrieltetar	1:7e925468f9d9	852	debugetatTimer.reset();
gabrieltetar	1:7e925468f9d9	853	sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
gabrieltetar	1:7e925468f9d9	854	}
gabrieltetar	1:7e925468f9d9	855
gabrieltetar	1:7e925468f9d9	856
gabrieltetar	1:7e925468f9d9	857
gabrieltetar	1:7e925468f9d9	858	switch(gameEtat) {
gabrieltetar	1:7e925468f9d9	859
gabrieltetar	1:7e925468f9d9	860	case ETAT_CHECK_CARTES:
gabrieltetar	1:7e925468f9d9	861	/*
gabrieltetar	1:7e925468f9d9	862	Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
gabrieltetar	1:7e925468f9d9	863	*/
gabrieltetar	1:7e925468f9d9	864	waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
gabrieltetar	1:7e925468f9d9	865	SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
gabrieltetar	1:7e925468f9d9	866
gabrieltetar	1:7e925468f9d9	867	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	868	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	869	cartesCheker.start();//On lance le timer pour le timeout
gabrieltetar	1:7e925468f9d9	870	gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	871	break;
gabrieltetar	1:7e925468f9d9	872
gabrieltetar	1:7e925468f9d9	873	case ETAT_CHECK_CARTES_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	874	/*
gabrieltetar	1:7e925468f9d9	875	On attend l'ack de la carte en cours de vérification
gabrieltetar	1:7e925468f9d9	876	*/
gabrieltetar	1:7e925468f9d9	877	//printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
gabrieltetar	1:7e925468f9d9	878	if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
gabrieltetar	1:7e925468f9d9	879	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	880	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	881	countAliveCard++;
gabrieltetar	1:7e925468f9d9	882	checkCurrent++;
gabrieltetar	1:7e925468f9d9	883	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	884	printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
gabrieltetar	1:7e925468f9d9	885	if(countAliveCard >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	886	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	887	SendRawId(ECRAN_ALL_CHECK);
gabrieltetar	1:7e925468f9d9	888	flag=1;
gabrieltetar	1:7e925468f9d9	889
gabrieltetar	1:7e925468f9d9	890	//tactile_printf("Selection couleur et strategie");
gabrieltetar	1:7e925468f9d9	891	} else {
gabrieltetar	1:7e925468f9d9	892	gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
gabrieltetar	1:7e925468f9d9	893	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	894	}
gabrieltetar	1:7e925468f9d9	895	} else
gabrieltetar	1:7e925468f9d9	896	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	897	} else if(cartesCheker.read_ms () > 100) {
gabrieltetar	1:7e925468f9d9	898	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	899	if(screenChecktry >=3) {
gabrieltetar	1:7e925468f9d9	900	//printf("missing card %d\n",id_check[checkCurrent]);
gabrieltetar	1:7e925468f9d9	901	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	902	checkCurrent++;
gabrieltetar	1:7e925468f9d9	903
gabrieltetar	1:7e925468f9d9	904	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	905	if(countAliveCard == NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	906	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	907	flag=1;
gabrieltetar	1:7e925468f9d9	908	} else {
gabrieltetar	1:7e925468f9d9	909	gameEtat = ETAT_WAIT_FORCE;
gabrieltetar	1:7e925468f9d9	910	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	911	}
gabrieltetar	1:7e925468f9d9	912	} else
gabrieltetar	1:7e925468f9d9	913	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	914
gabrieltetar	1:7e925468f9d9	915	} else
gabrieltetar	1:7e925468f9d9	916	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	917
gabrieltetar	1:7e925468f9d9	918	}
gabrieltetar	1:7e925468f9d9	919	break;
gabrieltetar	1:7e925468f9d9	920	case ETAT_WAIT_FORCE:
gabrieltetar	1:7e925468f9d9	921	/*
gabrieltetar	1:7e925468f9d9	922	Attente du forçage de la part de la carte IHM
gabrieltetar	1:7e925468f9d9	923	*/
gabrieltetar	1:7e925468f9d9	924	if(waitingAckFrom == 0) {
gabrieltetar	1:7e925468f9d9	925	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	926	}
gabrieltetar	1:7e925468f9d9	927	break;
gabrieltetar	1:7e925468f9d9	928	case ETAT_CONFIG:
gabrieltetar	1:7e925468f9d9	929	/*
gabrieltetar	1:7e925468f9d9	930	Attente de l'odre de choix de mode,
gabrieltetar	1:7e925468f9d9	931	Il est possible de modifier la couleur et l'id de la stratégie
gabrieltetar	1:7e925468f9d9	932	Il est aussi possible d'envoyer les ordres de debug
gabrieltetar	1:7e925468f9d9	933	*/
gabrieltetar	1:7e925468f9d9	934	modeTelemetre = 0;
gabrieltetar	1:7e925468f9d9	935	break;
gabrieltetar	1:7e925468f9d9	936	case ETAT_GAME_INIT:
gabrieltetar	1:7e925468f9d9	937	//On charge la liste des instructions
gabrieltetar	1:7e925468f9d9	938
gabrieltetar	19:e70b9d4a319c	939	loadAllInstruction(nbStrat);//Mise en cache de toute les instructions
gabrieltetar	1:7e925468f9d9	940	led3=1;
gabrieltetar	1:7e925468f9d9	941
gabrieltetar	1:7e925468f9d9	942	SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	943
gabrieltetar	1:7e925468f9d9	944	gameEtat = ETAT_GAME_WAIT_FOR_JACK;
gabrieltetar	10:1964bb91b925	945	Debug_Audio(3,7);
gabrieltetar	14:6aa8aa1699ad	946	if (etat == TEST_MOTEUR\|\| etat ==TEST_VENTOUSE \|\| etat == TEST_COULEUR \|\| etat ==TEST_SERVO_BRAS) {
gabrieltetar	1:7e925468f9d9	947	SendRawId(DEBUG_FAKE_JAKE);
gabrieltetar	1:7e925468f9d9	948	} else {
gabrieltetar	1:7e925468f9d9	949	etat = AFF_WAIT_JACK;
gabrieltetar	1:7e925468f9d9	950	}
gabrieltetar	1:7e925468f9d9	951	//tactile_printf("Attente du JACK.");
gabrieltetar	1:7e925468f9d9	952	setAsservissementEtat(1);//On réactive l'asservissement
gabrieltetar	1:7e925468f9d9	953	jack.mode(PullDown); // désactivation de la résistance interne du jack
gabrieltetar	1:7e925468f9d9	954	jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
gabrieltetar	1:7e925468f9d9	955
gabrieltetar	1:7e925468f9d9	956	localData2 = POSITION_DEBUT_T;
gabrieltetar	1:7e925468f9d9	957	localData3 = POSITION_DEBUT_Y;
gabrieltetar	1:7e925468f9d9	958	if(InversStrat == 1) {
gabrieltetar	1:7e925468f9d9	959	localData2 = -localData2;//Inversion theta
gabrieltetar	1:7e925468f9d9	960	localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
gabrieltetar	1:7e925468f9d9	961	}
gabrieltetar	1:7e925468f9d9	962	SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
gabrieltetar	1:7e925468f9d9	963
gabrieltetar	1:7e925468f9d9	964	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	965	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	966
gabrieltetar	1:7e925468f9d9	967	break;
gabrieltetar	1:7e925468f9d9	968	case ETAT_GAME_WAIT_FOR_JACK:
gabrieltetar	1:7e925468f9d9	969	if(instruction.order==POSITION_DEBUT) {
gabrieltetar	1:7e925468f9d9	970	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	971	case RECALAGE_1:
gabrieltetar	1:7e925468f9d9	972	SendRawId(RECALAGE_START);
gabrieltetar	1:7e925468f9d9	973	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	974	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	975	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	976	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	977	canProcessRx();
gabrieltetar	1:7e925468f9d9	978	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	979	waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	980	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	981	canProcessRx();
gabrieltetar	1:7e925468f9d9	982	etat_pos=RECULER_1;
gabrieltetar	1:7e925468f9d9	983	break;
gabrieltetar	1:7e925468f9d9	984
gabrieltetar	1:7e925468f9d9	985	case RECULER_1:
gabrieltetar	1:7e925468f9d9	986	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	987	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	988	GoStraight(-100, 0, 0, 0);//-450
gabrieltetar	1:7e925468f9d9	989	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	990	canProcessRx();
gabrieltetar	1:7e925468f9d9	991	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	992	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	993	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	994	canProcessRx();
gabrieltetar	1:7e925468f9d9	995	etat_pos=TOURNER;
gabrieltetar	1:7e925468f9d9	996	break;
gabrieltetar	1:7e925468f9d9	997
gabrieltetar	1:7e925468f9d9	998	case TOURNER:
gabrieltetar	1:7e925468f9d9	999	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1000	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1001	if(Cote==0) {
gabrieltetar	1:7e925468f9d9	1002	localData2 = 900;
gabrieltetar	1:7e925468f9d9	1003	} else {
gabrieltetar	1:7e925468f9d9	1004	localData2=-900;
gabrieltetar	1:7e925468f9d9	1005	}
gabrieltetar	1:7e925468f9d9	1006	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1007	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1008	canProcessRx();
gabrieltetar	1:7e925468f9d9	1009	waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1010	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1011	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1012	canProcessRx();
gabrieltetar	1:7e925468f9d9	1013	etat_pos=RECALAGE_2;
gabrieltetar	1:7e925468f9d9	1014	break;
gabrieltetar	1:7e925468f9d9	1015
gabrieltetar	1:7e925468f9d9	1016	case RECALAGE_2:
gabrieltetar	1:7e925468f9d9	1017	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1018	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1019	if(Cote==1) {
gabrieltetar	1:7e925468f9d9	1020	localData3=3000-(MOITIEE_ROBOT);
gabrieltetar	1:7e925468f9d9	1021	} else {
gabrieltetar	1:7e925468f9d9	1022	localData3=MOITIEE_ROBOT;
gabrieltetar	1:7e925468f9d9	1023	}
gabrieltetar	1:7e925468f9d9	1024	GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
gabrieltetar	1:7e925468f9d9	1025	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1026	canProcessRx();
gabrieltetar	1:7e925468f9d9	1027	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1028	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1029	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1030	canProcessRx();
gabrieltetar	1:7e925468f9d9	1031	etat_pos=RECULER_2;
gabrieltetar	1:7e925468f9d9	1032	break;
gabrieltetar	1:7e925468f9d9	1033
gabrieltetar	1:7e925468f9d9	1034	case RECULER_2:
gabrieltetar	1:7e925468f9d9	1035	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1036	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1037	GoStraight(-100, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1038	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1039	canProcessRx();
gabrieltetar	1:7e925468f9d9	1040	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1041	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1042	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1043	canProcessRx();
gabrieltetar	1:7e925468f9d9	1044	etat_pos=GOTOPOS;
gabrieltetar	1:7e925468f9d9	1045	break;
gabrieltetar	1:7e925468f9d9	1046
gabrieltetar	1:7e925468f9d9	1047	case GOTOPOS:
gabrieltetar	1:7e925468f9d9	1048	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1049
gabrieltetar	1:7e925468f9d9	1050	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1051	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1052	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1053	} else {
gabrieltetar	1:7e925468f9d9	1054	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1055	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1056	}
gabrieltetar	1:7e925468f9d9	1057
gabrieltetar	1:7e925468f9d9	1058	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1059	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1060	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1061
gabrieltetar	1:7e925468f9d9	1062	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1063	canProcessRx();
gabrieltetar	1:7e925468f9d9	1064	waitingAckID_FIN=ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1065	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1066	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1067	canProcessRx();
gabrieltetar	1:7e925468f9d9	1068	etat_pos=FIN_POS;
gabrieltetar	1:7e925468f9d9	1069	break;
gabrieltetar	1:7e925468f9d9	1070	case FIN_POS:
gabrieltetar	1:7e925468f9d9	1071	actual_instruction = instruction.nextLineOK;
gabrieltetar	1:7e925468f9d9	1072	break;
gabrieltetar	1:7e925468f9d9	1073	}
gabrieltetar	1:7e925468f9d9	1074	}
gabrieltetar	1:7e925468f9d9	1075
gabrieltetar	1:7e925468f9d9	1076
gabrieltetar	1:7e925468f9d9	1077	break;
gabrieltetar	1:7e925468f9d9	1078	case ETAT_GAME_START:
gabrieltetar	10:1964bb91b925	1079	Debug_Audio(3,3);
gabrieltetar	1:7e925468f9d9	1080	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1081
gabrieltetar	1:7e925468f9d9	1082	if (ModeDemo == 0) {
gabrieltetar	1:7e925468f9d9	1083	chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
gabrieltetar	1:7e925468f9d9	1084	gameTimer.start();
gabrieltetar	1:7e925468f9d9	1085	}
gabrieltetar	1:7e925468f9d9	1086	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	1087	jack.fall(NULL);//On désactive l'interruption du jack
gabrieltetar	1:7e925468f9d9	1088	//SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	1089	Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
gabrieltetar	1:7e925468f9d9	1090	//tactile_printf("Start");//Pas vraiment utile mais bon
gabrieltetar	1:7e925468f9d9	1091	break;
gabrieltetar	1:7e925468f9d9	1092	case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1093	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1094	/*
gabrieltetar	1:7e925468f9d9	1095	Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
gabrieltetar	1:7e925468f9d9	1096	*/
gabrieltetar	1:7e925468f9d9	1097	//printf("load next instruction\n");
gabrieltetar	1:7e925468f9d9	1098	if(dodgeq.nb > 0){//dodge q
gabrieltetar	1:7e925468f9d9	1099	instruction.order=dodgeq.inst[dodgeq.nb-1].order;
gabrieltetar	1:7e925468f9d9	1100	instruction.arg1=dodgeq.inst[dodgeq.nb-1].arg1;
gabrieltetar	1:7e925468f9d9	1101	instruction.arg2=dodgeq.inst[dodgeq.nb-1].arg2;
gabrieltetar	1:7e925468f9d9	1102	instruction.arg3=dodgeq.inst[dodgeq.nb-1].arg3;
gabrieltetar	1:7e925468f9d9	1103	gameEtat=ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1104	dodgeq.nb--;
gabrieltetar	1:7e925468f9d9	1105	}//end dodge q
gabrieltetar	1:7e925468f9d9	1106	else{// no dodge q
gabrieltetar	1:7e925468f9d9	1107	if(actual_instruction >= nb_instructions \|\| actual_instruction == 255) {
gabrieltetar	1:7e925468f9d9	1108	gameEtat = ETAT_END;
gabrieltetar	1:7e925468f9d9	1109	//Il n'y a plus d'instruction, fin du jeu
gabrieltetar	1:7e925468f9d9	1110	} else {
gabrieltetar	1:7e925468f9d9	1111	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	1112	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	1113	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1114	}
gabrieltetar	1:7e925468f9d9	1115	}//end no dodge q
gabrieltetar	1:7e925468f9d9	1116	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	1117	ingnorInversionOnce = 0;
gabrieltetar	1:7e925468f9d9	1118	break;
gabrieltetar	1:7e925468f9d9	1119	case ETAT_GAME_PROCESS_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1120	/*
gabrieltetar	1:7e925468f9d9	1121	Traitement de l'instruction, envoie de la trame CAN
gabrieltetar	1:7e925468f9d9	1122	*/
gabrieltetar	1:7e925468f9d9	1123	//debug_Instruction(instruction);
gabrieltetar	19:e70b9d4a319c	1124
gabrieltetar	1:7e925468f9d9	1125	actionPrecedente = instruction.order;
gabrieltetar	1:7e925468f9d9	1126	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1127	case MV_BEZIER: {
gabrieltetar	1:7e925468f9d9	1128	static vector< vector<short> >P1;
gabrieltetar	1:7e925468f9d9	1129	static vector< vector<short> >C1;
gabrieltetar	1:7e925468f9d9	1130	static vector< vector<short> >C2;
gabrieltetar	1:7e925468f9d9	1131	static int i = 0;
gabrieltetar	1:7e925468f9d9	1132
gabrieltetar	1:7e925468f9d9	1133	//Ajoute une ligne aux tableaux pour chaques courbes de la trajectoire
gabrieltetar	1:7e925468f9d9	1134	P1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1135	C1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1136	C2.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1137
gabrieltetar	1:7e925468f9d9	1138	P1[i].push_back(instruction.arg1); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1139	C1[i].push_back(instruction.arg3); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1140	C2[i].push_back(instruction.arg5); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1141
gabrieltetar	1:7e925468f9d9	1142	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1143	P1[i].push_back(3000-instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1144	C1[i].push_back(3000-instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1145	C2[i].push_back(3000-instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1146	} else {
gabrieltetar	1:7e925468f9d9	1147	P1[i].push_back(instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1148	C1[i].push_back(instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1149	C2[i].push_back(instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1150	}
gabrieltetar	1:7e925468f9d9	1151
gabrieltetar	1:7e925468f9d9	1152	i++;
gabrieltetar	1:7e925468f9d9	1153
gabrieltetar	1:7e925468f9d9	1154	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	1155	//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	1156	//Empeche les vector de ne pas être reset si l'ack n'est pas reçu avant la fin du match
gabrieltetar	1:7e925468f9d9	1157	int nbCourbes = P1.size();
gabrieltetar	1:7e925468f9d9	1158	short P1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1159	short C1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1160	short C2_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1161
gabrieltetar	1:7e925468f9d9	1162	for(int j=0; j<nbCourbes; j++) {
gabrieltetar	1:7e925468f9d9	1163	for(int i=0; i<2; i++) {
gabrieltetar	1:7e925468f9d9	1164	P1_temp[j][i] = P1[j][i];
gabrieltetar	1:7e925468f9d9	1165	C1_temp[j][i] = C1[j][i];
gabrieltetar	1:7e925468f9d9	1166	C2_temp[j][i] = C2[j][i];
gabrieltetar	1:7e925468f9d9	1167	}
gabrieltetar	1:7e925468f9d9	1168	}
gabrieltetar	1:7e925468f9d9	1169
gabrieltetar	1:7e925468f9d9	1170	//Clear des tableaux de points pour la prochaine trajectoire
gabrieltetar	1:7e925468f9d9	1171	P1.clear();
gabrieltetar	1:7e925468f9d9	1172	C1.clear();
gabrieltetar	1:7e925468f9d9	1173	C2.clear();
gabrieltetar	1:7e925468f9d9	1174	i = 0;
gabrieltetar	1:7e925468f9d9	1175
gabrieltetar	1:7e925468f9d9	1176	//Calcul de la courbe et envoi des valeurs
gabrieltetar	1:7e925468f9d9	1177	if(instruction.direction == FORWARD) {
gabrieltetar	1:7e925468f9d9	1178	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 0);
gabrieltetar	1:7e925468f9d9	1179	} else if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1180	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 1);
gabrieltetar	1:7e925468f9d9	1181	}
gabrieltetar	1:7e925468f9d9	1182
gabrieltetar	1:7e925468f9d9	1183	waitingAckID = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1184	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1185	}
gabrieltetar	1:7e925468f9d9	1186	break;
gabrieltetar	1:7e925468f9d9	1187	}
gabrieltetar	1:7e925468f9d9	1188	case MV_COURBURE://C'est un rayon de courbure
gabrieltetar	10:1964bb91b925	1189	Debug_Audio(3,6);
gabrieltetar	1:7e925468f9d9	1190	float alpha=0, theta=0;
gabrieltetar	1:7e925468f9d9	1191	unsigned short alph=0;
gabrieltetar	1:7e925468f9d9	1192	actionPrecedente = MV_COURBURE;
gabrieltetar	1:7e925468f9d9	1193	waitingAckID = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1194	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1195	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1196	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1197	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1198	} else {
gabrieltetar	1:7e925468f9d9	1199	if(MV_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1200	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1201	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1202	} else {
gabrieltetar	1:7e925468f9d9	1203	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1204	}
gabrieltetar	1:7e925468f9d9	1205	}
gabrieltetar	1:7e925468f9d9	1206	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1207	if(instruction.direction == LEFT) instruction.direction = RIGHT;
gabrieltetar	1:7e925468f9d9	1208	else instruction.direction = LEFT;
gabrieltetar	1:7e925468f9d9	1209	}
gabrieltetar	1:7e925468f9d9	1210
gabrieltetar	1:7e925468f9d9	1211	localData1 = ((instruction.direction == LEFT)?1:-1);
gabrieltetar	1:7e925468f9d9	1212	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1213	/*if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1214	localData1 = -localData1;//Inversion de la direction
gabrieltetar	1:7e925468f9d9	1215	}*/
gabrieltetar	1:7e925468f9d9	1216
gabrieltetar	1:7e925468f9d9	1217	BendRadius(instruction.arg1, localData2, localData1, localData5);
gabrieltetar	1:7e925468f9d9	1218	if(localData2>0) {
gabrieltetar	1:7e925468f9d9	1219	direction=1;
gabrieltetar	1:7e925468f9d9	1220	} else {
gabrieltetar	1:7e925468f9d9	1221	direction=-1;
gabrieltetar	1:7e925468f9d9	1222	}
gabrieltetar	1:7e925468f9d9	1223	if(localData2>0)alph=localData2;
gabrieltetar	1:7e925468f9d9	1224	else alph=-localData2;
gabrieltetar	1:7e925468f9d9	1225	alpha = localData2*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1226	theta = theta_robot*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1227
gabrieltetar	1:7e925468f9d9	1228	if(instruction.direction == LEFT) { //-------------LEFT
gabrieltetar	1:7e925468f9d9	1229	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1230	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1231	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1232	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1233	dodgeq.inst[0].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1234	}
gabrieltetar	1:7e925468f9d9	1235	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1236	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1237	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1238	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1239	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1240	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1241	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1242	alph-=alph/2;
gabrieltetar	1:7e925468f9d9	1243	}
gabrieltetar	1:7e925468f9d9	1244	}
gabrieltetar	1:7e925468f9d9	1245	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1246	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1247	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1248	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1249	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1250	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1251	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1252	alph-=alph/3;
gabrieltetar	1:7e925468f9d9	1253	}
gabrieltetar	1:7e925468f9d9	1254	}
gabrieltetar	1:7e925468f9d9	1255	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1256	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1257	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1258	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1259	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1260	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1261	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1262	alph-=alph/4;
gabrieltetar	1:7e925468f9d9	1263	}
gabrieltetar	1:7e925468f9d9	1264	}
gabrieltetar	1:7e925468f9d9	1265	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1266	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1267	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1268	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1269	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1270	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1271	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1272	alph-=alph/5;
gabrieltetar	1:7e925468f9d9	1273	}
gabrieltetar	1:7e925468f9d9	1274	}
gabrieltetar	1:7e925468f9d9	1275	else {
gabrieltetar	1:7e925468f9d9	1276	for(int c=0;c<6;c++){ // 6 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(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1280	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1281	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1282	alph-=alph/6;
gabrieltetar	1:7e925468f9d9	1283	}
gabrieltetar	1:7e925468f9d9	1284	}
gabrieltetar	1:7e925468f9d9	1285	} else { //-----------------------------------------RIGHT
gabrieltetar	1:7e925468f9d9	1286	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1287	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1288	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1289	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1290	dodgeq.inst[0].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1291	}
gabrieltetar	1:7e925468f9d9	1292	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1293	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1294	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1295	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1296	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1297	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1298	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1299	}
gabrieltetar	1:7e925468f9d9	1300	}
gabrieltetar	1:7e925468f9d9	1301	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1302	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1303	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1304	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1305	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1306	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1307	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1308	}
gabrieltetar	1:7e925468f9d9	1309	}
gabrieltetar	1:7e925468f9d9	1310	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1311	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1312	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1313	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1314	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1315	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1316	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1317	}
gabrieltetar	1:7e925468f9d9	1318	}
gabrieltetar	1:7e925468f9d9	1319	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1320	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1321	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1322	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1323	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1324	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1325	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1326	}
gabrieltetar	1:7e925468f9d9	1327	}
gabrieltetar	1:7e925468f9d9	1328	else {
gabrieltetar	1:7e925468f9d9	1329	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1330	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1331	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1332	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1333	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1334	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1335	}
gabrieltetar	1:7e925468f9d9	1336	}
gabrieltetar	1:7e925468f9d9	1337	}
gabrieltetar	1:7e925468f9d9	1338	break;
gabrieltetar	1:7e925468f9d9	1339
gabrieltetar	1:7e925468f9d9	1340
gabrieltetar	1:7e925468f9d9	1341
gabrieltetar	1:7e925468f9d9	1342	case MV_LINE://Ligne droite
gabrieltetar	10:1964bb91b925	1343	Debug_Audio(3,8);
gabrieltetar	1:7e925468f9d9	1344	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1345	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1346	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1347	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1348	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1349	} else {
gabrieltetar	1:7e925468f9d9	1350	if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
gabrieltetar	1:7e925468f9d9	1351	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1352	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1353	} else {
gabrieltetar	1:7e925468f9d9	1354	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1355	}
gabrieltetar	1:7e925468f9d9	1356	}
gabrieltetar	1:7e925468f9d9	1357	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1358	GoStraight(localData2, 0, 0, localData5);
gabrieltetar	1:7e925468f9d9	1359
gabrieltetar	1:7e925468f9d9	1360	target_x_robot = x_robot + localData2cos((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1361	target_y_robot = y_robot + localData2sin((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1362	target_theta_robot = theta_robot;
gabrieltetar	1:7e925468f9d9	1363
gabrieltetar	1:7e925468f9d9	1364	break;
gabrieltetar	1:7e925468f9d9	1365	case MV_TURN: //Rotation sur place
gabrieltetar	10:1964bb91b925	1366	Debug_Audio(3,9);
gabrieltetar	1:7e925468f9d9	1367	target_x_robot = x_robot;
gabrieltetar	1:7e925468f9d9	1368	target_y_robot = y_robot;
gabrieltetar	1:7e925468f9d9	1369	target_theta_robot = theta_robot + localData2;
gabrieltetar	1:7e925468f9d9	1370	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1371
gabrieltetar	1:7e925468f9d9	1372	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1373	localData2 = -localData2;
gabrieltetar	1:7e925468f9d9	1374	}
gabrieltetar	1:7e925468f9d9	1375
gabrieltetar	1:7e925468f9d9	1376
gabrieltetar	1:7e925468f9d9	1377	if(instruction.direction == ABSOLUTE) {
gabrieltetar	1:7e925468f9d9	1378	//C'est un rotation absolu, il faut la convertir en relative
gabrieltetar	1:7e925468f9d9	1379
gabrieltetar	1:7e925468f9d9	1380	localData2 = (localData2 - theta_robot)%3600;
gabrieltetar	1:7e925468f9d9	1381	if(localData2 > 1800) localData2 = localData2-3600;
gabrieltetar	1:7e925468f9d9	1382
gabrieltetar	1:7e925468f9d9	1383	else if(localData2 <-1800) localData2 = localData2+3600;
gabrieltetar	1:7e925468f9d9	1384	}
gabrieltetar	1:7e925468f9d9	1385
gabrieltetar	1:7e925468f9d9	1386
gabrieltetar	1:7e925468f9d9	1387	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1388	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1389	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1390
gabrieltetar	1:7e925468f9d9	1391	break;
gabrieltetar	1:7e925468f9d9	1392	case MV_XYT:
gabrieltetar	10:1964bb91b925	1393	Debug_Audio(3,10);
gabrieltetar	1:7e925468f9d9	1394	if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1395	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1396	} else {
gabrieltetar	1:7e925468f9d9	1397	localData1 = 1;
gabrieltetar	1:7e925468f9d9	1398	}
gabrieltetar	1:7e925468f9d9	1399
gabrieltetar	1:7e925468f9d9	1400	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1401	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1402	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1403	} else {
gabrieltetar	1:7e925468f9d9	1404	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1405	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1406	}
gabrieltetar	1:7e925468f9d9	1407
gabrieltetar	1:7e925468f9d9	1408	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1409	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1410	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1411
gabrieltetar	1:7e925468f9d9	1412	target_x_robot = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1413	target_y_robot = localData3;
gabrieltetar	1:7e925468f9d9	1414	target_theta_robot = localData2;
gabrieltetar	1:7e925468f9d9	1415
gabrieltetar	1:7e925468f9d9	1416	break;
gabrieltetar	1:7e925468f9d9	1417	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1418	if(instruction.nextActionType == MECANIQUE) {
gabrieltetar	1:7e925468f9d9	1419	instruction.nextActionType = WAIT;
gabrieltetar	1:7e925468f9d9	1420
gabrieltetar	1:7e925468f9d9	1421	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1422	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1423
gabrieltetar	1:7e925468f9d9	1424	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	1425
gabrieltetar	1:7e925468f9d9	1426	if(instruction.precision == RECALAGE_Y) {
gabrieltetar	1:7e925468f9d9	1427	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1428	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1429	localData3 = 3000 - instruction.arg1;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1430	} else {
gabrieltetar	1:7e925468f9d9	1431	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1432	}
gabrieltetar	1:7e925468f9d9	1433	} else {
gabrieltetar	1:7e925468f9d9	1434	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1435	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1436	}
gabrieltetar	1:7e925468f9d9	1437	GoStraight(localData2, localData5, localData3, 0);
gabrieltetar	1:7e925468f9d9	1438	} else { //CAPTEUR
gabrieltetar	1:7e925468f9d9	1439	SendRawId(DATA_RECALAGE);
gabrieltetar	1:7e925468f9d9	1440	waitingAckID = RECEPTION_RECALAGE;
gabrieltetar	1:7e925468f9d9	1441	waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
gabrieltetar	1:7e925468f9d9	1442
gabrieltetar	1:7e925468f9d9	1443	// On attend que les variables soient actualisé
gabrieltetar	1:7e925468f9d9	1444	while(!(waitingAckID == 0 && waitingAckFrom == 0))
gabrieltetar	1:7e925468f9d9	1445	canProcessRx();
gabrieltetar	1:7e925468f9d9	1446	while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
gabrieltetar	1:7e925468f9d9	1447	canProcessRx();
gabrieltetar	1:7e925468f9d9	1448
gabrieltetar	1:7e925468f9d9	1449	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	1450	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
gabrieltetar	1:7e925468f9d9	1451	} else if(instruction.precision == RECALAGE_X) {
gabrieltetar	1:7e925468f9d9	1452	SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1453	} else if(instruction.precision == RECALAGE_T) {
gabrieltetar	1:7e925468f9d9	1454	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
gabrieltetar	1:7e925468f9d9	1455	}
gabrieltetar	1:7e925468f9d9	1456	}
gabrieltetar	1:7e925468f9d9	1457	break;
gabrieltetar	1:7e925468f9d9	1458
gabrieltetar	1:7e925468f9d9	1459	case ACTION:
gabrieltetar	1:7e925468f9d9	1460
gabrieltetar	1:7e925468f9d9	1461	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1462	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1463	int tempo = 0;
gabrieltetar	1:7e925468f9d9	1464	waitingAckID= ACK_ACTION; //On veut un ack de type action
gabrieltetar	1:7e925468f9d9	1465	waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
gabrieltetar	14:6aa8aa1699ad	1466	tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
gabrieltetar	1:7e925468f9d9	1467	// unsigned char test=(unsigned char) tempo;
gabrieltetar	1:7e925468f9d9	1468	// SendMsgCan(0x5BD, &test,1);
gabrieltetar	1:7e925468f9d9	1469	if(tempo == 1) {
gabrieltetar	1:7e925468f9d9	1470	//L'action est spécifique
gabrieltetar	1:7e925468f9d9	1471	if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
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;
gabrieltetar	1:7e925468f9d9	1474	} else {
gabrieltetar	1:7e925468f9d9	1475	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1476	}
gabrieltetar	1:7e925468f9d9	1477	return;
gabrieltetar	1:7e925468f9d9	1478	} else if (tempo == 2) {
gabrieltetar	1:7e925468f9d9	1479	// on est dans le cas de l'avance selon le telemetre
gabrieltetar	1:7e925468f9d9	1480	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1481	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1482
gabrieltetar	1:7e925468f9d9	1483	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1484	GoStraight(telemetreDistance, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1485	// on reset la distance du telemetre à 0
gabrieltetar	1:7e925468f9d9	1486	telemetreDistance = 5000;
gabrieltetar	1:7e925468f9d9	1487	} else {
gabrieltetar	1:7e925468f9d9	1488	//C'est un AX12 qu'il faut bouger
gabrieltetar	1:7e925468f9d9	1489	//AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
gabrieltetar	1:7e925468f9d9	1490	//AX12_enchainement++;
gabrieltetar	1:7e925468f9d9	1491
gabrieltetar	1:7e925468f9d9	1492	}
gabrieltetar	1:7e925468f9d9	1493	break;
gabrieltetar	1:7e925468f9d9	1494	default:
gabrieltetar	1:7e925468f9d9	1495	//Instruction inconnue, on l'ignore
gabrieltetar	1:7e925468f9d9	1496	break;
gabrieltetar	1:7e925468f9d9	1497	}
gabrieltetar	1:7e925468f9d9	1498
gabrieltetar	1:7e925468f9d9	1499	if(instruction.nextActionType == JUMP \|\| instruction.nextActionType == WAIT) {
gabrieltetar	1:7e925468f9d9	1500	gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
gabrieltetar	1:7e925468f9d9	1501	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	1502	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1503	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1504	if(AX12_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1505	//AX12_processChange();//Il faut lancer le déplacement des AX12
gabrieltetar	1:7e925468f9d9	1506	//AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1507	}
gabrieltetar	1:7e925468f9d9	1508	} else { //C'est un enchainement
gabrieltetar	1:7e925468f9d9	1509	if(instruction.order == MV_LINE) {
gabrieltetar	1:7e925468f9d9	1510	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1511	} else {
gabrieltetar	1:7e925468f9d9	1512	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1513	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
gabrieltetar	1:7e925468f9d9	1514	}
gabrieltetar	1:7e925468f9d9	1515	}
gabrieltetar	1:7e925468f9d9	1516
gabrieltetar	1:7e925468f9d9	1517	break;
gabrieltetar	1:7e925468f9d9	1518	case ETAT_GAME_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	1519	canProcessRx();
gabrieltetar	1:7e925468f9d9	1520	//SendSpeed(200);//--------------------------------------------------MODE RALENTI !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
gabrieltetar	1:7e925468f9d9	1521	if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
gabrieltetar	1:7e925468f9d9	1522	//if(true) {
gabrieltetar	1:7e925468f9d9	1523	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1524	if(instruction.nextActionType == JUMP) {
gabrieltetar	1:7e925468f9d9	1525	if(instruction.jumpAction == JUMP_POSITION) {
gabrieltetar	1:7e925468f9d9	1526	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1527	} else { //Pour eviter les erreurs, on dit que c'est par défaut un jump time
gabrieltetar	1:7e925468f9d9	1528	gameEtat = ETAT_GAME_JUMP_TIME;
gabrieltetar	1:7e925468f9d9	1529	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1530	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1531	}
gabrieltetar	1:7e925468f9d9	1532	} else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
gabrieltetar	1:7e925468f9d9	1533	/*wait_ms(200);
gabrieltetar	1:7e925468f9d9	1534	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	1535	SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1536	#else
gabrieltetar	1:7e925468f9d9	1537	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1538	#endif
gabrieltetar	1:7e925468f9d9	1539	wait_ms(200);*/
gabrieltetar	1:7e925468f9d9	1540
gabrieltetar	1:7e925468f9d9	1541	gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1542	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1543	case MV_BEZIER:
gabrieltetar	1:7e925468f9d9	1544	waitingAckID_FIN = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1545	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1546	break;
gabrieltetar	1:7e925468f9d9	1547	case MV_COURBURE:
gabrieltetar	1:7e925468f9d9	1548	waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1549	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1550	break;
gabrieltetar	1:7e925468f9d9	1551	case MV_LINE:
gabrieltetar	1:7e925468f9d9	1552	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1553	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1554	break;
gabrieltetar	1:7e925468f9d9	1555	case MV_TURN:
gabrieltetar	1:7e925468f9d9	1556	waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1557	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1558	break;
gabrieltetar	1:7e925468f9d9	1559	case MV_XYT:
gabrieltetar	1:7e925468f9d9	1560	waitingAckID_FIN = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1561	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1562	break;
gabrieltetar	1:7e925468f9d9	1563	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1564	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1565	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1566	break;
gabrieltetar	1:7e925468f9d9	1567	case ACTION:
gabrieltetar	1:7e925468f9d9	1568
gabrieltetar	1:7e925468f9d9	1569	if (modeTelemetre == 0) {
gabrieltetar	1:7e925468f9d9	1570	if (telemetreDistance == 0) {
gabrieltetar	1:7e925468f9d9	1571	waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
gabrieltetar	1:7e925468f9d9	1572	waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
gabrieltetar	1:7e925468f9d9	1573	} else if(telemetreDistance == 5000) {
gabrieltetar	1:7e925468f9d9	1574	// on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
gabrieltetar	1:7e925468f9d9	1575	//waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1576	//waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1577	telemetreDistance = 0;
gabrieltetar	1:7e925468f9d9	1578	}
gabrieltetar	1:7e925468f9d9	1579	} else { // si on attend la reponse du telemetre
gabrieltetar	1:7e925468f9d9	1580	//modeTelemetre = 1;
gabrieltetar	1:7e925468f9d9	1581	waitingAckID_FIN = OBJET_SUR_TABLE;
gabrieltetar	1:7e925468f9d9	1582	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1583	}
gabrieltetar	1:7e925468f9d9	1584	break;
gabrieltetar	1:7e925468f9d9	1585	default:
gabrieltetar	1:7e925468f9d9	1586	break;
gabrieltetar	1:7e925468f9d9	1587	}
gabrieltetar	1:7e925468f9d9	1588	} else {
gabrieltetar	1:7e925468f9d9	1589	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1590	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1591	}
gabrieltetar	1:7e925468f9d9	1592	} else if(cartesCheker.read_ms () > 1000) {
gabrieltetar	1:7e925468f9d9	1593	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1594	if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
gabrieltetar	1:7e925468f9d9	1595	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1596	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1597	} else {
gabrieltetar	1:7e925468f9d9	1598	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
gabrieltetar	1:7e925468f9d9	1599	}
gabrieltetar	1:7e925468f9d9	1600	}
gabrieltetar	1:7e925468f9d9	1601	break;
gabrieltetar	1:7e925468f9d9	1602
gabrieltetar	1:7e925468f9d9	1603	case ETAT_GAME_JUMP_TIME:
gabrieltetar	1:7e925468f9d9	1604	if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1605	cartesCheker.stop();//On arrete le timer
gabrieltetar	1:7e925468f9d9	1606	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1607	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1608	}
gabrieltetar	1:7e925468f9d9	1609	break;
gabrieltetar	1:7e925468f9d9	1610
gabrieltetar	1:7e925468f9d9	1611	case ETAT_GAME_JUMP_CONFIG:
gabrieltetar	1:7e925468f9d9	1612	signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
gabrieltetar	1:7e925468f9d9	1613	// 1 si l'instruction est plus grande que la position du robot
gabrieltetar	1:7e925468f9d9	1614	// -1 si l'instruction est plus petite que la position du robot
gabrieltetar	1:7e925468f9d9	1615	// 0 si l'instruction et position du robot sont proche de moins de 1cm
gabrieltetar	1:7e925468f9d9	1616	if (abs(x_robot-instruction.JumpTimeOrX)<10) {
gabrieltetar	1:7e925468f9d9	1617	depasX = 0;
gabrieltetar	1:7e925468f9d9	1618	} else if(x_robot > instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1619	depasX = -1;
gabrieltetar	1:7e925468f9d9	1620	}
gabrieltetar	1:7e925468f9d9	1621
gabrieltetar	1:7e925468f9d9	1622	if(abs(y_robot-instruction.JumpY)<10) {
gabrieltetar	1:7e925468f9d9	1623	depasY = 0;
gabrieltetar	1:7e925468f9d9	1624	} else if(y_robot > instruction.JumpY) {
gabrieltetar	1:7e925468f9d9	1625	depasY = -1;
gabrieltetar	1:7e925468f9d9	1626	}
gabrieltetar	1:7e925468f9d9	1627
gabrieltetar	1:7e925468f9d9	1628	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1629	break;
gabrieltetar	1:7e925468f9d9	1630	case ETAT_GAME_JUMP_POSITION:
gabrieltetar	1:7e925468f9d9	1631	bool Xok = false, Yok = false;
gabrieltetar	1:7e925468f9d9	1632
gabrieltetar	1:7e925468f9d9	1633	if (depasX == 0) {
gabrieltetar	1:7e925468f9d9	1634	Xok = true;
gabrieltetar	1:7e925468f9d9	1635	} else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5) {
gabrieltetar	1:7e925468f9d9	1636	Xok = true;
gabrieltetar	1:7e925468f9d9	1637	}
gabrieltetar	1:7e925468f9d9	1638
gabrieltetar	1:7e925468f9d9	1639	if (depasY == 0) {
gabrieltetar	1:7e925468f9d9	1640	Yok = true;
gabrieltetar	1:7e925468f9d9	1641	} else if ((instruction.JumpY - y_robot)*depasY < -5) {
gabrieltetar	1:7e925468f9d9	1642	Yok = true;
gabrieltetar	1:7e925468f9d9	1643	}
gabrieltetar	1:7e925468f9d9	1644
gabrieltetar	1:7e925468f9d9	1645	// on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
gabrieltetar	1:7e925468f9d9	1646	if (Xok && Yok) {
gabrieltetar	1:7e925468f9d9	1647	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1648	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1649	}
gabrieltetar	1:7e925468f9d9	1650
gabrieltetar	1:7e925468f9d9	1651	break;
gabrieltetar	1:7e925468f9d9	1652	case ETAT_GAME_WAIT_END_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1653	canProcessRx();
gabrieltetar	1:7e925468f9d9	1654	if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
gabrieltetar	1:7e925468f9d9	1655	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1656	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1657	}
gabrieltetar	1:7e925468f9d9	1658
gabrieltetar	1:7e925468f9d9	1659	break;
gabrieltetar	1:7e925468f9d9	1660
gabrieltetar	1:7e925468f9d9	1661	case ETAT_END:
gabrieltetar	10:1964bb91b925	1662	Debug_Audio(3,4);
gabrieltetar	1:7e925468f9d9	1663	if (ModeDemo) {
gabrieltetar	1:7e925468f9d9	1664	gameEtat = ETAT_CHECK_CARTE_SCREEN;
gabrieltetar	1:7e925468f9d9	1665	ModeDemo = 1;
gabrieltetar	1:7e925468f9d9	1666	} else {
gabrieltetar	1:7e925468f9d9	1667	gameEtat = ETAT_END_LOOP;
gabrieltetar	1:7e925468f9d9	1668	}
gabrieltetar	1:7e925468f9d9	1669	break;
gabrieltetar	1:7e925468f9d9	1670	case ETAT_END_LOOP:
gabrieltetar	1:7e925468f9d9	1671	//Rien, on tourne en rond
gabrieltetar	1:7e925468f9d9	1672
gabrieltetar	1:7e925468f9d9	1673	break;
gabrieltetar	1:7e925468f9d9	1674	default:
gabrieltetar	1:7e925468f9d9	1675
gabrieltetar	1:7e925468f9d9	1676	break;
gabrieltetar	1:7e925468f9d9	1677	}
gabrieltetar	1:7e925468f9d9	1678	}
gabrieltetar	1:7e925468f9d9	1679
gabrieltetar	1:7e925468f9d9	1680
gabrieltetar	1:7e925468f9d9	1681
gabrieltetar	1:7e925468f9d9	1682
gabrieltetar	1:7e925468f9d9	1683
gabrieltetar	1:7e925468f9d9	1684	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1685	/* FUNCTION NAME: canProcessRx */
gabrieltetar	1:7e925468f9d9	1686	/* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
gabrieltetar	1:7e925468f9d9	1687	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1688	void canProcessRx(void)
gabrieltetar	1:7e925468f9d9	1689	{
gabrieltetar	1:7e925468f9d9	1690	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
gabrieltetar	1:7e925468f9d9	1691	char message[10]="toto";
gabrieltetar	1:7e925468f9d9	1692	char message1[10]="toto";
gabrieltetar	1:7e925468f9d9	1693	char message2[10]="toto";
gabrieltetar	1:7e925468f9d9	1694	char message3[10]="toto";
gabrieltetar	1:7e925468f9d9	1695	char message4[10]="toto";
gabrieltetar	1:7e925468f9d9	1696	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
gabrieltetar	1:7e925468f9d9	1697
gabrieltetar	1:7e925468f9d9	1698	if(FIFO_occupation<0)
gabrieltetar	1:7e925468f9d9	1699	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1700
gabrieltetar	1:7e925468f9d9	1701	if(FIFO_max_occupation<FIFO_occupation) {
gabrieltetar	1:7e925468f9d9	1702	FIFO_max_occupation=FIFO_occupation;
gabrieltetar	1:7e925468f9d9	1703	//SendRawId(
gabrieltetar	1:7e925468f9d9	1704	}
gabrieltetar	1:7e925468f9d9	1705
gabrieltetar	1:7e925468f9d9	1706	if(FIFO_occupation!=0) {
gabrieltetar	1:7e925468f9d9	1707	int identifiant=msgRxBuffer[FIFO_lecture].id;
gabrieltetar	1:7e925468f9d9	1708
gabrieltetar	1:7e925468f9d9	1709	if (waitingId == identifiant) waitingId = 0;
gabrieltetar	1:7e925468f9d9	1710	switch(identifiant) {
gabrieltetar	1:7e925468f9d9	1711
gabrieltetar	1:7e925468f9d9	1712	case ALIVE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1713	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1714
gabrieltetar	1:7e925468f9d9	1715	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1716	lcd.FillRect(0,400,400,150);
gabrieltetar	1:7e925468f9d9	1717	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1718	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1719	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1720	}
gabrieltetar	1:7e925468f9d9	1721	break;
gabrieltetar	1:7e925468f9d9	1722
gabrieltetar	1:7e925468f9d9	1723	case ALIVE_BALISE:
gabrieltetar	1:7e925468f9d9	1724	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1725
gabrieltetar	1:7e925468f9d9	1726	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1727	lcd.FillRect(0,600,400,150); //carte AX12
gabrieltetar	1:7e925468f9d9	1728	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1729	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1730	lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1731	}
gabrieltetar	1:7e925468f9d9	1732	break;
gabrieltetar	1:7e925468f9d9	1733
gabrieltetar	1:7e925468f9d9	1734	case RESET_IHM:
gabrieltetar	1:7e925468f9d9	1735	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	1736	break;
gabrieltetar	1:7e925468f9d9	1737
gabrieltetar	1:7e925468f9d9	1738	case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
gabrieltetar	1:7e925468f9d9	1739	case GLOBAL_JACK:
gabrieltetar	1:7e925468f9d9	1740	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	1741	gameEtat = ETAT_GAME_START;
gabrieltetar	1:7e925468f9d9	1742	SendRawId(ACKNOWLEDGE_JACK);
gabrieltetar	1:7e925468f9d9	1743	}
gabrieltetar	1:7e925468f9d9	1744	break;
gabrieltetar	1:7e925468f9d9	1745
gabrieltetar	1:7e925468f9d9	1746	case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1747	case ALIVE_ACTIONNEURS_ARRIERE:
gabrieltetar	1:7e925468f9d9	1748	case ALIVE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1749	case ECRAN_ALL_CHECK:
gabrieltetar	1:7e925468f9d9	1750	if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1751	waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
gabrieltetar	1:7e925468f9d9	1752	}
gabrieltetar	1:7e925468f9d9	1753	flag=1;
gabrieltetar	1:7e925468f9d9	1754	break;
gabrieltetar	1:7e925468f9d9	1755
gabrieltetar	1:7e925468f9d9	1756	case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
gabrieltetar	1:7e925468f9d9	1757	{
gabrieltetar	1:7e925468f9d9	1758
gabrieltetar	1:7e925468f9d9	1759	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1760	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1761	if(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR)
gabrieltetar	1:7e925468f9d9	1762	{
gabrieltetar	1:7e925468f9d9	1763	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1764	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1765	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1766	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1767	} else {
gabrieltetar	1:7e925468f9d9	1768	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1769	timeoutWarningWaitEnd.reset();
gabrieltetar	1:7e925468f9d9	1770	timeoutWarningWaitEnd.start();
gabrieltetar	1:7e925468f9d9	1771	//gameEtat = ETAT_WARING_END_BALISE_WAIT;
gabrieltetar	1:7e925468f9d9	1772	}
gabrieltetar	1:7e925468f9d9	1773	}
gabrieltetar	1:7e925468f9d9	1774	/*
gabrieltetar	1:7e925468f9d9	1775	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1776	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1777	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1778	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1779	} else {
gabrieltetar	1:7e925468f9d9	1780	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1781	gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1782	}*/
gabrieltetar	1:7e925468f9d9	1783	} break;
gabrieltetar	1:7e925468f9d9	1784
gabrieltetar	1:7e925468f9d9	1785	/////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1786	case ACKNOWLEDGE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1787	case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans ACK_FIN_ACTION mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1788
gabrieltetar	1:7e925468f9d9	1789	case ACKNOWLEDGE_TELEMETRE:
gabrieltetar	1:7e925468f9d9	1790	/////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1791	case ACKNOWLEDGE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1792	case INSTRUCTION_END_BALISE:
gabrieltetar	1:7e925468f9d9	1793	case ACK_FIN_ACTION:
gabrieltetar	1:7e925468f9d9	1794	case INSTRUCTION_END_MOTEUR:
gabrieltetar	1:7e925468f9d9	1795	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1796	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1797	/*
gabrieltetar	1:7e925468f9d9	1798	//on desactive la balise dans les rotations XYT
gabrieltetar	1:7e925468f9d9	1799	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_XYT==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1800	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_XYT_ROTATE==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1801
gabrieltetar	1:7e925468f9d9	1802	//on desactive la balise dans les rotations
gabrieltetar	1:7e925468f9d9	1803	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1804	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1805	*/
gabrieltetar	1:7e925468f9d9	1806
gabrieltetar	1:7e925468f9d9	1807	// SendMsgCan(0x666,&ingnorBalise,1);
gabrieltetar	1:7e925468f9d9	1808
gabrieltetar	1:7e925468f9d9	1809	if( waitingAckFrom == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID ) {
gabrieltetar	1:7e925468f9d9	1810	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1811	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1812	}
gabrieltetar	1:7e925468f9d9	1813	if( waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID_FIN ) {
gabrieltetar	1:7e925468f9d9	1814	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1815	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1816	}
gabrieltetar	1:7e925468f9d9	1817
gabrieltetar	1:7e925468f9d9	1818	/*
gabrieltetar	1:7e925468f9d9	1819	if((waitingAckFrom == msgRxBuffer[FIFO_lecture].id) &&
gabrieltetar	1:7e925468f9d9	1820	((unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| (((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID) )
gabrieltetar	1:7e925468f9d9	1821	{
gabrieltetar	1:7e925468f9d9	1822	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1823	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1824	}
gabrieltetar	1:7e925468f9d9	1825	if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]
gabrieltetar	1:7e925468f9d9	1826	\|(((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN))
gabrieltetar	1:7e925468f9d9	1827	{
gabrieltetar	1:7e925468f9d9	1828	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1829	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1830	}
gabrieltetar	1:7e925468f9d9	1831	*/
gabrieltetar	1:7e925468f9d9	1832	break;
gabrieltetar	1:7e925468f9d9	1833	case ODOMETRIE_BIG_POSITION:
gabrieltetar	1:7e925468f9d9	1834	case ODOMETRIE_SMALL_POSITION:
gabrieltetar	1:7e925468f9d9	1835
gabrieltetar	1:7e925468f9d9	1836	x_robot=msgRxBuffer[FIFO_lecture].data[0]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
gabrieltetar	1:7e925468f9d9	1837	y_robot=msgRxBuffer[FIFO_lecture].data[2]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
gabrieltetar	1:7e925468f9d9	1838	theta_robot=msgRxBuffer[FIFO_lecture].data[4]\|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
gabrieltetar	1:7e925468f9d9	1839	break;
gabrieltetar	1:7e925468f9d9	1840
gabrieltetar	1:7e925468f9d9	1841	case ACK_ACTION:
gabrieltetar	1:7e925468f9d9	1842	if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1843	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1844	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1845	}
gabrieltetar	1:7e925468f9d9	1846	break;
gabrieltetar	1:7e925468f9d9	1847
gabrieltetar	1:7e925468f9d9	1848	case BALISE_DANGER :
gabrieltetar	1:7e925468f9d9	1849	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1850	balise_danger();
gabrieltetar	1:7e925468f9d9	1851	break;
gabrieltetar	1:7e925468f9d9	1852
gabrieltetar	1:7e925468f9d9	1853	case BALISE_STOP:
gabrieltetar	1:7e925468f9d9	1854	SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
gabrieltetar	1:7e925468f9d9	1855	balise_stop(FIFO_lecture);
gabrieltetar	1:7e925468f9d9	1856	break;
gabrieltetar	1:7e925468f9d9	1857
gabrieltetar	1:7e925468f9d9	1858	case BALISE_END_DANGER:
gabrieltetar	1:7e925468f9d9	1859	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1860	balise_end_danger(&instruction,&dodgeq,&gameEtat,target_x_robot,target_y_robot,target_theta_robot, theta_robot,x_robot,y_robot);
gabrieltetar	1:7e925468f9d9	1861	break;
gabrieltetar	1:7e925468f9d9	1862
gabrieltetar	1:7e925468f9d9	1863	case RECEPTION_DATA:
gabrieltetar	1:7e925468f9d9	1864	telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
gabrieltetar	1:7e925468f9d9	1865	telemetreDistance= (float)telemetreDistance100.0f35.5f+50.0f;
gabrieltetar	1:7e925468f9d9	1866	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1867	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1868	break;
gabrieltetar	1:7e925468f9d9	1869
gabrieltetar	1:7e925468f9d9	1870	case RECEPTION_RECALAGE:
gabrieltetar	1:7e925468f9d9	1871	wait_us(150);
gabrieltetar	1:7e925468f9d9	1872	flagReceptionTelemetres = 1;
gabrieltetar	1:7e925468f9d9	1873	// 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	1874	memcpy(&telemetreDistance_avant_droite,msgRxBuffer[FIFO_lecture].data,2);
gabrieltetar	1:7e925468f9d9	1875	telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
gabrieltetar	1:7e925468f9d9	1876	telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
gabrieltetar	1:7e925468f9d9	1877	telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
gabrieltetar	1:7e925468f9d9	1878
gabrieltetar	1:7e925468f9d9	1879
gabrieltetar	1:7e925468f9d9	1880	if(ModeDemo==1) {
gabrieltetar	1:7e925468f9d9	1881	sprintf(message,"%04dmm L:%d",telemetreDistance_avant_droite,DT_AVD_interrupt);
gabrieltetar	1:7e925468f9d9	1882	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1883	lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"LASER AVD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1884	lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1885
gabrieltetar	1:7e925468f9d9	1886	sprintf(message1,"%04dmm L:%d",telemetreDistance_avant_gauche,DT_AVG_interrupt);
gabrieltetar	1:7e925468f9d9	1887	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1888	lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER AVG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1889	lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message1, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1890
gabrieltetar	1:7e925468f9d9	1891
gabrieltetar	1:7e925468f9d9	1892	sprintf(message4,"%04d",theta_robot);
gabrieltetar	1:7e925468f9d9	1893	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1894	lcd.DisplayStringAt(0, LINE(13),(unsigned char *)"THETA: ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1895	lcd.DisplayStringAt(200, LINE(13),(unsigned char *)message4, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1896
gabrieltetar	1:7e925468f9d9	1897
gabrieltetar	1:7e925468f9d9	1898	sprintf(message2,"%04dmm L:%d",telemetreDistance_arriere_gauche,DT_ARG_interrupt);
gabrieltetar	1:7e925468f9d9	1899	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1900	lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER ARG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1901	lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message2, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1902
gabrieltetar	1:7e925468f9d9	1903	sprintf(message3,"%04dmm L:%d",telemetreDistance_arriere_droite,DT_ARD_interrupt);
gabrieltetar	1:7e925468f9d9	1904	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1905	lcd.DisplayStringAt(0, LINE(18),(unsigned char *)"LASER ARD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1906	lcd.DisplayStringAt(200, LINE(18),(unsigned char *)message3, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1907	}
gabrieltetar	1:7e925468f9d9	1908	break;
gabrieltetar	1:7e925468f9d9	1909	case RECEPTION_TELEMETRE_LOGIQUE:
gabrieltetar	1:7e925468f9d9	1910
gabrieltetar	1:7e925468f9d9	1911	DT_AVD_interrupt=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1912	DT_AVG_interrupt=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1913	DT_ARG_interrupt=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1914	DT_ARD_interrupt=msgRxBuffer[FIFO_lecture].data[3];
gabrieltetar	1:7e925468f9d9	1915
gabrieltetar	1:7e925468f9d9	1916	break;
gabrieltetar	1:7e925468f9d9	1917	case RECEPTION_COULEUR:
gabrieltetar	1:7e925468f9d9	1918	if (blocage_balise==0) {
gabrieltetar	1:7e925468f9d9	1919	couleur1=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1920	couleur2=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1921	couleur3=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1922
gabrieltetar	1:7e925468f9d9	1923	/lcd.DisplayStringAt(0,LINE(16),(unsigned char )couleur1+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1924	lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1925	lcd.DisplayStringAt(0,LINE(16+2),(unsigned char )couleur3+'0',LEFT_MODE);/
gabrieltetar	1:7e925468f9d9	1926	}
gabrieltetar	1:7e925468f9d9	1927
gabrieltetar	1:7e925468f9d9	1928	break;
gabrieltetar	10:1964bb91b925	1929	default:
gabrieltetar	10:1964bb91b925	1930	break;
gabrieltetar	1:7e925468f9d9	1931	/*
gabrieltetar	1:7e925468f9d9	1932	case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
gabrieltetar	1:7e925468f9d9	1933	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1934	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1935	// waitingAckID_FIN=0;
gabrieltetar	1:7e925468f9d9	1936	// waitingAckFrom_FIN=0;
gabrieltetar	1:7e925468f9d9	1937	SendRawId(0x40);
gabrieltetar	1:7e925468f9d9	1938	break;*/
gabrieltetar	1:7e925468f9d9	1939	}
gabrieltetar	1:7e925468f9d9	1940	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1941	}
gabrieltetar	1:7e925468f9d9	1942	}
gabrieltetar	1:7e925468f9d9	1943
gabrieltetar	1:7e925468f9d9	1944
gabrieltetar	1:7e925468f9d9	1945
gabrieltetar	1:7e925468f9d9	1946
gabrieltetar	1:7e925468f9d9	1947
gabrieltetar	1:7e925468f9d9	1948	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1949	/* FUNCTION NAME: Bouton_Strat */
gabrieltetar	1:7e925468f9d9	1950	/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
gabrieltetar	1:7e925468f9d9	1951	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1952	signed char Bouton_Strat (void)
gabrieltetar	1:7e925468f9d9	1953	{
gabrieltetar	1:7e925468f9d9	1954	Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
gabrieltetar	1:7e925468f9d9	1955	Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
gabrieltetar	1:7e925468f9d9	1956	Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
gabrieltetar	1:7e925468f9d9	1957	Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
gabrieltetar	1:7e925468f9d9	1958	Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
gabrieltetar	1:7e925468f9d9	1959	Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
gabrieltetar	1:7e925468f9d9	1960	Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
gabrieltetar	1:7e925468f9d9	1961	Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
gabrieltetar	1:7e925468f9d9	1962	Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
gabrieltetar	1:7e925468f9d9	1963	Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
gabrieltetar	1:7e925468f9d9	1964	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	1965	//Definition des boutons
gabrieltetar	1:7e925468f9d9	1966
gabrieltetar	1:7e925468f9d9	1967	Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	1968	Strat = 0;
gabrieltetar	1:7e925468f9d9	1969	STRAT_1.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1970	STRAT_2.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1971	STRAT_3.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1972	STRAT_4.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1973	STRAT_5.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1974	STRAT_6.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1975	STRAT_7.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1976	STRAT_8.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1977	STRAT_9.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1978	STRAT_10.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	1979	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	1980
gabrieltetar	1:7e925468f9d9	1981	while(Ack_strat == 0) {
gabrieltetar	1:7e925468f9d9	1982	canProcessRx();
gabrieltetar	1:7e925468f9d9	1983	CANMessage msgTx=CANMessage();
gabrieltetar	1:7e925468f9d9	1984	//msgTx.id=ECRAN_CHOICE_STRAT;
gabrieltetar	1:7e925468f9d9	1985	if (RETOUR.Touched())
gabrieltetar	1:7e925468f9d9	1986	return -1;
gabrieltetar	1:7e925468f9d9	1987	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	1988	//////////////////////////////STRATEGIE N°1
gabrieltetar	1:7e925468f9d9	1989	if (STRAT_1.Touched()) {
gabrieltetar	1:7e925468f9d9	1990	Strat = 0;
gabrieltetar	1:7e925468f9d9	1991	//msgTx.data[0] = 0x1;
gabrieltetar	1:7e925468f9d9	1992	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	1993	while(STRAT_1.Touched());
gabrieltetar	1:7e925468f9d9	1994	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	1995	}
gabrieltetar	1:7e925468f9d9	1996	/////////////////////////////STRATEGIE N°2
gabrieltetar	1:7e925468f9d9	1997	if (STRAT_2.Touched()) {
gabrieltetar	1:7e925468f9d9	1998	Strat = 1;
gabrieltetar	1:7e925468f9d9	1999	//msgTx.data[0] = 0x2;
gabrieltetar	1:7e925468f9d9	2000	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2001	while(STRAT_2.Touched());
gabrieltetar	1:7e925468f9d9	2002	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2003	}
gabrieltetar	1:7e925468f9d9	2004	//////////////////////////////STRATEGIE N°3
gabrieltetar	1:7e925468f9d9	2005	if (STRAT_3.Touched()) {
gabrieltetar	1:7e925468f9d9	2006	Strat = 2;
gabrieltetar	1:7e925468f9d9	2007	//msgTx.data[0] = 0x3;
gabrieltetar	1:7e925468f9d9	2008	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2009	while(STRAT_3.Touched());
gabrieltetar	1:7e925468f9d9	2010	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2011	}
gabrieltetar	1:7e925468f9d9	2012	/////////////////////////////STRATEGIE N°4
gabrieltetar	1:7e925468f9d9	2013	if (STRAT_4.Touched()) {
gabrieltetar	1:7e925468f9d9	2014	Strat = 3;
gabrieltetar	1:7e925468f9d9	2015	//msgTx.data[0] = 0x4;
gabrieltetar	1:7e925468f9d9	2016	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2017	while(STRAT_4.Touched());
gabrieltetar	1:7e925468f9d9	2018	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2019	}
gabrieltetar	1:7e925468f9d9	2020	///////////////////////////////STRATEGIE N°5
gabrieltetar	1:7e925468f9d9	2021	if (STRAT_5.Touched()) {
gabrieltetar	1:7e925468f9d9	2022	Strat = 4;
gabrieltetar	1:7e925468f9d9	2023	//msgTx.data[0] = 0x5;
gabrieltetar	1:7e925468f9d9	2024	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2025	while(STRAT_5.Touched());
gabrieltetar	1:7e925468f9d9	2026	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2027	}
gabrieltetar	1:7e925468f9d9	2028	////////////////////////////////STRATEGIE N°6
gabrieltetar	1:7e925468f9d9	2029	if (STRAT_6.Touched()) {
gabrieltetar	1:7e925468f9d9	2030	Strat = 5;
gabrieltetar	1:7e925468f9d9	2031	//msgTx.data[0] = 0x6;
gabrieltetar	1:7e925468f9d9	2032	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2033	while(STRAT_6.Touched());
gabrieltetar	1:7e925468f9d9	2034	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2035	}
gabrieltetar	1:7e925468f9d9	2036	/////////////////////////////////STRATEGIE N°7
gabrieltetar	1:7e925468f9d9	2037	if (STRAT_7.Touched()) {
gabrieltetar	1:7e925468f9d9	2038	Strat = 6;
gabrieltetar	1:7e925468f9d9	2039	//msgTx.data[0] = 0x7;
gabrieltetar	1:7e925468f9d9	2040	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2041	while(STRAT_7.Touched());
gabrieltetar	1:7e925468f9d9	2042	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2043	}
gabrieltetar	1:7e925468f9d9	2044	/////////////////////////////////STRATEGIE N°8
gabrieltetar	1:7e925468f9d9	2045	if (STRAT_8.Touched()) {
gabrieltetar	1:7e925468f9d9	2046	Strat = 7;
gabrieltetar	1:7e925468f9d9	2047	//msgTx.data[0] = 0x8;
gabrieltetar	1:7e925468f9d9	2048	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2049	while(STRAT_8.Touched());
gabrieltetar	1:7e925468f9d9	2050	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2051	}
gabrieltetar	1:7e925468f9d9	2052	/////////////////////////////////STRATEGIE N°9
gabrieltetar	1:7e925468f9d9	2053	if (STRAT_9.Touched()) {
gabrieltetar	1:7e925468f9d9	2054	Strat = 8;
gabrieltetar	1:7e925468f9d9	2055	//msgTx.data[0] = 0x9;
gabrieltetar	1:7e925468f9d9	2056	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2057	while(STRAT_9.Touched());
gabrieltetar	1:7e925468f9d9	2058	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2059	}
gabrieltetar	1:7e925468f9d9	2060	///////////////////////////////////STRATEGIE N°10
gabrieltetar	1:7e925468f9d9	2061	if (STRAT_10.Touched()) {
gabrieltetar	1:7e925468f9d9	2062	Strat = 9;
gabrieltetar	1:7e925468f9d9	2063	//msgTx.data[0] = 0xA;
gabrieltetar	1:7e925468f9d9	2064	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2065	while(STRAT_10.Touched());
gabrieltetar	1:7e925468f9d9	2066	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2067	}
gabrieltetar	1:7e925468f9d9	2068
gabrieltetar	1:7e925468f9d9	2069	}
gabrieltetar	1:7e925468f9d9	2070	return Strat;
gabrieltetar	1:7e925468f9d9	2071
gabrieltetar	1:7e925468f9d9	2072	}
gabrieltetar	1:7e925468f9d9	2073
gabrieltetar	1:7e925468f9d9	2074	void affichage_compteur (int nombre)
gabrieltetar	1:7e925468f9d9	2075	{
gabrieltetar	1:7e925468f9d9	2076	int dizaine=0,unite=0,centaine=0;
gabrieltetar	1:7e925468f9d9	2077	centaine = nombre/100;
gabrieltetar	1:7e925468f9d9	2078	dizaine = nombre/10;
gabrieltetar	1:7e925468f9d9	2079	unite = nombre-(10*dizaine);
gabrieltetar	1:7e925468f9d9	2080	print_segment(unite,-50);
gabrieltetar	1:7e925468f9d9	2081	print_segment(dizaine,100);
gabrieltetar	1:7e925468f9d9	2082	if(centaine!=0) {
gabrieltetar	1:7e925468f9d9	2083	print_segment(centaine,350);
gabrieltetar	1:7e925468f9d9	2084	}
gabrieltetar	1:7e925468f9d9	2085
gabrieltetar	1:7e925468f9d9	2086	}
gabrieltetar	1:7e925468f9d9	2087
gabrieltetar	1:7e925468f9d9	2088
gabrieltetar	1:7e925468f9d9	2089	//**print_segment*
gabrieltetar	1:7e925468f9d9	2090	//Dessine en 7 segment le nombre en parametre
gabrieltetar	1:7e925468f9d9	2091	// A
gabrieltetar	1:7e925468f9d9	2092	// =====
gabrieltetar	1:7e925468f9d9	2093	// \| \|
gabrieltetar	1:7e925468f9d9	2094	// B \| G \| E
gabrieltetar	1:7e925468f9d9	2095	// \|=====\|
gabrieltetar	1:7e925468f9d9	2096	// C \| \| F
gabrieltetar	1:7e925468f9d9	2097	// \| \|
gabrieltetar	1:7e925468f9d9	2098	// =====
gabrieltetar	1:7e925468f9d9	2099	// D
gabrieltetar	1:7e925468f9d9	2100	/*
gabrieltetar	1:7e925468f9d9	2101	position pour le chiffre des unites
gabrieltetar	1:7e925468f9d9	2102	lcd.FillRect(460,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2103	lcd.FillRect(435,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2104	lcd.FillRect(435,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2105	lcd.FillRect(460,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2106	lcd.FillRect(580,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2107	lcd.FillRect(580,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2108	lcd.FillRect(460,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2109
gabrieltetar	1:7e925468f9d9	2110	position pour le chiffre des dizaines
gabrieltetar	1:7e925468f9d9	2111	lcd.FillRect(260,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2112	lcd.FillRect(235,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2113	lcd.FillRect(235,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2114	lcd.FillRect(260,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2115	lcd.FillRect(380,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2116	lcd.FillRect(380,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2117	lcd.FillRect(260,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2118	*/
gabrieltetar	1:7e925468f9d9	2119
gabrieltetar	1:7e925468f9d9	2120	void print_segment(int nombre, int decalage)
gabrieltetar	1:7e925468f9d9	2121	{
gabrieltetar	1:7e925468f9d9	2122
gabrieltetar	1:7e925468f9d9	2123	switch(nombre) {
gabrieltetar	1:7e925468f9d9	2124	case 0:
gabrieltetar	1:7e925468f9d9	2125	lcd.FillRect(240-decalage,75,120,25);
gabrieltetar	1:7e925468f9d9	2126	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2127	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2128	lcd.FillRect(360-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2129	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2130	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2131	break;
gabrieltetar	1:7e925468f9d9	2132
gabrieltetar	1:7e925468f9d9	2133	case 1:
gabrieltetar	1:7e925468f9d9	2134	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2135	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2136	break;
gabrieltetar	1:7e925468f9d9	2137
gabrieltetar	1:7e925468f9d9	2138	case 2:
gabrieltetar	1:7e925468f9d9	2139	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2140	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2141	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2142	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2143	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2144	break;
gabrieltetar	1:7e925468f9d9	2145
gabrieltetar	1:7e925468f9d9	2146	case 3:
gabrieltetar	1:7e925468f9d9	2147	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2148	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2149	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2150	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2151	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2152	break;
gabrieltetar	1:7e925468f9d9	2153
gabrieltetar	1:7e925468f9d9	2154	case 4:
gabrieltetar	1:7e925468f9d9	2155	lcd.FillRect(215-decalage,100,25,120);// B
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	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2159	break;
gabrieltetar	1:7e925468f9d9	2160
gabrieltetar	1:7e925468f9d9	2161	case 5:
gabrieltetar	1:7e925468f9d9	2162	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2163	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2164	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2165	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2166	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2167	break;
gabrieltetar	1:7e925468f9d9	2168
gabrieltetar	1:7e925468f9d9	2169	case 6:
gabrieltetar	1:7e925468f9d9	2170	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2171	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2172	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2173	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2174	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2175	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2176	break;
gabrieltetar	1:7e925468f9d9	2177
gabrieltetar	1:7e925468f9d9	2178	case 7:
gabrieltetar	1:7e925468f9d9	2179	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2180	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2181	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2182	break;
gabrieltetar	1:7e925468f9d9	2183
gabrieltetar	1:7e925468f9d9	2184	case 8:
gabrieltetar	1:7e925468f9d9	2185	lcd.FillRect(240-decalage,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2186	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2187	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2188	lcd.FillRect(360-decalage,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2189	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2190	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2191	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2192	break;
gabrieltetar	1:7e925468f9d9	2193
gabrieltetar	1:7e925468f9d9	2194	case 9:
gabrieltetar	1:7e925468f9d9	2195	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2196	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2197	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2198	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2199	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2200	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2201	break;
gabrieltetar	1:7e925468f9d9	2202	}
gabrieltetar	1:7e925468f9d9	2203	}
gabrieltetar	1:7e925468f9d9	2204
gabrieltetar	1:7e925468f9d9	2205	void effacer_segment(long couleur)
gabrieltetar	1:7e925468f9d9	2206	{
gabrieltetar	1:7e925468f9d9	2207	lcd.SetTextColor(couleur);
gabrieltetar	1:7e925468f9d9	2208	lcd.FillRect(240-200,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2209	lcd.FillRect(215-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2210	lcd.FillRect(215-200,245,25,120);
gabrieltetar	1:7e925468f9d9	2211	lcd.FillRect(360-200,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2212	lcd.FillRect(360-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2213	lcd.FillRect(240-200,365,120,25);
gabrieltetar	1:7e925468f9d9	2214	lcd.FillRect(240-200,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2215
gabrieltetar	1:7e925468f9d9	2216	lcd.FillRect(240,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2217	lcd.FillRect(215,100,25,120);
gabrieltetar	1:7e925468f9d9	2218	lcd.FillRect(215,245,25,120);
gabrieltetar	1:7e925468f9d9	2219	lcd.FillRect(360,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2220	lcd.FillRect(360,100,25,120);
gabrieltetar	1:7e925468f9d9	2221	lcd.FillRect(240,365,120,25);
gabrieltetar	1:7e925468f9d9	2222	lcd.FillRect(240,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2223	}
gabrieltetar	1:7e925468f9d9	2224
gabrieltetar	1:7e925468f9d9	2225	short recalageAngulaireCapteur(void)
gabrieltetar	1:7e925468f9d9	2226	{
gabrieltetar	1:7e925468f9d9	2227	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2228	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2229	unsigned short angleAvant = 0;
gabrieltetar	1:7e925468f9d9	2230	unsigned short angleArriere = 0;
gabrieltetar	1:7e925468f9d9	2231	unsigned short orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2232
gabrieltetar	1:7e925468f9d9	2233	unsigned short position_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	2234	unsigned short position_avant_droite=0;
gabrieltetar	1:7e925468f9d9	2235	unsigned short position_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	2236	unsigned short position_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	2237
gabrieltetar	1:7e925468f9d9	2238	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2239	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2240	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2241
gabrieltetar	1:7e925468f9d9	2242
gabrieltetar	1:7e925468f9d9	2243
gabrieltetar	1:7e925468f9d9	2244	if(theta_robot >= 450 && theta_robot <= 1350)
gabrieltetar	1:7e925468f9d9	2245	orientationArrondie = 90;
gabrieltetar	1:7e925468f9d9	2246	else if(theta_robot <= -450 && theta_robot >= -1350)
gabrieltetar	1:7e925468f9d9	2247	orientationArrondie = 270;
gabrieltetar	1:7e925468f9d9	2248	else if(theta_robot <= 450 && theta_robot >= -450)
gabrieltetar	1:7e925468f9d9	2249	orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2250	else if(theta_robot >= 1350 && theta_robot <= -1350)
gabrieltetar	1:7e925468f9d9	2251	orientationArrondie = 180;
gabrieltetar	1:7e925468f9d9	2252
gabrieltetar	1:7e925468f9d9	2253	// Calcul de position pour faire la vérification de cohérence
gabrieltetar	1:7e925468f9d9	2254	if(orientationArrondie == 90 \|\| orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2255	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	2256	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	2257	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	2258	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	2259
gabrieltetar	1:7e925468f9d9	2260	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2261	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	2262	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	2263	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	2264	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	2265	}
gabrieltetar	1:7e925468f9d9	2266
gabrieltetar	1:7e925468f9d9	2267
gabrieltetar	1:7e925468f9d9	2268	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2269	if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2270	if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2271	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2272	angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double)ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2273	else
gabrieltetar	1:7e925468f9d9	2274	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2275
gabrieltetar	1:7e925468f9d9	2276	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2277	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2278	}
gabrieltetar	1:7e925468f9d9	2279	}
gabrieltetar	1:7e925468f9d9	2280	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2281	if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2282	if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2283	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2284	angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2285	else
gabrieltetar	1:7e925468f9d9	2286	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2287
gabrieltetar	1:7e925468f9d9	2288	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2289	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2290	}
gabrieltetar	1:7e925468f9d9	2291	}
gabrieltetar	1:7e925468f9d9	2292	}
gabrieltetar	1:7e925468f9d9	2293
gabrieltetar	1:7e925468f9d9	2294	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2295	if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2296	if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2297	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2298	angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2299	else
gabrieltetar	1:7e925468f9d9	2300	angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2301
gabrieltetar	1:7e925468f9d9	2302	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2303	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2304	}
gabrieltetar	1:7e925468f9d9	2305	}
gabrieltetar	1:7e925468f9d9	2306	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2307	if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2308	if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2309	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2310	angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2311	else
gabrieltetar	1:7e925468f9d9	2312	angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2313
gabrieltetar	1:7e925468f9d9	2314	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2315	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2316	}
gabrieltetar	1:7e925468f9d9	2317	}
gabrieltetar	1:7e925468f9d9	2318	}
gabrieltetar	1:7e925468f9d9	2319
gabrieltetar	1:7e925468f9d9	2320	angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2321
gabrieltetar	1:7e925468f9d9	2322	if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) {
gabrieltetar	1:7e925468f9d9	2323	if(orientationArrondie == 0) {
gabrieltetar	1:7e925468f9d9	2324	angleRecalage -= 900;
gabrieltetar	1:7e925468f9d9	2325
gabrieltetar	1:7e925468f9d9	2326	/*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2327	distanceRecalage = *);
gabrieltetar	1:7e925468f9d9	2328	else
gabrieltetar	1:7e925468f9d9	2329	distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
gabrieltetar	1:7e925468f9d9	2330	} else if(orientationArrondie == 90) {
gabrieltetar	1:7e925468f9d9	2331	angleRecalage += 0;
gabrieltetar	1:7e925468f9d9	2332	} else if(orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2333	angleRecalage += 900;
gabrieltetar	1:7e925468f9d9	2334	} else if(orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2335	angleRecalage += 1800;
gabrieltetar	1:7e925468f9d9	2336	}
gabrieltetar	1:7e925468f9d9	2337	}
gabrieltetar	1:7e925468f9d9	2338
gabrieltetar	1:7e925468f9d9	2339	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
gabrieltetar	1:7e925468f9d9	2340	}
gabrieltetar	1:7e925468f9d9	2341
gabrieltetar	1:7e925468f9d9	2342	short recalageDistanceX(void)
gabrieltetar	1:7e925468f9d9	2343	{
gabrieltetar	1:7e925468f9d9	2344	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2345	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2346
gabrieltetar	1:7e925468f9d9	2347	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2348	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2349	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2350
gabrieltetar	1:7e925468f9d9	2351	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	2352	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	2353	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	2354	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	2355
gabrieltetar	1:7e925468f9d9	2356	if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2357	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2358	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2359	}
gabrieltetar	1:7e925468f9d9	2360	if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2361	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2362	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2363	}
gabrieltetar	1:7e925468f9d9	2364	if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2365	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2366	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2367	}
gabrieltetar	1:7e925468f9d9	2368	if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2369	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2370	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2371	}
gabrieltetar	1:7e925468f9d9	2372
gabrieltetar	1:7e925468f9d9	2373	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2374
gabrieltetar	1:7e925468f9d9	2375	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	2376	}
gabrieltetar	1:7e925468f9d9	2377
gabrieltetar	1:7e925468f9d9	2378	short recalageDistanceY(void)
gabrieltetar	1:7e925468f9d9	2379	{
gabrieltetar	1:7e925468f9d9	2380	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2381	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2382
gabrieltetar	1:7e925468f9d9	2383	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2384	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2385	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2386
gabrieltetar	1:7e925468f9d9	2387	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	2388	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	2389	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	2390	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	2391
gabrieltetar	1:7e925468f9d9	2392	if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2393	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2394	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2395	}
gabrieltetar	1:7e925468f9d9	2396	if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2397	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2398	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2399	}
gabrieltetar	1:7e925468f9d9	2400	if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2401	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2402	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2403	}
gabrieltetar	1:7e925468f9d9	2404	if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2405	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2406	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2407	}
gabrieltetar	1:7e925468f9d9	2408
gabrieltetar	1:7e925468f9d9	2409	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2410
gabrieltetar	1:7e925468f9d9	2411	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
gabrieltetar	1:7e925468f9d9	2412	}
gabrieltetar	1:7e925468f9d9	2413
gabrieltetar	14:6aa8aa1699ad	2414	/*************************************************************************************************/
gabrieltetar	14:6aa8aa1699ad	2415	/* FUNCTION NAME: doAction */
gabrieltetar	14:6aa8aa1699ad	2416	/* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
gabrieltetar	14:6aa8aa1699ad	2417	/*************************************************************************************************/
gabrieltetar	14:6aa8aa1699ad	2418
gabrieltetar	14:6aa8aa1699ad	2419	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
gabrieltetar	14:6aa8aa1699ad	2420	{
gabrieltetar	14:6aa8aa1699ad	2421	int retour = 1;
gabrieltetar	14:6aa8aa1699ad	2422	CANMessage msgTx=CANMessage();
gabrieltetar	14:6aa8aa1699ad	2423	msgTx.format=CANStandard;
gabrieltetar	14:6aa8aa1699ad	2424	msgTx.type=CANData;
gabrieltetar	14:6aa8aa1699ad	2425	switch(id)
maximilienlv	17:1cf2043c5c01	2426	{
gabrieltetar	14:6aa8aa1699ad	2427	case 120:
gabrieltetar	14:6aa8aa1699ad	2428	//SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
gabrieltetar	14:6aa8aa1699ad	2429	break;
gabrieltetar	14:6aa8aa1699ad	2430
gabrieltetar	14:6aa8aa1699ad	2431	case 121:
gabrieltetar	14:6aa8aa1699ad	2432	//SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
gabrieltetar	14:6aa8aa1699ad	2433	break;
gabrieltetar	14:6aa8aa1699ad	2434
gabrieltetar	14:6aa8aa1699ad	2435	case 150:
gabrieltetar	14:6aa8aa1699ad	2436	SCORE_PR+=arg1;
gabrieltetar	14:6aa8aa1699ad	2437	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2438	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2439	break;
gabrieltetar	14:6aa8aa1699ad	2440
gabrieltetar	14:6aa8aa1699ad	2441	case 200 :
gabrieltetar	14:6aa8aa1699ad	2442	SendRawId(DATA_TELEMETRE);
gabrieltetar	14:6aa8aa1699ad	2443	/*telemetreDistance = dataTelemetre();
gabrieltetar	14:6aa8aa1699ad	2444	wait_ms(1);
gabrieltetar	14:6aa8aa1699ad	2445	telemetreDistance = dataTelemetre();
gabrieltetar	14:6aa8aa1699ad	2446	telemetreDistance = telemetreDistance - 170;*/
gabrieltetar	14:6aa8aa1699ad	2447	break;
gabrieltetar	14:6aa8aa1699ad	2448
gabrieltetar	14:6aa8aa1699ad	2449	case 201 :
gabrieltetar	14:6aa8aa1699ad	2450	SendRawId(0x99);//
gabrieltetar	14:6aa8aa1699ad	2451	retour = 2;
gabrieltetar	14:6aa8aa1699ad	2452	break;
gabrieltetar	14:6aa8aa1699ad	2453
gabrieltetar	14:6aa8aa1699ad	2454
gabrieltetar	14:6aa8aa1699ad	2455	case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
gabrieltetar	14:6aa8aa1699ad	2456	isStopEnable =(unsigned char) arg1;
gabrieltetar	14:6aa8aa1699ad	2457	// SendMsgCan(0x5BC, &isStopEnable,1);
gabrieltetar	14:6aa8aa1699ad	2458	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2459	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2460	break;
gabrieltetar	14:6aa8aa1699ad	2461
gabrieltetar	14:6aa8aa1699ad	2462	case 20://Désactiver l'asservissement
gabrieltetar	14:6aa8aa1699ad	2463	setAsservissementEtat(0);
gabrieltetar	14:6aa8aa1699ad	2464	break;
gabrieltetar	14:6aa8aa1699ad	2465
gabrieltetar	14:6aa8aa1699ad	2466	case 21://Activer l'asservissement
gabrieltetar	14:6aa8aa1699ad	2467	setAsservissementEtat(1);
gabrieltetar	14:6aa8aa1699ad	2468	break;
gabrieltetar	14:6aa8aa1699ad	2469
gabrieltetar	14:6aa8aa1699ad	2470	case 22://Changer la vitesse du robot
gabrieltetar	14:6aa8aa1699ad	2471	SendSpeed(arg1);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar	14:6aa8aa1699ad	2472	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2473	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2474	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2475	break;
maximilienlv	17:1cf2043c5c01	2476
gabrieltetar	14:6aa8aa1699ad	2477	case 23:
gabrieltetar	14:6aa8aa1699ad	2478	SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar	14:6aa8aa1699ad	2479	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2480	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2481	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2482	break;
gabrieltetar	14:6aa8aa1699ad	2483
gabrieltetar	14:6aa8aa1699ad	2484
gabrieltetar	14:6aa8aa1699ad	2485	case 19: // CHANGER LA VITESSE + DECELERATION
gabrieltetar	14:6aa8aa1699ad	2486	//SendSpeedDecel(arg1,(unsigned short) arg2);
gabrieltetar	14:6aa8aa1699ad	2487	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2488	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2489	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2490	break;
maximilienlv	16:c6c765e8b982	2491
maximilienlv	17:1cf2043c5c01	2492	//gestion des bras (soit on attrape, soit on relache)
maximilienlv	16:c6c765e8b982	2493
maximilienlv	16:c6c765e8b982	2494	case 214://test bras competition (attraper)
maximilienlv	16:c6c765e8b982	2495	unsigned char argu_at_bras = arg1;
maximilienlv	16:c6c765e8b982	2496	SendMsgCan(BRAS_AT, &argu_at_bras,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2497	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2498	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2499	break;
maximilienlv	16:c6c765e8b982	2500
maximilienlv	17:1cf2043c5c01	2501	case 215:
maximilienlv	16:c6c765e8b982	2502	unsigned char argu_re_bras = arg1;
maximilienlv	16:c6c765e8b982	2503	SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2504	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2505	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2506	break;
maximilienlv	17:1cf2043c5c01	2507	//gestion des ventouses (soit on attrape, soit on relache)
maximilienlv	17:1cf2043c5c01	2508	case 216:
maximilienlv	16:c6c765e8b982	2509	unsigned char argu_at_ventouse = arg1 - 1;
maximilienlv	16:c6c765e8b982	2510	SendMsgCan(VENT_AT, &argu_at_ventouse,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2511	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2512	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2513	break;
gabrieltetar	14:6aa8aa1699ad	2514
maximilienlv	16:c6c765e8b982	2515	case 217://test ventouses competition(relacher)
maximilienlv	16:c6c765e8b982	2516	unsigned char argu_re_ventouse = arg1 - 1;
maximilienlv	16:c6c765e8b982	2517	SendMsgCan(VENT_RE, &argu_re_ventouse,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2518	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2519	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2520	break;
maximilienlv	16:c6c765e8b982	2521
maximilienlv	16:c6c765e8b982	2522	case 218://Action tempo
maximilienlv	16:c6c765e8b982	2523	SendRawId(ECUEIL_AVANT_AT);
maximilienlv	16:c6c765e8b982	2524	break;
maximilienlv	16:c6c765e8b982	2525	case 219://Action tempo
maximilienlv	16:c6c765e8b982	2526	SendRawId(ECUEIL_ARRIERE_AT);
maximilienlv	16:c6c765e8b982	2527	break;
maximilienlv	17:1cf2043c5c01	2528	//case d'envoie audio afin de jouer un son indépendament d'une action
maximilienlv	17:1cf2043c5c01	2529	case 220:
maximilienlv	16:c6c765e8b982	2530	unsigned char argu_repertoire = arg1;
maximilienlv	16:c6c765e8b982	2531	unsigned char argu_track = arg2;
maximilienlv	16:c6c765e8b982	2532	Debug_Audio(argu_repertoire, argu_track);
maximilienlv	16:c6c765e8b982	2533	waitingAckFrom = 0;
maximilienlv	16:c6c765e8b982	2534	waitingAckID =0;
maximilienlv	16:c6c765e8b982	2535	break;
gabrieltetar	14:6aa8aa1699ad	2536
gabrieltetar	14:6aa8aa1699ad	2537	default:
gabrieltetar	14:6aa8aa1699ad	2538	retour = 0;//L'action n'existe pas, il faut utiliser le CAN
maximilienlv	16:c6c765e8b982	2539	break;
gabrieltetar	14:6aa8aa1699ad	2540	}
gabrieltetar	14:6aa8aa1699ad	2541	return retour;//L'action est spécifique.
gabrieltetar	14:6aa8aa1699ad	2542
maximilienlv	17:1cf2043c5c01	2543	}

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

Strategie/Strategie.cpp@19:e70b9d4a319c, 2020-05-25 (annotated)

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