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

IHM/ihm.cpp@37:f1a8734c193d, 2021-07-17 (annotated)

Committer:: goldmas
Date:: Sat Jul 17 16:07:29 2021 +0000
Revision:: 37:f1a8734c193d
Parent:: 36:c37dbe2be916

code de l'IHM avant bug

Who changed what in which revision?

User	Revision	Line number	New contents of line
gabrieltetar	21:d137ec53c3a9	1	#include "global.h"
gabrieltetar	21:d137ec53c3a9	2
goldmas	35:2a745eeb7922	3	#define M_PI 3.14159265358979323846
goldmas	35:2a745eeb7922	4
gabrieltetar	21:d137ec53c3a9	5	#define VERT 0xFF00FF00
gabrieltetar	21:d137ec53c3a9	6	#define ROUGE 0xFFFF0000
gabrieltetar	21:d137ec53c3a9	7	#define BLEU 0xFF0000FF
gabrieltetar	21:d137ec53c3a9	8	#define JAUNE 0xFFFDD835//FEFE00
gabrieltetar	21:d137ec53c3a9	9	#define BLANC 0xFF000000
gabrieltetar	21:d137ec53c3a9	10	#define ORANGE 0xFFFFA500
gabrieltetar	21:d137ec53c3a9	11	#define NOIR 0xFF000000
gabrieltetar	21:d137ec53c3a9	12	#define DIY_GREY 0xFFDFDFDF
gabrieltetar	21:d137ec53c3a9	13	#define VIOLET 0xFF4527A0
gabrieltetar	27:ff70537a7619	14	#define VERT_F 0xFF00C400
goldmas	35:2a745eeb7922	15	#define VIOLET_F 0x788000FF
gabrieltetar	21:d137ec53c3a9	16	TS_DISCO_F469NI ts;
gabrieltetar	21:d137ec53c3a9	17	LCD_DISCO_F469NI lcd;
gabrieltetar	21:d137ec53c3a9	18
gabrieltetar	21:d137ec53c3a9	19
gabrieltetar	21:d137ec53c3a9	20	TS_StateTypeDef TS_State;
gabrieltetar	21:d137ec53c3a9	21
gabrieltetar	21:d137ec53c3a9	22
gabrieltetar	21:d137ec53c3a9	23	/////////////////DEFINITION DES BOUTONS////////////////////
gabrieltetar	21:d137ec53c3a9	24	Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
goldmas	33:c54841d11156	25	Button COTE_VIOLET(0, 350, 400, 300, "BLEU");
goldmas	36:c37dbe2be916	26	Button COTE_HAUT(0, 25, 400, 300, "ROBOT DU HAUT");
goldmas	36:c37dbe2be916	27	Button COTE_BAS(0, 350, 400, 300, "ROBOT DU BAS");
gabrieltetar	21:d137ec53c3a9	28	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	21:d137ec53c3a9	29	Button LANCER (0, 200, 400, 200, "--LANCER--");
gabrieltetar	21:d137ec53c3a9	30	Button CHECK (0, 420, 400, 200, "Valider");
gabrieltetar	21:d137ec53c3a9	31	Button MATCH (0, 50, 400, 320, "Match");
gabrieltetar	21:d137ec53c3a9	32	Button DEMONSTRATION (0, 400, 400, 320, "Demo");
gabrieltetar	21:d137ec53c3a9	33	//menu demo
gabrieltetar	21:d137ec53c3a9	34	Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
gabrieltetar	21:d137ec53c3a9	35	Button TEST_MOT(0, 135, 400, 100, "Test moteur");
gabrieltetar	21:d137ec53c3a9	36	Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
gabrieltetar	21:d137ec53c3a9	37	Button TEST_BRAS(0,355,400,100,"Test Bras");
gabrieltetar	21:d137ec53c3a9	38	Button TEST_AUDIO(0,465,400,100,"Test Audio");
gabrieltetar	22:c7763a7ec6c7	39
gabrieltetar	22:c7763a7ec6c7	40	Button TEST_NEXT(0,575,400,100,"------>");
gabrieltetar	22:c7763a7ec6c7	41	Button TEST_DIV(0,25,400,100,"Test Divers");
gabrieltetar	22:c7763a7ec6c7	42	Button TEST_ASSERV(0, 135, 400, 100, "Test asserv");
goldmas	37:f1a8734c193d	43	Button TEST_MANCHE(0,245,400,100,"Test manches a air");
goldmas	37:f1a8734c193d	44	Button TEST_GIROU(0,355,400,100,"Test capteur girouette");
goldmas	37:f1a8734c193d	45
goldmas	37:f1a8734c193d	46
gabrieltetar	21:d137ec53c3a9	47	//menu demo/demo/
gabrieltetar	21:d137ec53c3a9	48	Button TEST_A(0,25,195,100,"A");
gabrieltetar	21:d137ec53c3a9	49	Button TEST_B(205,25,195,100,"B");
gabrieltetar	21:d137ec53c3a9	50	Button TEST_C(0,135,195,100,"C");
gabrieltetar	21:d137ec53c3a9	51	Button TEST_D(205,135,195,100,"D");
gabrieltetar	22:c7763a7ec6c7	52	Button TEST_NUM(0,245,400,100,"Num");
goldmas	32:7f8e3ee2adac	53	Button TEST_ATTRAPER(0,300,400,100,"Attraper");
goldmas	32:7f8e3ee2adac	54	Button TEST_RELACHER(0,450,400,100,"Relacher");
goldmas	32:7f8e3ee2adac	55
gabrieltetar	21:d137ec53c3a9	56	Button TEST_PLUS(205,355,195,100,"+");
gabrieltetar	21:d137ec53c3a9	57	Button TEST_MOINS(0,355,195,100,"-");
goldmas	37:f1a8734c193d	58	Button TEST_SERVO_0(0,160,120,100,"Bras 0");
goldmas	37:f1a8734c193d	59	Button TEST_SERVO_1(140,160,120,100,"Bras 1");
goldmas	37:f1a8734c193d	60	Button TEST_SERVO_2(280,160,120,100,"Bras 2");
goldmas	37:f1a8734c193d	61	Button TEST_SERVO_3(280,50,120,100,"Bras 3");
goldmas	37:f1a8734c193d	62	Button TEST_SERVO_4(140,50,120,100,"Bras 4");
goldmas	37:f1a8734c193d	63	Button TEST_SERVO_5(0,50,120,100,"Bras 5");
goldmas	34:c314feaa0d3e	64
goldmas	37:f1a8734c193d	65	Button TEST_VENT_0(0,160,120,100,"Vent 0");
goldmas	37:f1a8734c193d	66	Button TEST_VENT_1(140,160,120,100,"Vent 1");
goldmas	37:f1a8734c193d	67	Button TEST_VENT_2(280,160,120,100,"Vent 2");
goldmas	37:f1a8734c193d	68	Button TEST_VENT_3(280,50,120,100,"Vent 3");
goldmas	37:f1a8734c193d	69	Button TEST_VENT_4(140,50,120,100,"Vent 4");
goldmas	37:f1a8734c193d	70	Button TEST_VENT_5(0,50,120,100,"Vent 5");
goldmas	34:c314feaa0d3e	71
gabrieltetar	22:c7763a7ec6c7	72	Button FORCE_LAUNCH(0, 600, 400, 100, "Force Launch");
gabrieltetar	21:d137ec53c3a9	73	Button SUIVANT(0,380,200,100,"Suivant");
gabrieltetar	21:d137ec53c3a9	74	////////////////////////////////////////////////////////////
gabrieltetar	24:1a13c998c7ac	75
gabrieltetar	21:d137ec53c3a9	76	signed char Bouton_Strat (void);
gabrieltetar	27:ff70537a7619	77	void DrawC (int l,int h,int x, int y, unsigned char fill);
gabrieltetar	27:ff70537a7619	78	void DrawR (int l,int h,int x, int y, unsigned char fill);
gabrieltetar	27:ff70537a7619	79	void DrawA (int l,int h,int x, int y, unsigned char fill);
gabrieltetar	24:1a13c998c7ac	80
gabrieltetar	21:d137ec53c3a9	81	void SelectionStrat (unsigned char numeroStrat);
gabrieltetar	21:d137ec53c3a9	82
gabrieltetar	21:d137ec53c3a9	83	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	84	/* FUNCTION NAME: automate_etat_ihm */
gabrieltetar	21:d137ec53c3a9	85	/* DESCRIPTION : Automate de gestion de l'affichage */
gabrieltetar	21:d137ec53c3a9	86	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	87	void automate_etat_ihm(void)
goldmas	37:f1a8734c193d	88	{
goldmas	32:7f8e3ee2adac	89	char toto[12];
goldmas	35:2a745eeb7922	90	int j, old_time=0, actual_time=0, old_score=0, actual_score=0, unique=0;
goldmas	32:7f8e3ee2adac	91	unsigned char maximilien=1, choix_groupe;
gabrieltetar	21:d137ec53c3a9	92	if (j==0) {
gabrieltetar	21:d137ec53c3a9	93	ts.Init(lcd.GetXSize(), lcd.GetYSize());
gabrieltetar	21:d137ec53c3a9	94	j++;
gabrieltetar	21:d137ec53c3a9	95	}
gabrieltetar	21:d137ec53c3a9	96	ts.GetState(&TS_State);
gabrieltetar	21:d137ec53c3a9	97	switch (strat_etat_s) {
gabrieltetar	24:1a13c998c7ac	98	case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
gabrieltetar	21:d137ec53c3a9	99	ts.GetState(&TS_State);
gabrieltetar	22:c7763a7ec6c7	100	canProcessRx();
gabrieltetar	24:1a13c998c7ac	101	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	102	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	24:1a13c998c7ac	103	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	104	wait(0.15);
gabrieltetar	27:ff70537a7619	105	DrawC(95,150,0,50,0);
gabrieltetar	27:ff70537a7619	106	DrawR(95,150,105,50,0);
gabrieltetar	27:ff70537a7619	107	DrawA(95,150,210,50,0);
gabrieltetar	27:ff70537a7619	108	DrawC(95,150,315,50,0);
gabrieltetar	27:ff70537a7619	109	DrawCheck(30,30,50,243,0);
gabrieltetar	27:ff70537a7619	110	DrawCheck(30,30,50,293,0);
gabrieltetar	27:ff70537a7619	111	DrawCheck(30,30,50,343,0);
gabrieltetar	27:ff70537a7619	112	DrawCheck(30,30,50,393,0);
gabrieltetar	27:ff70537a7619	113	lcd.DisplayStringAt(100, 250, (uint8_t *)"Init CAN", LEFT_MODE);
slowness	29:ff575aff301f	114	DrawCheck(30,30,50,243,can_present);
gabrieltetar	27:ff70537a7619	115	lcd.DisplayStringAt(100, 300, (uint8_t *)"Micro SD", LEFT_MODE);
slowness	29:ff575aff301f	116	DrawCheck(30,30,50,293,sd_present);
gabrieltetar	27:ff70537a7619	117	lcd.DisplayStringAt(100, 350, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	27:ff70537a7619	118	lcd.DisplayStringAt(100, 400, (uint8_t *)"Balise IR", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	119	FORCE_LAUNCH.Draw(0xFFFF0000, 0);
gabrieltetar	24:1a13c998c7ac	120
gabrieltetar	24:1a13c998c7ac	121	strat_etat_s=ATT;
gabrieltetar	24:1a13c998c7ac	122	break;
gabrieltetar	24:1a13c998c7ac	123
gabrieltetar	24:1a13c998c7ac	124	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	24:1a13c998c7ac	125	if (flag_check_carte==1) {
gabrieltetar	24:1a13c998c7ac	126	strat_etat_s = CHOIX;
gabrieltetar	24:1a13c998c7ac	127	gameEtat = ETAT_CONFIG;
gabrieltetar	24:1a13c998c7ac	128	} else if (FORCE_LAUNCH.Touched()) {
gabrieltetar	24:1a13c998c7ac	129	strat_etat_s = CHOIX;
gabrieltetar	24:1a13c998c7ac	130	gameEtat = ETAT_CONFIG;
gabrieltetar	24:1a13c998c7ac	131	while(FORCE_LAUNCH.Touched());
gabrieltetar	21:d137ec53c3a9	132	}
gabrieltetar	24:1a13c998c7ac	133
gabrieltetar	21:d137ec53c3a9	134	break;
gabrieltetar	24:1a13c998c7ac	135
gabrieltetar	24:1a13c998c7ac	136
gabrieltetar	21:d137ec53c3a9	137	case CHOIX : //Match ou DEMO
gabrieltetar	21:d137ec53c3a9	138	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	139	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	140	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	141	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	142	DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
gabrieltetar	21:d137ec53c3a9	143	MATCH.Draw(0xFFF01010, 0);
gabrieltetar	21:d137ec53c3a9	144	while(strat_etat_s == CHOIX) {
gabrieltetar	21:d137ec53c3a9	145	canProcessRx();
gabrieltetar	21:d137ec53c3a9	146	if(DEMONSTRATION.Touched()) {
gabrieltetar	21:d137ec53c3a9	147	strat_etat_s = DEMO;
gabrieltetar	21:d137ec53c3a9	148	while(DEMONSTRATION.Touched());
gabrieltetar	21:d137ec53c3a9	149	}
gabrieltetar	21:d137ec53c3a9	150
gabrieltetar	21:d137ec53c3a9	151	if(MATCH.Touched()) {
gabrieltetar	21:d137ec53c3a9	152	strat_etat_s = SELECT_SIDE;
gabrieltetar	21:d137ec53c3a9	153	while(MATCH.Touched());
gabrieltetar	21:d137ec53c3a9	154	}
gabrieltetar	21:d137ec53c3a9	155
gabrieltetar	21:d137ec53c3a9	156	}
gabrieltetar	21:d137ec53c3a9	157	break;
gabrieltetar	21:d137ec53c3a9	158
gabrieltetar	21:d137ec53c3a9	159	case DEMO :
gabrieltetar	21:d137ec53c3a9	160	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	161	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	162	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	22:c7763a7ec6c7	163	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 1/2", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	164	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	21:d137ec53c3a9	165	TEST_VENT.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	166	TEST_MOT.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	167	TEST_COUL.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	168	TEST_BRAS.Draw(VERT, 0);
gabrieltetar	21:d137ec53c3a9	169	TEST_AUDIO.Draw(VERT, 0);
gabrieltetar	22:c7763a7ec6c7	170	TEST_NEXT.Draw(BLEU, 0);
gabrieltetar	21:d137ec53c3a9	171	maximilien=0;
gabrieltetar	21:d137ec53c3a9	172	while (strat_etat_s == DEMO) {
gabrieltetar	21:d137ec53c3a9	173	canProcessRx();
goldmas	37:f1a8734c193d	174	if(TEST_VENT.Touched())
goldmas	37:f1a8734c193d	175	{
gabrieltetar	21:d137ec53c3a9	176	while(TEST_VENT.Touched());
gabrieltetar	21:d137ec53c3a9	177	strat_etat_s = TEST_VENTOUSE;
goldmas	37:f1a8734c193d	178	}
goldmas	37:f1a8734c193d	179	else if(TEST_MOT.Touched())
goldmas	37:f1a8734c193d	180	{
gabrieltetar	21:d137ec53c3a9	181	while(TEST_MOT.Touched());
gabrieltetar	21:d137ec53c3a9	182	strat_etat_s = TEST_MOTEUR;
goldmas	37:f1a8734c193d	183	}
goldmas	37:f1a8734c193d	184	else if(TEST_NEXT.Touched())
goldmas	37:f1a8734c193d	185	{
gabrieltetar	22:c7763a7ec6c7	186	while(TEST_NEXT.Touched());
gabrieltetar	22:c7763a7ec6c7	187	strat_etat_s = DEMO2;
goldmas	37:f1a8734c193d	188	}
goldmas	37:f1a8734c193d	189	else if (TEST_COUL.Touched())
goldmas	37:f1a8734c193d	190	{
gabrieltetar	21:d137ec53c3a9	191	while(TEST_COUL.Touched());
gabrieltetar	21:d137ec53c3a9	192	strat_etat_s =TEST_COULEUR ;
goldmas	37:f1a8734c193d	193	}
goldmas	37:f1a8734c193d	194	else if (TEST_BRAS.Touched())
goldmas	37:f1a8734c193d	195	{
gabrieltetar	21:d137ec53c3a9	196	while(TEST_BRAS.Touched());
gabrieltetar	21:d137ec53c3a9	197	strat_etat_s =TEST_SERVO_BRAS ;
goldmas	37:f1a8734c193d	198	}
goldmas	37:f1a8734c193d	199	else if(TEST_AUDIO.Touched())
goldmas	37:f1a8734c193d	200	{
gabrieltetar	21:d137ec53c3a9	201	while(TEST_AUDIO.Touched());
gabrieltetar	21:d137ec53c3a9	202	strat_etat_s=TEST_AUD;
goldmas	37:f1a8734c193d	203	}
goldmas	37:f1a8734c193d	204	else if(RETOUR.Touched())
goldmas	37:f1a8734c193d	205	{
gabrieltetar	21:d137ec53c3a9	206	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	207	strat_etat_s = CHOIX;
gabrieltetar	21:d137ec53c3a9	208	}
gabrieltetar	21:d137ec53c3a9	209	}
gabrieltetar	21:d137ec53c3a9	210	break;
gabrieltetar	24:1a13c998c7ac	211
gabrieltetar	24:1a13c998c7ac	212	case DEMO2 :
gabrieltetar	22:c7763a7ec6c7	213	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	22:c7763a7ec6c7	214	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	22:c7763a7ec6c7	215	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	22:c7763a7ec6c7	216	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 2/2", LEFT_MODE);
gabrieltetar	22:c7763a7ec6c7	217	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	22:c7763a7ec6c7	218	TEST_DIV.Draw(VERT, 0);
gabrieltetar	22:c7763a7ec6c7	219	TEST_ASSERV.Draw(VERT, 0);
goldmas	37:f1a8734c193d	220	TEST_MANCHE.Draw(VERT, 0);
goldmas	37:f1a8734c193d	221	TEST_GIROU.Draw(VERT, 0);
gabrieltetar	22:c7763a7ec6c7	222	TEST_NEXT.Draw(BLEU, 0);
gabrieltetar	22:c7763a7ec6c7	223	maximilien=0;
gabrieltetar	22:c7763a7ec6c7	224	while (strat_etat_s == DEMO2) {
gabrieltetar	22:c7763a7ec6c7	225	canProcessRx();
goldmas	37:f1a8734c193d	226	if(TEST_NEXT.Touched())
goldmas	37:f1a8734c193d	227	{
gabrieltetar	22:c7763a7ec6c7	228	while(TEST_NEXT.Touched());
gabrieltetar	22:c7763a7ec6c7	229	strat_etat_s = DEMO;
goldmas	37:f1a8734c193d	230	}
goldmas	37:f1a8734c193d	231	else if(TEST_DIV.Touched())
goldmas	37:f1a8734c193d	232	{
gabrieltetar	22:c7763a7ec6c7	233	while(TEST_DIV.Touched());
gabrieltetar	22:c7763a7ec6c7	234	strat_etat_s = TEST_DIVE;
goldmas	37:f1a8734c193d	235	}
goldmas	37:f1a8734c193d	236	else if(TEST_ASSERV.Touched())
goldmas	37:f1a8734c193d	237	{
gabrieltetar	22:c7763a7ec6c7	238	while(TEST_ASSERV.Touched());
gabrieltetar	22:c7763a7ec6c7	239	strat_etat_s = TEST_ASSERVE;
goldmas	37:f1a8734c193d	240	}
goldmas	37:f1a8734c193d	241	else if(TEST_MANCHE.Touched())
goldmas	37:f1a8734c193d	242	{
goldmas	37:f1a8734c193d	243	while(TEST_MANCHE.Touched());
goldmas	37:f1a8734c193d	244	strat_etat_s = TEST_MANCHES;
goldmas	37:f1a8734c193d	245	}
goldmas	37:f1a8734c193d	246	else if(TEST_GIROU.Touched())
goldmas	37:f1a8734c193d	247	{
goldmas	37:f1a8734c193d	248	while(TEST_GIROU.Touched());
goldmas	37:f1a8734c193d	249	strat_etat_s = TEST_GIROUS;
goldmas	37:f1a8734c193d	250	}
goldmas	37:f1a8734c193d	251
goldmas	37:f1a8734c193d	252	else if(RETOUR.Touched())
goldmas	37:f1a8734c193d	253	{
gabrieltetar	22:c7763a7ec6c7	254	while(RETOUR.Touched());
gabrieltetar	22:c7763a7ec6c7	255	strat_etat_s = CHOIX;
gabrieltetar	22:c7763a7ec6c7	256	}
gabrieltetar	22:c7763a7ec6c7	257	}
gabrieltetar	24:1a13c998c7ac	258	break;
gabrieltetar	24:1a13c998c7ac	259
goldmas	37:f1a8734c193d	260	case TEST_MANCHES:
goldmas	37:f1a8734c193d	261	lcd.SetBackColor(LCD_COLOR_WHITE);
goldmas	37:f1a8734c193d	262	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	37:f1a8734c193d	263	lcd.Clear (LCD_COLOR_WHITE);
goldmas	37:f1a8734c193d	264	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Manches a air", LEFT_MODE);
goldmas	37:f1a8734c193d	265
goldmas	37:f1a8734c193d	266	RETOUR.Draw(0xFFFF0000,0);
goldmas	37:f1a8734c193d	267	TEST_A.Draw(BLEU, BLANC);
goldmas	37:f1a8734c193d	268	TEST_B.Draw(BLEU, BLANC);
goldmas	37:f1a8734c193d	269	TEST_C.Draw(BLEU, BLANC);
goldmas	37:f1a8734c193d	270	TEST_D.Draw(BLEU, BLANC) ;
goldmas	37:f1a8734c193d	271
goldmas	37:f1a8734c193d	272	while(strat_etat_s==TEST_MANCHES)
goldmas	37:f1a8734c193d	273	{
goldmas	37:f1a8734c193d	274	if(RETOUR.Touched())
goldmas	37:f1a8734c193d	275	{
goldmas	37:f1a8734c193d	276	while (RETOUR.Touched());
goldmas	37:f1a8734c193d	277	strat_etat_s=DEMO2;
goldmas	37:f1a8734c193d	278	}
goldmas	37:f1a8734c193d	279	else if(TEST_A.Touched())
goldmas	37:f1a8734c193d	280	{
goldmas	37:f1a8734c193d	281	while (TEST_A.Touched());
goldmas	37:f1a8734c193d	282	TEST_A.Draw(BLEU, BLANC);
goldmas	37:f1a8734c193d	283	SendRawId(TEST_BRAS_1);
goldmas	37:f1a8734c193d	284	}
goldmas	37:f1a8734c193d	285	else if(TEST_B.Touched())
goldmas	37:f1a8734c193d	286	{
goldmas	37:f1a8734c193d	287	while (TEST_B.Touched());
goldmas	37:f1a8734c193d	288	TEST_B.Draw(BLEU, BLANC);
goldmas	37:f1a8734c193d	289	choix_groupe = 0;
goldmas	37:f1a8734c193d	290	SendMsgCan(AUTOMATE_MANCHE_MOY, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	37:f1a8734c193d	291	wait_ms(500);
goldmas	37:f1a8734c193d	292	SendMsgCan(AUTOMATE_MANCHE_BAS, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	37:f1a8734c193d	293	wait_ms(500);
goldmas	37:f1a8734c193d	294	SendMsgCan(AUTOMATE_MANCHE_HAUT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	37:f1a8734c193d	295	wait_ms(500);
goldmas	37:f1a8734c193d	296	choix_groupe = 1;
goldmas	37:f1a8734c193d	297	SendMsgCan(AUTOMATE_MANCHE_MOY, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	37:f1a8734c193d	298	wait_ms(500);
goldmas	37:f1a8734c193d	299	SendMsgCan(AUTOMATE_MANCHE_BAS, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	37:f1a8734c193d	300	wait_ms(500);
goldmas	37:f1a8734c193d	301	SendMsgCan(AUTOMATE_MANCHE_HAUT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	37:f1a8734c193d	302	wait_ms(500);
goldmas	37:f1a8734c193d	303	}
goldmas	37:f1a8734c193d	304	else if(TEST_C.Touched())
goldmas	37:f1a8734c193d	305	{
goldmas	37:f1a8734c193d	306	while (TEST_A.Touched());
goldmas	37:f1a8734c193d	307	TEST_C.Draw(BLEU, BLANC);
goldmas	37:f1a8734c193d	308	SendRawId(PAVILLON_DEPLOYE);
goldmas	37:f1a8734c193d	309	}
goldmas	37:f1a8734c193d	310
goldmas	37:f1a8734c193d	311	}
goldmas	37:f1a8734c193d	312	break;
goldmas	37:f1a8734c193d	313
goldmas	37:f1a8734c193d	314	case TEST_GIROUS :
goldmas	37:f1a8734c193d	315	SendRawId(LECTURE_GIROUETTE) ;
goldmas	37:f1a8734c193d	316	wait_ms(5);
goldmas	37:f1a8734c193d	317	canProcessRx();
goldmas	37:f1a8734c193d	318	lcd.SetBackColor(LCD_COLOR_WHITE);
goldmas	37:f1a8734c193d	319	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	37:f1a8734c193d	320	lcd.Clear (LCD_COLOR_WHITE);
goldmas	37:f1a8734c193d	321	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Girouette", LEFT_MODE);
goldmas	37:f1a8734c193d	322	sprintf(toto,"%hd",val_girou);
goldmas	37:f1a8734c193d	323	lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"Valeur Girou :", LEFT_MODE);
goldmas	37:f1a8734c193d	324	lcd.DisplayStringAt(0, LINE(11), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	325	RETOUR.Draw(0xFFFF0000,0);
goldmas	37:f1a8734c193d	326	if(RETOUR.Touched()) {
goldmas	37:f1a8734c193d	327	while (RETOUR.Touched());
goldmas	37:f1a8734c193d	328	strat_etat_s=DEMO2;
goldmas	37:f1a8734c193d	329	}
goldmas	37:f1a8734c193d	330	wait_ms(200);
goldmas	37:f1a8734c193d	331	break ;
goldmas	37:f1a8734c193d	332
gabrieltetar	24:1a13c998c7ac	333	case TEST_ASSERVE:
gabrieltetar	24:1a13c998c7ac	334	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	335	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	24:1a13c998c7ac	336	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	337	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Asservissements", LEFT_MODE);
goldmas	35:2a745eeb7922	338
gabrieltetar	24:1a13c998c7ac	339	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	24:1a13c998c7ac	340	TEST_A.Draw(BLEU, BLANC);
goldmas	35:2a745eeb7922	341	TEST_B.Draw(BLEU, BLANC);
goldmas	35:2a745eeb7922	342	TEST_C.Draw(BLEU, BLANC) ;
goldmas	35:2a745eeb7922	343
goldmas	37:f1a8734c193d	344	while(strat_etat_s==TEST_ASSERVE)
goldmas	37:f1a8734c193d	345	{
goldmas	37:f1a8734c193d	346	if(RETOUR.Touched())
goldmas	37:f1a8734c193d	347	{
gabrieltetar	24:1a13c998c7ac	348	while (RETOUR.Touched());
gabrieltetar	24:1a13c998c7ac	349	strat_etat_s=DEMO2;
goldmas	37:f1a8734c193d	350	}
goldmas	37:f1a8734c193d	351	else if(TEST_A.Touched())
goldmas	37:f1a8734c193d	352	{
gabrieltetar	24:1a13c998c7ac	353	while (TEST_A.Touched());
goldmas	37:f1a8734c193d	354	GoStraight(2000,0,0,0);
gabrieltetar	24:1a13c998c7ac	355	TEST_A.Draw(BLEU, BLANC);
goldmas	37:f1a8734c193d	356	}
goldmas	37:f1a8734c193d	357	else if(TEST_B.Touched())
goldmas	37:f1a8734c193d	358	{
gabrieltetar	24:1a13c998c7ac	359	while (TEST_B.Touched());
goldmas	37:f1a8734c193d	360	Rotate(3600*5);
gabrieltetar	24:1a13c998c7ac	361	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	362	}
goldmas	37:f1a8734c193d	363	else if(TEST_C.Touched())
goldmas	35:2a745eeb7922	364	{
goldmas	35:2a745eeb7922	365	while (TEST_C.Touched());
goldmas	35:2a745eeb7922	366	BendRadius(1000,900,1,0);
goldmas	35:2a745eeb7922	367	TEST_B.Draw(BLEU, BLANC);
goldmas	35:2a745eeb7922	368	}
gabrieltetar	24:1a13c998c7ac	369	}
gabrieltetar	24:1a13c998c7ac	370	break;
gabrieltetar	24:1a13c998c7ac	371
gabrieltetar	24:1a13c998c7ac	372	case TEST_DIVE:
gabrieltetar	24:1a13c998c7ac	373
gabrieltetar	24:1a13c998c7ac	374	while(strat_etat_s==TEST_DIVE) {
gabrieltetar	24:1a13c998c7ac	375	canProcessRx();
gabrieltetar	24:1a13c998c7ac	376	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	377	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	24:1a13c998c7ac	378	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	379	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Coordonnees", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	380	sprintf(toto,"%hd",x_robot);
gabrieltetar	24:1a13c998c7ac	381	lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"X :", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	382	lcd.DisplayStringAt(50, LINE(10), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	383	sprintf(toto,"%hd",y_robot);
gabrieltetar	24:1a13c998c7ac	384	lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"Y :", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	385	lcd.DisplayStringAt(50, LINE(11), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	386	sprintf(toto,"%hd",theta_robot);
gabrieltetar	24:1a13c998c7ac	387	lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"T :", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	388	lcd.DisplayStringAt(50, LINE(12), (unsigned char *) toto, LEFT_MODE);
goldmas	35:2a745eeb7922	389	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	24:1a13c998c7ac	390	if(RETOUR.Touched()) {
gabrieltetar	24:1a13c998c7ac	391	while (RETOUR.Touched());
gabrieltetar	24:1a13c998c7ac	392	strat_etat_s=DEMO2;
gabrieltetar	24:1a13c998c7ac	393	}
gabrieltetar	24:1a13c998c7ac	394	wait(0.2);
gabrieltetar	24:1a13c998c7ac	395	}
gabrieltetar	24:1a13c998c7ac	396	break;
gabrieltetar	21:d137ec53c3a9	397
gabrieltetar	21:d137ec53c3a9	398	case TEST_VENTOUSE:
goldmas	34:c314feaa0d3e	399	char vent_select_0 = 7, vent_select_1 = 0, vent_select_2 = 0, vent_select_3 = 0, vent_select_4 = 0, vent_select_5 = 0 ;
goldmas	34:c314feaa0d3e	400	unsigned char choix_vent;
gabrieltetar	21:d137ec53c3a9	401	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	402	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	403	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	404	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	405	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	406	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	407	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	408	RETOUR.Draw(0xFFFF0000,0);
goldmas	34:c314feaa0d3e	409	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	410	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	411	TEST_VENT_0.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	412	TEST_VENT_1.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	413	TEST_VENT_2.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	414	TEST_VENT_3.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	415	TEST_VENT_4.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	416	TEST_VENT_5.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	417	while(strat_etat_s==TEST_VENTOUSE)
goldmas	34:c314feaa0d3e	418	{
goldmas	34:c314feaa0d3e	419	if(RETOUR.Touched())
goldmas	34:c314feaa0d3e	420	{
goldmas	34:c314feaa0d3e	421	while (RETOUR.Touched());
goldmas	34:c314feaa0d3e	422	strat_etat_s=DEMO;
goldmas	34:c314feaa0d3e	423	}
goldmas	34:c314feaa0d3e	424	else if(TEST_VENT_0.Touched())
goldmas	34:c314feaa0d3e	425	{
goldmas	34:c314feaa0d3e	426	while (TEST_VENT_0.Touched());
goldmas	34:c314feaa0d3e	427	if(vent_select_0 == 0)
goldmas	34:c314feaa0d3e	428	{
goldmas	34:c314feaa0d3e	429	vent_select_0 = 7 ;
goldmas	34:c314feaa0d3e	430	TEST_VENT_0.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	431	}
goldmas	34:c314feaa0d3e	432	else
goldmas	34:c314feaa0d3e	433	{
goldmas	34:c314feaa0d3e	434	vent_select_0 = 0 ;
goldmas	34:c314feaa0d3e	435	TEST_VENT_0.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	436	}
goldmas	34:c314feaa0d3e	437	}
goldmas	34:c314feaa0d3e	438	else if(TEST_VENT_1.Touched())
goldmas	34:c314feaa0d3e	439	{
goldmas	34:c314feaa0d3e	440	while (TEST_VENT_1.Touched());
goldmas	34:c314feaa0d3e	441	if(vent_select_1 == 1)
goldmas	34:c314feaa0d3e	442	{
goldmas	34:c314feaa0d3e	443	vent_select_1 = 0 ;
goldmas	34:c314feaa0d3e	444	TEST_VENT_1.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	445	}
goldmas	34:c314feaa0d3e	446	else
goldmas	34:c314feaa0d3e	447	{
goldmas	34:c314feaa0d3e	448	vent_select_1 = 1 ;
goldmas	34:c314feaa0d3e	449	TEST_VENT_1.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	450	}
goldmas	34:c314feaa0d3e	451	}
goldmas	34:c314feaa0d3e	452	else if(TEST_VENT_2.Touched())
goldmas	34:c314feaa0d3e	453	{
goldmas	34:c314feaa0d3e	454	while (TEST_VENT_2.Touched());
goldmas	34:c314feaa0d3e	455	if(vent_select_2 == 2)
goldmas	34:c314feaa0d3e	456	{
goldmas	34:c314feaa0d3e	457	vent_select_2 = 0 ;
goldmas	34:c314feaa0d3e	458	TEST_VENT_2.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	459	}
goldmas	34:c314feaa0d3e	460	else
goldmas	34:c314feaa0d3e	461	{
goldmas	34:c314feaa0d3e	462	vent_select_2 = 2 ;
goldmas	34:c314feaa0d3e	463	TEST_VENT_2.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	464	}
goldmas	34:c314feaa0d3e	465	}
goldmas	34:c314feaa0d3e	466	else if(TEST_VENT_3.Touched())
goldmas	34:c314feaa0d3e	467	{
goldmas	34:c314feaa0d3e	468	while (TEST_VENT_3.Touched());
goldmas	34:c314feaa0d3e	469	if(vent_select_3 == 3)
goldmas	34:c314feaa0d3e	470	{
goldmas	34:c314feaa0d3e	471	vent_select_3 = 0 ;
goldmas	34:c314feaa0d3e	472	TEST_VENT_3.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	473	}
goldmas	34:c314feaa0d3e	474	else
goldmas	34:c314feaa0d3e	475	{
goldmas	34:c314feaa0d3e	476	vent_select_3 = 3 ;
goldmas	34:c314feaa0d3e	477	TEST_VENT_3.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	478	}
goldmas	34:c314feaa0d3e	479	}
goldmas	34:c314feaa0d3e	480	else if(TEST_VENT_4.Touched())
goldmas	34:c314feaa0d3e	481	{
goldmas	34:c314feaa0d3e	482	while (TEST_VENT_4.Touched());
goldmas	34:c314feaa0d3e	483	if(vent_select_4 == 4)
goldmas	34:c314feaa0d3e	484	{
goldmas	34:c314feaa0d3e	485	vent_select_4 = 0 ;
goldmas	34:c314feaa0d3e	486	TEST_VENT_4.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	487	}
goldmas	34:c314feaa0d3e	488	else
goldmas	34:c314feaa0d3e	489	{
goldmas	34:c314feaa0d3e	490	vent_select_4 = 4 ;
goldmas	34:c314feaa0d3e	491	TEST_VENT_4.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	492	}
goldmas	34:c314feaa0d3e	493	}
goldmas	34:c314feaa0d3e	494	else if(TEST_VENT_5.Touched())
goldmas	34:c314feaa0d3e	495	{
goldmas	34:c314feaa0d3e	496	while (TEST_VENT_5.Touched());
goldmas	34:c314feaa0d3e	497	if(vent_select_5 == 5)
goldmas	34:c314feaa0d3e	498	{
goldmas	34:c314feaa0d3e	499	vent_select_5 = 0 ;
goldmas	34:c314feaa0d3e	500	TEST_VENT_5.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	501	}
goldmas	34:c314feaa0d3e	502	else
goldmas	34:c314feaa0d3e	503	{
goldmas	34:c314feaa0d3e	504	vent_select_5 = 5 ;
goldmas	34:c314feaa0d3e	505	TEST_VENT_5.Draw(DIY_GREY, BLANC);
goldmas	34:c314feaa0d3e	506	}
goldmas	34:c314feaa0d3e	507	}
goldmas	34:c314feaa0d3e	508	else if (TEST_ATTRAPER.Touched())
goldmas	34:c314feaa0d3e	509	{
goldmas	34:c314feaa0d3e	510	while(TEST_ATTRAPER.Touched()) ;
goldmas	34:c314feaa0d3e	511	unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche; //chager pour un short et remettre les valeurs correct (char utiliser pour les test)
goldmas	34:c314feaa0d3e	512	message_droit_at = 100 * vent_select_2 + 10 * vent_select_1 + vent_select_0 ;
goldmas	34:c314feaa0d3e	513	message_gauche_at = 100 * vent_select_5 + 10 * vent_select_4 + vent_select_3 ;
goldmas	34:c314feaa0d3e	514
goldmas	34:c314feaa0d3e	515	switch (message_gauche_at)
goldmas	34:c314feaa0d3e	516	{
goldmas	34:c314feaa0d3e	517	case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	518	choix_vent = 66 ;
goldmas	34:c314feaa0d3e	519	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	520	break ;
goldmas	34:c314feaa0d3e	521	case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	522	choix_vent = 54 ;
goldmas	34:c314feaa0d3e	523	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	524	break ;
goldmas	34:c314feaa0d3e	525	case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	526	choix_vent = 53 ;
goldmas	34:c314feaa0d3e	527	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	528	break ;
goldmas	34:c314feaa0d3e	529	case 43 :
goldmas	34:c314feaa0d3e	530	choix_vent = 43 ;
goldmas	34:c314feaa0d3e	531	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	532	break ;
goldmas	34:c314feaa0d3e	533	case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	34:c314feaa0d3e	534	choix_vent = 5 ;
goldmas	34:c314feaa0d3e	535	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	536	break ;
goldmas	34:c314feaa0d3e	537	case 40 :
goldmas	34:c314feaa0d3e	538	choix_vent = 4 ;
goldmas	34:c314feaa0d3e	539	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	540	break ;
goldmas	34:c314feaa0d3e	541	case 3 :
goldmas	34:c314feaa0d3e	542	choix_vent = 3 ;
goldmas	34:c314feaa0d3e	543	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	544	break ;
goldmas	34:c314feaa0d3e	545	}
goldmas	34:c314feaa0d3e	546
goldmas	34:c314feaa0d3e	547	switch (message_droit_at)
goldmas	34:c314feaa0d3e	548	{
goldmas	34:c314feaa0d3e	549	case 210 :
goldmas	34:c314feaa0d3e	550	choix_vent = 210 ;
goldmas	34:c314feaa0d3e	551	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	552	break ;
goldmas	34:c314feaa0d3e	553	case 217 :
goldmas	34:c314feaa0d3e	554	choix_vent = 21 ;
goldmas	34:c314feaa0d3e	555	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	556	break ;
goldmas	34:c314feaa0d3e	557	case 200 :
goldmas	34:c314feaa0d3e	558	choix_vent = 20 ;
goldmas	34:c314feaa0d3e	559	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	560	break ;
goldmas	34:c314feaa0d3e	561	case 10 :
goldmas	34:c314feaa0d3e	562	choix_vent = 10 ;
goldmas	34:c314feaa0d3e	563	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	564	break ;
goldmas	34:c314feaa0d3e	565	case 207 :
goldmas	34:c314feaa0d3e	566	choix_vent = 2 ;
goldmas	34:c314feaa0d3e	567	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	568	break ;
goldmas	34:c314feaa0d3e	569	case 17 :
goldmas	34:c314feaa0d3e	570	choix_vent = 1 ;
goldmas	34:c314feaa0d3e	571	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	572	break ;
goldmas	34:c314feaa0d3e	573	case 0 :
goldmas	34:c314feaa0d3e	574	choix_vent = 0 ;
goldmas	34:c314feaa0d3e	575	SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	576	break ;
goldmas	34:c314feaa0d3e	577	}
goldmas	34:c314feaa0d3e	578
goldmas	34:c314feaa0d3e	579	message_droit_at = 0 ;
goldmas	34:c314feaa0d3e	580	message_gauche_at = 0 ;
goldmas	34:c314feaa0d3e	581
goldmas	34:c314feaa0d3e	582	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	583	}
goldmas	34:c314feaa0d3e	584	else if (TEST_RELACHER.Touched())
goldmas	34:c314feaa0d3e	585	{
goldmas	34:c314feaa0d3e	586	while(TEST_RELACHER.Touched());
goldmas	34:c314feaa0d3e	587	unsigned char message_droit_re, message_gauche_re;
goldmas	34:c314feaa0d3e	588	message_droit_re = 100 * vent_select_2 + 10 * vent_select_1 + vent_select_0 ;
goldmas	34:c314feaa0d3e	589	message_gauche_re = 100 * vent_select_5 + 10 * vent_select_4 + vent_select_3 ;
goldmas	34:c314feaa0d3e	590	switch (message_droit_re)
goldmas	34:c314feaa0d3e	591	{
goldmas	34:c314feaa0d3e	592	case 210 :
goldmas	34:c314feaa0d3e	593	choix_vent = 210 ;
goldmas	34:c314feaa0d3e	594	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	595	break ;
goldmas	34:c314feaa0d3e	596	case 217 :
goldmas	34:c314feaa0d3e	597	choix_vent = 21 ;
goldmas	34:c314feaa0d3e	598	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	599	break ;
goldmas	34:c314feaa0d3e	600	case 200 :
goldmas	34:c314feaa0d3e	601	choix_vent = 20 ;
goldmas	34:c314feaa0d3e	602	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	603	break ;
goldmas	34:c314feaa0d3e	604	case 10 :
goldmas	34:c314feaa0d3e	605	choix_vent = 10 ;
goldmas	34:c314feaa0d3e	606	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	607	break ;
goldmas	34:c314feaa0d3e	608	case 207 :
goldmas	34:c314feaa0d3e	609	choix_vent = 2 ;
goldmas	34:c314feaa0d3e	610	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	611	break ;
goldmas	34:c314feaa0d3e	612	case 17 :
goldmas	34:c314feaa0d3e	613	choix_vent = 1 ;
goldmas	34:c314feaa0d3e	614	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	615	break ;
goldmas	34:c314feaa0d3e	616	case 0 :
goldmas	34:c314feaa0d3e	617	choix_vent = 0 ;
goldmas	34:c314feaa0d3e	618	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	619	break ;
goldmas	34:c314feaa0d3e	620	}
goldmas	34:c314feaa0d3e	621
goldmas	34:c314feaa0d3e	622	switch (message_gauche_re)
goldmas	34:c314feaa0d3e	623	{
goldmas	34:c314feaa0d3e	624	case 31 :
goldmas	34:c314feaa0d3e	625	choix_vent = 66 ;
goldmas	34:c314feaa0d3e	626	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	627	break ;
goldmas	34:c314feaa0d3e	628	case 28 :
goldmas	34:c314feaa0d3e	629	choix_vent = 54 ;
goldmas	34:c314feaa0d3e	630	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	631	break ;
goldmas	34:c314feaa0d3e	632	case 247 :
goldmas	34:c314feaa0d3e	633	choix_vent = 53 ;
goldmas	34:c314feaa0d3e	634	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	635	break ;
goldmas	34:c314feaa0d3e	636	case 43 :
goldmas	34:c314feaa0d3e	637	choix_vent = 43 ;
goldmas	34:c314feaa0d3e	638	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	639	break ;
goldmas	34:c314feaa0d3e	640	case 244 :
goldmas	34:c314feaa0d3e	641	choix_vent = 5 ;
goldmas	34:c314feaa0d3e	642	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	643	break ;
goldmas	34:c314feaa0d3e	644	case 40 :
goldmas	34:c314feaa0d3e	645	choix_vent = 4 ;
goldmas	34:c314feaa0d3e	646	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	647	break ;
goldmas	34:c314feaa0d3e	648	case 3 :
goldmas	34:c314feaa0d3e	649	choix_vent = 3 ;
goldmas	34:c314feaa0d3e	650	SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent));
goldmas	34:c314feaa0d3e	651	break ;
goldmas	34:c314feaa0d3e	652	}
goldmas	34:c314feaa0d3e	653	message_droit_re = 0 ;
goldmas	34:c314feaa0d3e	654	message_gauche_re = 0 ; //on remet les variables de calcul à 0 pour qu'on puisse recalculer correctement
goldmas	34:c314feaa0d3e	655
goldmas	34:c314feaa0d3e	656	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	34:c314feaa0d3e	657
goldmas	34:c314feaa0d3e	658	}
goldmas	34:c314feaa0d3e	659	}
goldmas	34:c314feaa0d3e	660	break;
goldmas	34:c314feaa0d3e	661
goldmas	34:c314feaa0d3e	662	/*
gabrieltetar	21:d137ec53c3a9	663	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	664	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	665	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	666	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	667	while(strat_etat_s==TEST_VENTOUSE) {
gabrieltetar	21:d137ec53c3a9	668	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	669	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	670	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	671	} else if(TEST_A.Touched()) {
gabrieltetar	21:d137ec53c3a9	672	while (TEST_A.Touched());
maximilienlv	28:7f2990747e09	673	SendRawId(VENT_ETAT);
gabrieltetar	21:d137ec53c3a9	674	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	675	} else if(TEST_NUM.Touched()) {
gabrieltetar	21:d137ec53c3a9	676	while (TEST_NUM.Touched());
gabrieltetar	21:d137ec53c3a9	677	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	678	switch(maximilien){
gabrieltetar	21:d137ec53c3a9	679	case 1:
goldmas	32:7f8e3ee2adac	680	choix_groupe = 0 ;
goldmas	32:7f8e3ee2adac	681	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	682	break;
gabrieltetar	21:d137ec53c3a9	683	case 2:
goldmas	32:7f8e3ee2adac	684	choix_groupe = 0 ;
goldmas	32:7f8e3ee2adac	685	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	686	break;
gabrieltetar	21:d137ec53c3a9	687	case 3:
goldmas	32:7f8e3ee2adac	688	choix_groupe = 1 ;
goldmas	32:7f8e3ee2adac	689	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	690	break;
gabrieltetar	21:d137ec53c3a9	691	case 4:
goldmas	32:7f8e3ee2adac	692	choix_groupe = 1 ;
goldmas	32:7f8e3ee2adac	693	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	694	break;
gabrieltetar	21:d137ec53c3a9	695	case 5:
goldmas	32:7f8e3ee2adac	696	choix_groupe = 2 ;
goldmas	32:7f8e3ee2adac	697	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	698	break;
gabrieltetar	21:d137ec53c3a9	699	case 6:
goldmas	32:7f8e3ee2adac	700	choix_groupe = 2 ;
goldmas	32:7f8e3ee2adac	701	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	702	break;
goldmas	32:7f8e3ee2adac	703	case 7:
goldmas	32:7f8e3ee2adac	704	choix_groupe = 3 ;
goldmas	32:7f8e3ee2adac	705	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	706	break;
goldmas	32:7f8e3ee2adac	707	case 8:
goldmas	32:7f8e3ee2adac	708	choix_groupe = 3 ;
goldmas	32:7f8e3ee2adac	709	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	710	break;
goldmas	32:7f8e3ee2adac	711	case 9:
goldmas	32:7f8e3ee2adac	712	choix_groupe = 4 ;
goldmas	32:7f8e3ee2adac	713	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	714	break;
goldmas	32:7f8e3ee2adac	715	case 10:
goldmas	32:7f8e3ee2adac	716	choix_groupe = 4 ;
goldmas	32:7f8e3ee2adac	717	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	718	break;
goldmas	32:7f8e3ee2adac	719	case 11:
goldmas	32:7f8e3ee2adac	720	choix_groupe = 5 ;
goldmas	32:7f8e3ee2adac	721	SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
goldmas	32:7f8e3ee2adac	722	break;
goldmas	32:7f8e3ee2adac	723	case 12:
goldmas	32:7f8e3ee2adac	724	choix_groupe = 5 ;
goldmas	32:7f8e3ee2adac	725	SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
gabrieltetar	21:d137ec53c3a9	726	break;
gabrieltetar	21:d137ec53c3a9	727	}
gabrieltetar	21:d137ec53c3a9	728	} else if(TEST_PLUS.Touched()) {
gabrieltetar	21:d137ec53c3a9	729	while (TEST_PLUS.Touched());
gabrieltetar	21:d137ec53c3a9	730	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	731	if(maximilien!=6)maximilien++;
gabrieltetar	21:d137ec53c3a9	732	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	733	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	734	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	735	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	736	} else if(TEST_MOINS.Touched()) {
gabrieltetar	21:d137ec53c3a9	737	while (TEST_MOINS.Touched());
gabrieltetar	21:d137ec53c3a9	738	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	739	if(maximilien!=1)maximilien--;
gabrieltetar	21:d137ec53c3a9	740	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	741	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	742	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	743	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	744	}
gabrieltetar	21:d137ec53c3a9	745	}
goldmas	34:c314feaa0d3e	746	break;*/
gabrieltetar	21:d137ec53c3a9	747
gabrieltetar	24:1a13c998c7ac	748	case TEST_ELECTROV:
gabrieltetar	21:d137ec53c3a9	749	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	750	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	751	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	752	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	753	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	754	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	755	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	756	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	757	while(strat_etat_s==TEST_ELECTROV) {
gabrieltetar	21:d137ec53c3a9	758	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	759	while (RETOUR.Touched());
gabrieltetar	24:1a13c998c7ac	760	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	761	} else if(TEST_A.Touched()) {
gabrieltetar	21:d137ec53c3a9	762	while (TEST_A.Touched());
gabrieltetar	21:d137ec53c3a9	763	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	21:d137ec53c3a9	764	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	765	} else if(TEST_B.Touched()) {
gabrieltetar	21:d137ec53c3a9	766	while (TEST_B.Touched());
gabrieltetar	21:d137ec53c3a9	767	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	21:d137ec53c3a9	768	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	769	}
gabrieltetar	21:d137ec53c3a9	770	}
gabrieltetar	21:d137ec53c3a9	771	break;
gabrieltetar	24:1a13c998c7ac	772
gabrieltetar	21:d137ec53c3a9	773	case TEST_AUD:
gabrieltetar	21:d137ec53c3a9	774
gabrieltetar	21:d137ec53c3a9	775	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	776	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	777	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	778	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	779	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	780	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	781	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	782	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	783	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	784	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	785	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	786	while(strat_etat_s==TEST_AUD) {
gabrieltetar	21:d137ec53c3a9	787	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	788	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	789	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	790	} else if(TEST_NUM.Touched()) {
gabrieltetar	21:d137ec53c3a9	791	while (TEST_NUM.Touched());
gabrieltetar	21:d137ec53c3a9	792	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	793	Debug_Audio(3,maximilien);
gabrieltetar	21:d137ec53c3a9	794	} else if(TEST_PLUS.Touched()) {
gabrieltetar	21:d137ec53c3a9	795	while (TEST_PLUS.Touched());
gabrieltetar	21:d137ec53c3a9	796	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	797	if(maximilien!=20)maximilien++;
gabrieltetar	21:d137ec53c3a9	798	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	799	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	800	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	801	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	802	} else if(TEST_MOINS.Touched()) {
gabrieltetar	21:d137ec53c3a9	803	while (TEST_MOINS.Touched());
gabrieltetar	21:d137ec53c3a9	804	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	805	if(maximilien!=1)maximilien--;
gabrieltetar	21:d137ec53c3a9	806	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	807	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	808	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	809	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	810	}
gabrieltetar	21:d137ec53c3a9	811	}
gabrieltetar	21:d137ec53c3a9	812	break;
gabrieltetar	21:d137ec53c3a9	813
gabrieltetar	21:d137ec53c3a9	814	case TEST_SERVO_BRAS:
goldmas	33:c54841d11156	815	char bras_select_0 = 7, bras_select_1 = 0, bras_select_2 = 0, bras_select_3 = 0, bras_select_4 = 0, bras_select_5 = 0 ;
goldmas	33:c54841d11156	816	unsigned char choix_bras;
gabrieltetar	21:d137ec53c3a9	817	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	818	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	819	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	820	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	821	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	822	sprintf(toto,"%hd",maximilien);
gabrieltetar	21:d137ec53c3a9	823	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	824	RETOUR.Draw(0xFFFF0000,0);
goldmas	32:7f8e3ee2adac	825	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	826	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	827	TEST_SERVO_0.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	828	TEST_SERVO_1.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	829	TEST_SERVO_2.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	830	TEST_SERVO_3.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	831	TEST_SERVO_4.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	832	TEST_SERVO_5.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	833	while(strat_etat_s==TEST_SERVO_BRAS)
goldmas	32:7f8e3ee2adac	834	{
goldmas	32:7f8e3ee2adac	835	if(RETOUR.Touched())
goldmas	32:7f8e3ee2adac	836	{
gabrieltetar	21:d137ec53c3a9	837	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	838	strat_etat_s=DEMO;
goldmas	32:7f8e3ee2adac	839	}
goldmas	32:7f8e3ee2adac	840	else if(TEST_SERVO_0.Touched())
goldmas	32:7f8e3ee2adac	841	{
goldmas	32:7f8e3ee2adac	842	while (TEST_SERVO_0.Touched());
goldmas	33:c54841d11156	843	if(bras_select_0 == 0)
goldmas	33:c54841d11156	844	{
goldmas	33:c54841d11156	845	bras_select_0 = 7 ;
goldmas	33:c54841d11156	846	TEST_SERVO_0.Draw(BLEU, BLANC);
goldmas	33:c54841d11156	847	}
goldmas	33:c54841d11156	848	else
goldmas	32:7f8e3ee2adac	849	{
goldmas	32:7f8e3ee2adac	850	bras_select_0 = 0 ;
goldmas	32:7f8e3ee2adac	851	TEST_SERVO_0.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	852	}
goldmas	32:7f8e3ee2adac	853	}
goldmas	32:7f8e3ee2adac	854	else if(TEST_SERVO_1.Touched())
goldmas	32:7f8e3ee2adac	855	{
goldmas	32:7f8e3ee2adac	856	while (TEST_SERVO_1.Touched());
goldmas	33:c54841d11156	857	if(bras_select_1 == 1)
goldmas	32:7f8e3ee2adac	858	{
goldmas	32:7f8e3ee2adac	859	bras_select_1 = 0 ;
goldmas	33:c54841d11156	860	TEST_SERVO_1.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	861	}
goldmas	32:7f8e3ee2adac	862	else
goldmas	32:7f8e3ee2adac	863	{
goldmas	32:7f8e3ee2adac	864	bras_select_1 = 1 ;
goldmas	33:c54841d11156	865	TEST_SERVO_1.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	866	}
goldmas	32:7f8e3ee2adac	867	}
goldmas	32:7f8e3ee2adac	868	else if(TEST_SERVO_2.Touched())
goldmas	32:7f8e3ee2adac	869	{
goldmas	32:7f8e3ee2adac	870	while (TEST_SERVO_2.Touched());
goldmas	33:c54841d11156	871	if(bras_select_2 == 2)
goldmas	32:7f8e3ee2adac	872	{
goldmas	32:7f8e3ee2adac	873	bras_select_2 = 0 ;
goldmas	33:c54841d11156	874	TEST_SERVO_2.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	875	}
goldmas	32:7f8e3ee2adac	876	else
goldmas	32:7f8e3ee2adac	877	{
goldmas	33:c54841d11156	878	bras_select_2 = 2 ;
goldmas	33:c54841d11156	879	TEST_SERVO_2.Draw(DIY_GREY, BLANC);
gabrieltetar	21:d137ec53c3a9	880	}
goldmas	32:7f8e3ee2adac	881	}
goldmas	32:7f8e3ee2adac	882	else if(TEST_SERVO_3.Touched())
goldmas	32:7f8e3ee2adac	883	{
goldmas	32:7f8e3ee2adac	884	while (TEST_SERVO_3.Touched());
goldmas	33:c54841d11156	885	if(bras_select_3 == 3)
goldmas	32:7f8e3ee2adac	886	{
goldmas	32:7f8e3ee2adac	887	bras_select_3 = 0 ;
goldmas	33:c54841d11156	888	TEST_SERVO_3.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	889	}
goldmas	32:7f8e3ee2adac	890	else
goldmas	32:7f8e3ee2adac	891	{
goldmas	33:c54841d11156	892	bras_select_3 = 3 ;
goldmas	33:c54841d11156	893	TEST_SERVO_3.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	894	}
goldmas	32:7f8e3ee2adac	895	}
goldmas	32:7f8e3ee2adac	896	else if(TEST_SERVO_4.Touched())
goldmas	32:7f8e3ee2adac	897	{
goldmas	32:7f8e3ee2adac	898	while (TEST_SERVO_4.Touched());
goldmas	33:c54841d11156	899	if(bras_select_4 == 4)
goldmas	32:7f8e3ee2adac	900	{
goldmas	32:7f8e3ee2adac	901	bras_select_4 = 0 ;
goldmas	33:c54841d11156	902	TEST_SERVO_4.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	903	}
goldmas	32:7f8e3ee2adac	904	else
goldmas	32:7f8e3ee2adac	905	{
goldmas	33:c54841d11156	906	bras_select_4 = 4 ;
goldmas	33:c54841d11156	907	TEST_SERVO_4.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	908	}
goldmas	32:7f8e3ee2adac	909	}
goldmas	32:7f8e3ee2adac	910	else if(TEST_SERVO_5.Touched())
goldmas	32:7f8e3ee2adac	911	{
goldmas	32:7f8e3ee2adac	912	while (TEST_SERVO_5.Touched());
goldmas	33:c54841d11156	913	if(bras_select_5 == 5)
goldmas	32:7f8e3ee2adac	914	{
goldmas	32:7f8e3ee2adac	915	bras_select_5 = 0 ;
goldmas	33:c54841d11156	916	TEST_SERVO_5.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	917	}
goldmas	32:7f8e3ee2adac	918	else
goldmas	32:7f8e3ee2adac	919	{
goldmas	33:c54841d11156	920	bras_select_5 = 5 ;
goldmas	33:c54841d11156	921	TEST_SERVO_5.Draw(DIY_GREY, BLANC);
goldmas	32:7f8e3ee2adac	922	}
goldmas	32:7f8e3ee2adac	923	}
goldmas	32:7f8e3ee2adac	924	else if (TEST_ATTRAPER.Touched())
goldmas	32:7f8e3ee2adac	925	{
goldmas	33:c54841d11156	926	while(TEST_ATTRAPER.Touched()) ;
goldmas	33:c54841d11156	927	unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche;
goldmas	33:c54841d11156	928	message_droit_at = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
goldmas	33:c54841d11156	929	message_gauche_at = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
goldmas	33:c54841d11156	930
goldmas	33:c54841d11156	931	switch (message_gauche_at)
goldmas	33:c54841d11156	932	{
goldmas	33:c54841d11156	933	case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	934	choix_bras = 66 ;
goldmas	33:c54841d11156	935	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	936	waitingAckFrom = 0;
goldmas	33:c54841d11156	937	waitingAckID =0;
goldmas	33:c54841d11156	938	break ;
goldmas	33:c54841d11156	939	case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	940	choix_bras = 54 ;
goldmas	33:c54841d11156	941	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	942	waitingAckFrom = 0;
goldmas	33:c54841d11156	943	waitingAckID =0;
goldmas	33:c54841d11156	944	break ;
goldmas	33:c54841d11156	945	case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	946	choix_bras = 53 ;
goldmas	33:c54841d11156	947	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	948	waitingAckFrom = 0;
goldmas	33:c54841d11156	949	waitingAckID =0;
goldmas	33:c54841d11156	950	break ;
goldmas	33:c54841d11156	951	case 43 :
goldmas	33:c54841d11156	952	choix_bras = 43 ;
goldmas	33:c54841d11156	953	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	954	waitingAckFrom = 0;
goldmas	33:c54841d11156	955	waitingAckID =0;
goldmas	33:c54841d11156	956	break ;
goldmas	33:c54841d11156	957	case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
goldmas	33:c54841d11156	958	choix_bras = 5 ;
goldmas	33:c54841d11156	959	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	960	waitingAckFrom = 0;
goldmas	33:c54841d11156	961	waitingAckID =0;
goldmas	33:c54841d11156	962	break ;
goldmas	33:c54841d11156	963	case 40 :
goldmas	33:c54841d11156	964	choix_bras = 4 ;
goldmas	33:c54841d11156	965	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	966	waitingAckFrom = 0;
goldmas	33:c54841d11156	967	waitingAckID =0;
goldmas	33:c54841d11156	968	break ;
goldmas	33:c54841d11156	969	case 3 :
goldmas	33:c54841d11156	970	choix_bras = 3 ;
goldmas	33:c54841d11156	971	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	972	waitingAckFrom = 0;
goldmas	33:c54841d11156	973	waitingAckID =0;
goldmas	33:c54841d11156	974	break ;
goldmas	33:c54841d11156	975	}
goldmas	33:c54841d11156	976
goldmas	33:c54841d11156	977	switch (message_droit_at)
goldmas	33:c54841d11156	978	{
goldmas	33:c54841d11156	979	case 210 :
goldmas	33:c54841d11156	980	choix_bras = 210 ;
goldmas	33:c54841d11156	981	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	982	waitingAckFrom = 0;
goldmas	33:c54841d11156	983	waitingAckID =0;
goldmas	33:c54841d11156	984	break ;
goldmas	33:c54841d11156	985	case 217 :
goldmas	33:c54841d11156	986	choix_bras = 21 ;
goldmas	37:f1a8734c193d	987	GoStraight(-40, 0, 0, 0);
goldmas	33:c54841d11156	988	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	989	waitingAckFrom = 0;
goldmas	33:c54841d11156	990	waitingAckID =0;
goldmas	33:c54841d11156	991	break ;
goldmas	33:c54841d11156	992	case 200 :
goldmas	33:c54841d11156	993	choix_bras = 20 ;
goldmas	37:f1a8734c193d	994	GoStraight(-50, 0, 0, 0);
goldmas	33:c54841d11156	995	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	996	waitingAckFrom = 0;
goldmas	33:c54841d11156	997	waitingAckID =0;
goldmas	33:c54841d11156	998	break ;
goldmas	33:c54841d11156	999	case 10 :
goldmas	33:c54841d11156	1000	choix_bras = 10 ;
goldmas	33:c54841d11156	1001	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1002	waitingAckFrom = 0;
goldmas	33:c54841d11156	1003	waitingAckID =0;
goldmas	33:c54841d11156	1004	break ;
goldmas	33:c54841d11156	1005	case 207 :
goldmas	33:c54841d11156	1006	choix_bras = 2 ;
goldmas	33:c54841d11156	1007	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1008	waitingAckFrom = 0;
goldmas	33:c54841d11156	1009	waitingAckID =0;
goldmas	33:c54841d11156	1010	break ;
goldmas	33:c54841d11156	1011	case 17 :
goldmas	33:c54841d11156	1012	choix_bras = 1 ;
goldmas	33:c54841d11156	1013	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1014	waitingAckFrom = 0;
goldmas	33:c54841d11156	1015	waitingAckID =0;
goldmas	33:c54841d11156	1016	break ;
goldmas	33:c54841d11156	1017	case 0 :
goldmas	33:c54841d11156	1018	choix_bras = 0 ;
goldmas	33:c54841d11156	1019	SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1020	waitingAckFrom = 0;
goldmas	33:c54841d11156	1021	waitingAckID =0;
goldmas	33:c54841d11156	1022	break ;
goldmas	33:c54841d11156	1023	}
goldmas	33:c54841d11156	1024
goldmas	33:c54841d11156	1025	message_droit_at = 0 ;
goldmas	33:c54841d11156	1026	message_gauche_at = 0 ;
goldmas	33:c54841d11156	1027
goldmas	33:c54841d11156	1028	TEST_ATTRAPER.Draw(BLEU, BLANC);
goldmas	33:c54841d11156	1029	}
goldmas	33:c54841d11156	1030	else if (TEST_RELACHER.Touched())
goldmas	33:c54841d11156	1031	{
goldmas	33:c54841d11156	1032	while(TEST_RELACHER.Touched());
goldmas	33:c54841d11156	1033	unsigned char message_droit_re, message_gauche_re;
goldmas	33:c54841d11156	1034	message_droit_re = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
goldmas	33:c54841d11156	1035	message_gauche_re = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
goldmas	33:c54841d11156	1036	switch (message_droit_re)
goldmas	33:c54841d11156	1037	{
goldmas	33:c54841d11156	1038	case 210 :
goldmas	33:c54841d11156	1039	choix_bras = 210 ;
goldmas	33:c54841d11156	1040	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1041	waitingAckFrom = 0;
goldmas	33:c54841d11156	1042	waitingAckID =0;
goldmas	33:c54841d11156	1043	break ;
goldmas	33:c54841d11156	1044	case 217 :
goldmas	33:c54841d11156	1045	choix_bras = 21 ;
goldmas	33:c54841d11156	1046	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1047	waitingAckFrom = 0;
goldmas	33:c54841d11156	1048	waitingAckID =0;
goldmas	33:c54841d11156	1049	break ;
goldmas	33:c54841d11156	1050	case 200 :
goldmas	33:c54841d11156	1051	choix_bras = 20 ;
goldmas	33:c54841d11156	1052	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1053	waitingAckFrom = 0;
goldmas	33:c54841d11156	1054	waitingAckID =0;
goldmas	33:c54841d11156	1055	break ;
goldmas	33:c54841d11156	1056	case 10 :
goldmas	33:c54841d11156	1057	choix_bras = 10 ;
goldmas	33:c54841d11156	1058	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1059	waitingAckFrom = 0;
goldmas	33:c54841d11156	1060	waitingAckID =0;
goldmas	33:c54841d11156	1061	break ;
goldmas	33:c54841d11156	1062	case 207 :
goldmas	33:c54841d11156	1063	choix_bras = 2 ;
goldmas	33:c54841d11156	1064	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1065	waitingAckFrom = 0;
goldmas	33:c54841d11156	1066	waitingAckID =0;
goldmas	33:c54841d11156	1067	break ;
goldmas	33:c54841d11156	1068	case 17 :
goldmas	33:c54841d11156	1069	choix_bras = 1 ;
goldmas	33:c54841d11156	1070	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1071	waitingAckFrom = 0;
goldmas	33:c54841d11156	1072	waitingAckID =0;
goldmas	33:c54841d11156	1073	break ;
goldmas	33:c54841d11156	1074	case 0 :
goldmas	33:c54841d11156	1075	choix_bras = 0 ;
goldmas	33:c54841d11156	1076	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1077	waitingAckFrom = 0;
goldmas	33:c54841d11156	1078	waitingAckID =0;
goldmas	33:c54841d11156	1079	break ;
goldmas	33:c54841d11156	1080	}
goldmas	33:c54841d11156	1081
goldmas	33:c54841d11156	1082	switch (message_gauche_re)
goldmas	33:c54841d11156	1083	{
goldmas	33:c54841d11156	1084	case 31 :
goldmas	33:c54841d11156	1085	choix_bras = 66 ;
goldmas	33:c54841d11156	1086	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1087	waitingAckFrom = 0;
goldmas	33:c54841d11156	1088	waitingAckID =0;
goldmas	33:c54841d11156	1089	break ;
goldmas	33:c54841d11156	1090	case 28 :
goldmas	33:c54841d11156	1091	choix_bras = 54 ;
goldmas	33:c54841d11156	1092	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1093	waitingAckFrom = 0;
goldmas	33:c54841d11156	1094	waitingAckID =0;
goldmas	33:c54841d11156	1095	break ;
goldmas	33:c54841d11156	1096	case 247 :
goldmas	33:c54841d11156	1097	choix_bras = 53 ;
goldmas	33:c54841d11156	1098	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1099	waitingAckFrom = 0;
goldmas	33:c54841d11156	1100	waitingAckID =0;
goldmas	33:c54841d11156	1101	break ;
goldmas	33:c54841d11156	1102	case 43 :
goldmas	33:c54841d11156	1103	choix_bras = 43 ;
goldmas	33:c54841d11156	1104	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1105	waitingAckFrom = 0;
goldmas	33:c54841d11156	1106	waitingAckID =0;
goldmas	33:c54841d11156	1107	break ;
goldmas	33:c54841d11156	1108	case 244 :
goldmas	33:c54841d11156	1109	choix_bras = 5 ;
goldmas	33:c54841d11156	1110	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1111	waitingAckFrom = 0;
goldmas	33:c54841d11156	1112	waitingAckID =0;
goldmas	33:c54841d11156	1113	break ;
goldmas	33:c54841d11156	1114	case 40 :
goldmas	33:c54841d11156	1115	choix_bras = 4 ;
goldmas	33:c54841d11156	1116	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1117	waitingAckFrom = 0;
goldmas	33:c54841d11156	1118	waitingAckID =0;
goldmas	33:c54841d11156	1119	break ;
goldmas	33:c54841d11156	1120	case 3 :
goldmas	33:c54841d11156	1121	choix_bras = 3 ;
goldmas	33:c54841d11156	1122	SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
goldmas	33:c54841d11156	1123	waitingAckFrom = 0;
goldmas	33:c54841d11156	1124	waitingAckID =0;
goldmas	33:c54841d11156	1125	break ;
goldmas	33:c54841d11156	1126	}
goldmas	33:c54841d11156	1127	message_droit_re = 0 ;
goldmas	33:c54841d11156	1128	message_gauche_re = 0 ;
goldmas	33:c54841d11156	1129
goldmas	33:c54841d11156	1130	TEST_RELACHER.Draw(BLEU, BLANC);
goldmas	32:7f8e3ee2adac	1131
gabrieltetar	21:d137ec53c3a9	1132	}
gabrieltetar	21:d137ec53c3a9	1133	}
gabrieltetar	21:d137ec53c3a9	1134	break;
gabrieltetar	21:d137ec53c3a9	1135
gabrieltetar	21:d137ec53c3a9	1136	case TEST_COULEUR:
gabrieltetar	21:d137ec53c3a9	1137	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1138	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
gabrieltetar	24:1a13c998c7ac	1139	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1140	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1141	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1142	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1143	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	1144	while(strat_etat_s==TEST_COULEUR) {
gabrieltetar	21:d137ec53c3a9	1145	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1146	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1147	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	1148	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	24:1a13c998c7ac	1149	}else if(TEST_A.Touched()) {
gabrieltetar	24:1a13c998c7ac	1150	while (TEST_A.Touched());
gabrieltetar	24:1a13c998c7ac	1151	SendRawId(TEST_BRAS_A);
gabrieltetar	24:1a13c998c7ac	1152	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1153	} else if(TEST_B.Touched()) {
gabrieltetar	24:1a13c998c7ac	1154	while (TEST_B.Touched());
gabrieltetar	24:1a13c998c7ac	1155	SendRawId(TEST_BRAS_B);
gabrieltetar	24:1a13c998c7ac	1156	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1157	} else if(TEST_C.Touched()) {
gabrieltetar	24:1a13c998c7ac	1158	while (TEST_C.Touched());
gabrieltetar	24:1a13c998c7ac	1159	SendRawId(TEST_BRAS_C);
gabrieltetar	24:1a13c998c7ac	1160	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	24:1a13c998c7ac	1161	} else if(TEST_D.Touched()) {
gabrieltetar	24:1a13c998c7ac	1162	while (TEST_D.Touched());
gabrieltetar	24:1a13c998c7ac	1163	SendRawId(TEST_BRAS_D);
gabrieltetar	24:1a13c998c7ac	1164	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1165	}
gabrieltetar	21:d137ec53c3a9	1166	}
gabrieltetar	21:d137ec53c3a9	1167	break;
gabrieltetar	21:d137ec53c3a9	1168
gabrieltetar	21:d137ec53c3a9	1169	case TEST_MOTEUR:
gabrieltetar	21:d137ec53c3a9	1170	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1171	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1172	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1173	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1174	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1175	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	21:d137ec53c3a9	1176	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1177	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1178	while(strat_etat_s==TEST_MOTEUR) {
gabrieltetar	21:d137ec53c3a9	1179	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1180	while (RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1181	strat_etat_s=DEMO;
gabrieltetar	21:d137ec53c3a9	1182	} else if(TEST_A.Touched()) {
gabrieltetar	21:d137ec53c3a9	1183	while (TEST_A.Touched());
gabrieltetar	21:d137ec53c3a9	1184	BendRadius(150,1800,1,0);
gabrieltetar	21:d137ec53c3a9	1185	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1186	} else if(TEST_B.Touched()) {
gabrieltetar	21:d137ec53c3a9	1187	while (TEST_B.Touched());
gabrieltetar	21:d137ec53c3a9	1188	BendRadius(150,1800,0,0);
gabrieltetar	21:d137ec53c3a9	1189	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	21:d137ec53c3a9	1190	}
gabrieltetar	21:d137ec53c3a9	1191	}
gabrieltetar	21:d137ec53c3a9	1192	break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
gabrieltetar	21:d137ec53c3a9	1193
gabrieltetar	21:d137ec53c3a9	1194
gabrieltetar	21:d137ec53c3a9	1195	case SELECT_SIDE : // CHOIX DU COTE DU TERRAIN + INVERSION DE LA STRAT SI COTE ORANGE+ ENVOI DU COTE A LA CARTE CAPTEUR/ACTIONNEURS
gabrieltetar	21:d137ec53c3a9	1196	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1197	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1198	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1199
gabrieltetar	21:d137ec53c3a9	1200	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1201	COTE_JAUNE.Draw(JAUNE, 0);
gabrieltetar	21:d137ec53c3a9	1202	COTE_VIOLET.Draw(VIOLET, 0);
gabrieltetar	21:d137ec53c3a9	1203	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	21:d137ec53c3a9	1204
gabrieltetar	21:d137ec53c3a9	1205
gabrieltetar	21:d137ec53c3a9	1206	while (strat_etat_s == SELECT_SIDE) {
gabrieltetar	21:d137ec53c3a9	1207	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1208	if(COTE_JAUNE.Touched()) {
maximilienlv	28:7f2990747e09	1209	Cote = 0x1;
gabrieltetar	21:d137ec53c3a9	1210	InversStrat = Cote;
goldmas	36:c37dbe2be916	1211	strat_etat_s = SELECT_ROB;
gabrieltetar	21:d137ec53c3a9	1212	CANMessage trame_Tx = CANMessage();
gabrieltetar	21:d137ec53c3a9	1213	trame_Tx.len = 1;
gabrieltetar	21:d137ec53c3a9	1214	trame_Tx.format = CANStandard;
gabrieltetar	21:d137ec53c3a9	1215	trame_Tx.type = CANData;
gabrieltetar	21:d137ec53c3a9	1216	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	21:d137ec53c3a9	1217	trame_Tx.data[0]=Cote;
gabrieltetar	21:d137ec53c3a9	1218	can2.write(trame_Tx);
gabrieltetar	21:d137ec53c3a9	1219	while(COTE_JAUNE.Touched());
gabrieltetar	21:d137ec53c3a9	1220
gabrieltetar	21:d137ec53c3a9	1221	}
gabrieltetar	21:d137ec53c3a9	1222
gabrieltetar	21:d137ec53c3a9	1223	if(COTE_VIOLET.Touched()) {
maximilienlv	28:7f2990747e09	1224	Cote = 0x0;
gabrieltetar	21:d137ec53c3a9	1225	InversStrat= Cote;
goldmas	36:c37dbe2be916	1226	strat_etat_s = SELECT_ROB;
gabrieltetar	21:d137ec53c3a9	1227	CANMessage trame_Tx = CANMessage();
gabrieltetar	21:d137ec53c3a9	1228	trame_Tx.len = 1;
gabrieltetar	21:d137ec53c3a9	1229	trame_Tx.format = CANStandard;
gabrieltetar	21:d137ec53c3a9	1230	trame_Tx.type = CANData;
gabrieltetar	21:d137ec53c3a9	1231	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	21:d137ec53c3a9	1232	trame_Tx.data[0]=Cote;
gabrieltetar	21:d137ec53c3a9	1233	can2.write(trame_Tx);
gabrieltetar	21:d137ec53c3a9	1234	while(COTE_VIOLET.Touched());
gabrieltetar	21:d137ec53c3a9	1235	}
gabrieltetar	21:d137ec53c3a9	1236
gabrieltetar	21:d137ec53c3a9	1237	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1238	strat_etat_s = CHOIX;
gabrieltetar	21:d137ec53c3a9	1239	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1240	}
gabrieltetar	21:d137ec53c3a9	1241	}
gabrieltetar	21:d137ec53c3a9	1242
gabrieltetar	21:d137ec53c3a9	1243	break;
goldmas	36:c37dbe2be916	1244
goldmas	36:c37dbe2be916	1245	case SELECT_ROB : // CHOIX DU SENS DE RECALAGE EN HAUT OU EN BAS
goldmas	36:c37dbe2be916	1246	lcd.Clear(LCD_COLOR_WHITE);
goldmas	36:c37dbe2be916	1247	lcd.SetBackColor(LCD_COLOR_WHITE);
goldmas	36:c37dbe2be916	1248	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	36:c37dbe2be916	1249	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir la hauteur", LEFT_MODE);
goldmas	36:c37dbe2be916	1250
goldmas	36:c37dbe2be916	1251	if(Cote==0)
goldmas	36:c37dbe2be916	1252	{
goldmas	36:c37dbe2be916	1253	COTE_HAUT.Draw(VIOLET, 0);
goldmas	36:c37dbe2be916	1254	COTE_BAS.Draw(VIOLET, 0);
goldmas	36:c37dbe2be916	1255	}
goldmas	36:c37dbe2be916	1256	else if(Cote==1)
goldmas	36:c37dbe2be916	1257	{
goldmas	36:c37dbe2be916	1258	COTE_HAUT.Draw(JAUNE, 0);
goldmas	36:c37dbe2be916	1259	COTE_BAS.Draw(JAUNE, 0);
goldmas	36:c37dbe2be916	1260	}
goldmas	36:c37dbe2be916	1261	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	21:d137ec53c3a9	1262
goldmas	36:c37dbe2be916	1263
goldmas	36:c37dbe2be916	1264	while (strat_etat_s == SELECT_ROB)
goldmas	36:c37dbe2be916	1265	{
goldmas	36:c37dbe2be916	1266	canProcessRx();
goldmas	36:c37dbe2be916	1267	if(COTE_HAUT.Touched())
goldmas	36:c37dbe2be916	1268	{
goldmas	36:c37dbe2be916	1269	Hauteur = 0x1;
goldmas	36:c37dbe2be916	1270	strat_etat_s = TACTIQUE;
goldmas	36:c37dbe2be916	1271	while(COTE_HAUT.Touched());
goldmas	36:c37dbe2be916	1272	}
goldmas	36:c37dbe2be916	1273	if(COTE_BAS.Touched()) {
goldmas	36:c37dbe2be916	1274	Hauteur = 0x0;
goldmas	36:c37dbe2be916	1275	strat_etat_s = TACTIQUE;
goldmas	36:c37dbe2be916	1276	while(COTE_BAS.Touched());
goldmas	36:c37dbe2be916	1277	}
goldmas	36:c37dbe2be916	1278
goldmas	36:c37dbe2be916	1279	if(RETOUR.Touched()) {
goldmas	36:c37dbe2be916	1280	strat_etat_s = SELECT_SIDE;
goldmas	36:c37dbe2be916	1281	while(RETOUR.Touched());
goldmas	36:c37dbe2be916	1282	}
goldmas	36:c37dbe2be916	1283	}
goldmas	36:c37dbe2be916	1284	break;
goldmas	36:c37dbe2be916	1285
gabrieltetar	21:d137ec53c3a9	1286	case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
slowness	29:ff575aff301f	1287	if (Cote == 1) {
gabrieltetar	21:d137ec53c3a9	1288	lcd.Clear(JAUNE);
gabrieltetar	21:d137ec53c3a9	1289	lcd.SetBackColor(JAUNE);
slowness	29:ff575aff301f	1290	} else if (Cote == 0) {
gabrieltetar	21:d137ec53c3a9	1291	lcd.Clear(VIOLET);
gabrieltetar	21:d137ec53c3a9	1292	lcd.SetBackColor(VIOLET);
gabrieltetar	21:d137ec53c3a9	1293	} else {
gabrieltetar	21:d137ec53c3a9	1294	lcd.Clear(BLEU);
gabrieltetar	21:d137ec53c3a9	1295	lcd.SetBackColor(BLEU);
gabrieltetar	21:d137ec53c3a9	1296	}
gabrieltetar	21:d137ec53c3a9	1297
gabrieltetar	21:d137ec53c3a9	1298	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1299
gabrieltetar	21:d137ec53c3a9	1300	lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1301
gabrieltetar	21:d137ec53c3a9	1302	nbStrat = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
gabrieltetar	21:d137ec53c3a9	1303	if (nbStrat == -1) {
gabrieltetar	21:d137ec53c3a9	1304	strat_etat_s = SELECT_SIDE;
gabrieltetar	21:d137ec53c3a9	1305	} else {
gabrieltetar	21:d137ec53c3a9	1306	strat_etat_s = DETAILS;
gabrieltetar	21:d137ec53c3a9	1307	}
gabrieltetar	21:d137ec53c3a9	1308	wait(0.1);
gabrieltetar	21:d137ec53c3a9	1309	break;
gabrieltetar	21:d137ec53c3a9	1310
gabrieltetar	21:d137ec53c3a9	1311	case DETAILS : //SECONDE VALIDATION DE LA STRAT
gabrieltetar	21:d137ec53c3a9	1312	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1313	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1314	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1315	CHECK.Draw(VERT);
gabrieltetar	21:d137ec53c3a9	1316	RETOUR.Draw(LCD_COLOR_RED);
gabrieltetar	21:d137ec53c3a9	1317
gabrieltetar	21:d137ec53c3a9	1318	SelectionStrat(nbStrat); //affiche la stratégie selectionnée
gabrieltetar	21:d137ec53c3a9	1319
gabrieltetar	21:d137ec53c3a9	1320	while (strat_etat_s == DETAILS) {
gabrieltetar	21:d137ec53c3a9	1321	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1322	if (CHECK.Touched()) {
gabrieltetar	21:d137ec53c3a9	1323	if(gameEtat == ETAT_CONFIG) {
gabrieltetar	21:d137ec53c3a9	1324	gameEtat = ETAT_GAME_INIT;
gabrieltetar	21:d137ec53c3a9	1325	strat_etat_s=LECTURE;
gabrieltetar	21:d137ec53c3a9	1326
gabrieltetar	21:d137ec53c3a9	1327	}
gabrieltetar	21:d137ec53c3a9	1328	while(CHECK.Touched());
gabrieltetar	21:d137ec53c3a9	1329	}
gabrieltetar	21:d137ec53c3a9	1330
gabrieltetar	21:d137ec53c3a9	1331	if(RETOUR.Touched()) {
gabrieltetar	21:d137ec53c3a9	1332	strat_etat_s = TACTIQUE;
gabrieltetar	21:d137ec53c3a9	1333	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1334	}
gabrieltetar	21:d137ec53c3a9	1335	}
gabrieltetar	21:d137ec53c3a9	1336	break;
gabrieltetar	21:d137ec53c3a9	1337
gabrieltetar	21:d137ec53c3a9	1338
gabrieltetar	21:d137ec53c3a9	1339	case LECTURE :
gabrieltetar	21:d137ec53c3a9	1340	break;
gabrieltetar	21:d137ec53c3a9	1341	case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
gabrieltetar	21:d137ec53c3a9	1342	lcd.Clear(BLANC);
gabrieltetar	21:d137ec53c3a9	1343	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1344	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1345
gabrieltetar	21:d137ec53c3a9	1346	if (Cote == 0) {
goldmas	35:2a745eeb7922	1347	lcd.Clear(LCD_COLOR_WHITE);
goldmas	35:2a745eeb7922	1348	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1349	} else if (Cote == 1) {
goldmas	35:2a745eeb7922	1350	lcd.Clear(LCD_COLOR_WHITE);
goldmas	35:2a745eeb7922	1351	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1352	} else {
gabrieltetar	21:d137ec53c3a9	1353	lcd.Clear(VERT);
gabrieltetar	21:d137ec53c3a9	1354	lcd.SetBackColor(VERT);
gabrieltetar	21:d137ec53c3a9	1355	}
gabrieltetar	21:d137ec53c3a9	1356	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1357	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
gabrieltetar	21:d137ec53c3a9	1358	strat_etat_s=WAIT_JACK;
goldmas	35:2a745eeb7922	1359
gabrieltetar	21:d137ec53c3a9	1360	break;
gabrieltetar	21:d137ec53c3a9	1361
goldmas	35:2a745eeb7922	1362	case WAIT_JACK :
goldmas	35:2a745eeb7922	1363	if(unique == 0)
goldmas	35:2a745eeb7922	1364	{
goldmas	35:2a745eeb7922	1365	lcd.SetTextColor(LCD_COLOR_BLUE);
goldmas	35:2a745eeb7922	1366	lcd.DrawRect(0,50,400,320);
goldmas	35:2a745eeb7922	1367	lcd.DisplayStringAt(100, LINE(8), (unsigned char *)"Score :", LEFT_MODE);
goldmas	35:2a745eeb7922	1368	lcd.SetTextColor(LCD_COLOR_RED);
goldmas	35:2a745eeb7922	1369	lcd.DrawRect(0,400,400,320);
goldmas	37:f1a8734c193d	1370	lcd.DisplayStringAt(100, LINE(28), (unsigned char *)"Timer :", LEFT_MODE);
goldmas	35:2a745eeb7922	1371	unique = 1;
goldmas	35:2a745eeb7922	1372	}
goldmas	37:f1a8734c193d	1373	//Debug pos gobelet
goldmas	37:f1a8734c193d	1374	int Ventouse_coord[6][2]={{150,-80},{150,0},{150,80},{-150,80},{-150,0},{-150,-80}};
goldmas	37:f1a8734c193d	1375	int Bras_coord[6][2]={{232,-75},{232,0},{232,75},{-232,75},{-232,0},{-232,-75}};
goldmas	37:f1a8734c193d	1376
goldmas	37:f1a8734c193d	1377	float x_offsetv[6];
goldmas	37:f1a8734c193d	1378	float y_offsetv[6];
goldmas	37:f1a8734c193d	1379
goldmas	37:f1a8734c193d	1380	float x_offsetb[6];
goldmas	37:f1a8734c193d	1381	float y_offsetb[6];
goldmas	37:f1a8734c193d	1382
goldmas	37:f1a8734c193d	1383
goldmas	37:f1a8734c193d	1384
goldmas	37:f1a8734c193d	1385	for(int i=0; i<6; i++)
goldmas	37:f1a8734c193d	1386	{
goldmas	37:f1a8734c193d	1387	x_offsetv[i] = Ventouse_coord[i][0]cos(theta_robotM_PI/1800) - Ventouse_coord[i][1]sin(theta_robotM_PI/1800);
goldmas	37:f1a8734c193d	1388	y_offsetv[i] = Ventouse_coord[i][0]sin(theta_robotM_PI/1800) + Ventouse_coord[i][1]cos(theta_robotM_PI/1800);
goldmas	37:f1a8734c193d	1389
goldmas	37:f1a8734c193d	1390	x_offsetb[i] = Bras_coord[i][0]cos(theta_robotM_PI/1800) - Bras_coord[i][1]sin(theta_robotM_PI/1800);
goldmas	37:f1a8734c193d	1391	y_offsetb[i] = Bras_coord[i][0]sin(theta_robotM_PI/1800) + Bras_coord[i][1]cos(theta_robotM_PI/1800);
goldmas	37:f1a8734c193d	1392	}
goldmas	37:f1a8734c193d	1393
goldmas	37:f1a8734c193d	1394	/*
goldmas	37:f1a8734c193d	1395	if(gobelet_vert != old_gobelet_vert \|\| gobelet_rouge != old_gobelet_rouge \|\| gobelet_port != old_gobelet_port)
goldmas	37:f1a8734c193d	1396	{
goldmas	37:f1a8734c193d	1397	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	37:f1a8734c193d	1398	lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"vx 0:", LEFT_MODE);
goldmas	37:f1a8734c193d	1399	sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[0]));
goldmas	37:f1a8734c193d	1400	lcd.DisplayStringAt(100, LINE(10), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1401
goldmas	37:f1a8734c193d	1402	lcd.DisplayStringAt(200, LINE(10), (unsigned char *)"vy 0:", LEFT_MODE);
goldmas	37:f1a8734c193d	1403	sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[0]));
goldmas	37:f1a8734c193d	1404	lcd.DisplayStringAt(300, LINE(10), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1405
goldmas	37:f1a8734c193d	1406	lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"vx 1:", LEFT_MODE);
goldmas	37:f1a8734c193d	1407	sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[1]));
goldmas	37:f1a8734c193d	1408	lcd.DisplayStringAt(100, LINE(11), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1409
goldmas	37:f1a8734c193d	1410	lcd.DisplayStringAt(200, LINE(11), (unsigned char *)"vy 1:", LEFT_MODE);
goldmas	37:f1a8734c193d	1411	sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[1]));
goldmas	37:f1a8734c193d	1412	lcd.DisplayStringAt(300, LINE(11), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1413
goldmas	37:f1a8734c193d	1414	lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"vx 2:", LEFT_MODE);
goldmas	37:f1a8734c193d	1415	sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[2]));
goldmas	37:f1a8734c193d	1416	lcd.DisplayStringAt(100, LINE(12), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1417
goldmas	37:f1a8734c193d	1418	lcd.DisplayStringAt(200, LINE(12), (unsigned char *)"vy 2:", LEFT_MODE);
goldmas	37:f1a8734c193d	1419	sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[2]));
goldmas	37:f1a8734c193d	1420	lcd.DisplayStringAt(300, LINE(12), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1421
goldmas	37:f1a8734c193d	1422	lcd.DisplayStringAt(0, LINE(13), (unsigned char *)"vx 3:", LEFT_MODE);
goldmas	37:f1a8734c193d	1423	sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[3]));
goldmas	37:f1a8734c193d	1424	lcd.DisplayStringAt(100, LINE(13), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1425
goldmas	37:f1a8734c193d	1426	lcd.DisplayStringAt(200, LINE(13), (unsigned char *)"vy 3:", LEFT_MODE);
goldmas	37:f1a8734c193d	1427	sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[3]));
goldmas	37:f1a8734c193d	1428	lcd.DisplayStringAt(300, LINE(13), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1429
goldmas	37:f1a8734c193d	1430	lcd.DisplayStringAt(0, LINE(14), (unsigned char *)"vx 4:", LEFT_MODE);
goldmas	37:f1a8734c193d	1431	sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[4]));
goldmas	37:f1a8734c193d	1432	lcd.DisplayStringAt(100, LINE(14), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1433
goldmas	37:f1a8734c193d	1434	lcd.DisplayStringAt(200, LINE(14), (unsigned char *)"vy 4:", LEFT_MODE);
goldmas	37:f1a8734c193d	1435	sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[4]));
goldmas	37:f1a8734c193d	1436	lcd.DisplayStringAt(300, LINE(14), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1437
goldmas	37:f1a8734c193d	1438	lcd.DisplayStringAt(0, LINE(15), (unsigned char *)"vx 5:", LEFT_MODE);
goldmas	37:f1a8734c193d	1439	sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[5]));
goldmas	37:f1a8734c193d	1440	lcd.DisplayStringAt(100, LINE(15), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1441
goldmas	37:f1a8734c193d	1442	lcd.DisplayStringAt(200, LINE(15), (unsigned char *)"vy 5:", LEFT_MODE);
goldmas	37:f1a8734c193d	1443	sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[5]));
goldmas	37:f1a8734c193d	1444	lcd.DisplayStringAt(300, LINE(15), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1445
goldmas	37:f1a8734c193d	1446	///////////////////////////////////////////////////////////////////////
goldmas	37:f1a8734c193d	1447
goldmas	37:f1a8734c193d	1448	lcd.DisplayStringAt(0, LINE(17), (unsigned char *)"bx 0:", LEFT_MODE);
goldmas	37:f1a8734c193d	1449	sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[0]));
goldmas	37:f1a8734c193d	1450	lcd.DisplayStringAt(100, LINE(17), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1451
goldmas	37:f1a8734c193d	1452	lcd.DisplayStringAt(200, LINE(17), (unsigned char *)"by 0:", LEFT_MODE);
goldmas	37:f1a8734c193d	1453	sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[0]));
goldmas	37:f1a8734c193d	1454	lcd.DisplayStringAt(300, LINE(17), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1455
goldmas	37:f1a8734c193d	1456	lcd.DisplayStringAt(0, LINE(18), (unsigned char *)"bx 1:", LEFT_MODE);
goldmas	37:f1a8734c193d	1457	sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[1]));
goldmas	37:f1a8734c193d	1458	lcd.DisplayStringAt(100, LINE(18), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1459
goldmas	37:f1a8734c193d	1460	lcd.DisplayStringAt(200, LINE(18), (unsigned char *)"by 1:", LEFT_MODE);
goldmas	37:f1a8734c193d	1461	sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[1]));
goldmas	37:f1a8734c193d	1462	lcd.DisplayStringAt(300, LINE(18), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1463
goldmas	37:f1a8734c193d	1464	lcd.DisplayStringAt(0, LINE(19), (unsigned char *)"bx 2:", LEFT_MODE);
goldmas	37:f1a8734c193d	1465	sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[2]));
goldmas	37:f1a8734c193d	1466	lcd.DisplayStringAt(100, LINE(19), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1467
goldmas	37:f1a8734c193d	1468	lcd.DisplayStringAt(200, LINE(19), (unsigned char *)"by 2:", LEFT_MODE);
goldmas	37:f1a8734c193d	1469	sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[2]));
goldmas	37:f1a8734c193d	1470	lcd.DisplayStringAt(300, LINE(19), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1471
goldmas	37:f1a8734c193d	1472	lcd.DisplayStringAt(0, LINE(20), (unsigned char *)"bx 3:", LEFT_MODE);
goldmas	37:f1a8734c193d	1473	sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[3]));
goldmas	37:f1a8734c193d	1474	lcd.DisplayStringAt(100, LINE(20), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1475
goldmas	37:f1a8734c193d	1476	lcd.DisplayStringAt(200, LINE(20), (unsigned char *)"by 3:", LEFT_MODE);
goldmas	37:f1a8734c193d	1477	sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[3]));
goldmas	37:f1a8734c193d	1478	lcd.DisplayStringAt(300, LINE(20), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1479
goldmas	37:f1a8734c193d	1480	lcd.DisplayStringAt(0, LINE(21), (unsigned char *)"bx 4:", LEFT_MODE);
goldmas	37:f1a8734c193d	1481	sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[4]));
goldmas	37:f1a8734c193d	1482	lcd.DisplayStringAt(100, LINE(21), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1483
goldmas	37:f1a8734c193d	1484	lcd.DisplayStringAt(200, LINE(21), (unsigned char *)"by 4:", LEFT_MODE);
goldmas	37:f1a8734c193d	1485	sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[4]));
goldmas	37:f1a8734c193d	1486	lcd.DisplayStringAt(300, LINE(21), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1487
goldmas	37:f1a8734c193d	1488	lcd.DisplayStringAt(0, LINE(22), (unsigned char *)"bx 5:", LEFT_MODE);
goldmas	37:f1a8734c193d	1489	sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[5]));
goldmas	37:f1a8734c193d	1490	lcd.DisplayStringAt(100, LINE(22), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1491
goldmas	37:f1a8734c193d	1492	lcd.DisplayStringAt(200, LINE(22), (unsigned char *)"by 5:", LEFT_MODE);
goldmas	37:f1a8734c193d	1493	sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[5]));
goldmas	37:f1a8734c193d	1494	lcd.DisplayStringAt(300, LINE(22), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1495
goldmas	37:f1a8734c193d	1496	old_gobelet_vert = gobelet_vert;
goldmas	37:f1a8734c193d	1497	old_gobelet_rouge = gobelet_rouge;
goldmas	37:f1a8734c193d	1498	old_gobelet_port = gobelet_port;
goldmas	37:f1a8734c193d	1499	}
goldmas	37:f1a8734c193d	1500	*/
goldmas	37:f1a8734c193d	1501	/*
goldmas	37:f1a8734c193d	1502	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	37:f1a8734c193d	1503	lcd.DisplayStringAt(100, LINE(24), (unsigned char *)"g_vert :", LEFT_MODE);
goldmas	37:f1a8734c193d	1504	sprintf(toto,"%04d",gobelet_vert);
goldmas	37:f1a8734c193d	1505	lcd.DisplayStringAt(250, LINE(24), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1506
goldmas	37:f1a8734c193d	1507	lcd.DisplayStringAt(100, LINE(25), (unsigned char *)"g_rouge :", LEFT_MODE);
goldmas	37:f1a8734c193d	1508	sprintf(toto,"%04d",gobelet_rouge);
goldmas	37:f1a8734c193d	1509	lcd.DisplayStringAt(250, LINE(25), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1510
goldmas	37:f1a8734c193d	1511	lcd.DisplayStringAt(100, LINE(26), (unsigned char *)"g_port :", LEFT_MODE);
goldmas	37:f1a8734c193d	1512	sprintf(toto,"%04d",gobelet_port);
goldmas	37:f1a8734c193d	1513	lcd.DisplayStringAt(250, LINE(26), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1514
goldmas	37:f1a8734c193d	1515	lcd.DisplayStringAt(100, LINE(27), (unsigned char *)"girou :", LEFT_MODE);
goldmas	37:f1a8734c193d	1516	sprintf(toto,"%02d",val_girou);
goldmas	37:f1a8734c193d	1517	lcd.DisplayStringAt(250, LINE(27), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1518
goldmas	35:2a745eeb7922	1519	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	37:f1a8734c193d	1520	lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"vx 0:", LEFT_MODE);
goldmas	37:f1a8734c193d	1521	sprintf(toto,"%04.f",(float)(Position_de_pose[0][0]));
goldmas	37:f1a8734c193d	1522	lcd.DisplayStringAt(100, LINE(10), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1523
goldmas	37:f1a8734c193d	1524	lcd.DisplayStringAt(200, LINE(10), (unsigned char *)"vy 0:", LEFT_MODE);
goldmas	37:f1a8734c193d	1525	sprintf(toto,"%04.f",(float)(Position_de_pose[0][1]));
goldmas	37:f1a8734c193d	1526	lcd.DisplayStringAt(300, LINE(10), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1527
goldmas	37:f1a8734c193d	1528	lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"vx 1:", LEFT_MODE);
goldmas	37:f1a8734c193d	1529	sprintf(toto,"%04.f",(float)(Position_de_pose[1][0]));
goldmas	37:f1a8734c193d	1530	lcd.DisplayStringAt(100, LINE(11), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1531
goldmas	37:f1a8734c193d	1532	lcd.DisplayStringAt(200, LINE(11), (unsigned char *)"vy 1:", LEFT_MODE);
goldmas	37:f1a8734c193d	1533	sprintf(toto,"%04.f",(float)(Position_de_pose[1][1]));
goldmas	37:f1a8734c193d	1534	lcd.DisplayStringAt(300, LINE(11), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1535
goldmas	37:f1a8734c193d	1536	lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"vx 2:", LEFT_MODE);
goldmas	37:f1a8734c193d	1537	sprintf(toto,"%04.f",(float)(Position_de_pose[2][0]));
goldmas	37:f1a8734c193d	1538	lcd.DisplayStringAt(100, LINE(12), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1539
goldmas	37:f1a8734c193d	1540	lcd.DisplayStringAt(200, LINE(12), (unsigned char *)"vy 2:", LEFT_MODE);
goldmas	37:f1a8734c193d	1541	sprintf(toto,"%04.f",(float)(Position_de_pose[2][1]));
goldmas	37:f1a8734c193d	1542	lcd.DisplayStringAt(300, LINE(12), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1543
goldmas	37:f1a8734c193d	1544	lcd.DisplayStringAt(0, LINE(13), (unsigned char *)"vx 3:", LEFT_MODE);
goldmas	37:f1a8734c193d	1545	sprintf(toto,"%04.f",(float)(Position_de_pose[3][0]));
goldmas	37:f1a8734c193d	1546	lcd.DisplayStringAt(100, LINE(13), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1547
goldmas	37:f1a8734c193d	1548	lcd.DisplayStringAt(200, LINE(13), (unsigned char *)"vy 3:", LEFT_MODE);
goldmas	37:f1a8734c193d	1549	sprintf(toto,"%04.f",(float)(Position_de_pose[3][1]));
goldmas	37:f1a8734c193d	1550	lcd.DisplayStringAt(300, LINE(13), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1551
goldmas	37:f1a8734c193d	1552	lcd.DisplayStringAt(0, LINE(14), (unsigned char *)"vx 4:", LEFT_MODE);
goldmas	37:f1a8734c193d	1553	sprintf(toto,"%04.f",(float)(Position_de_pose[4][0]));
goldmas	37:f1a8734c193d	1554	lcd.DisplayStringAt(100, LINE(14), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1555
goldmas	37:f1a8734c193d	1556	lcd.DisplayStringAt(200, LINE(14), (unsigned char *)"vy 4:", LEFT_MODE);
goldmas	37:f1a8734c193d	1557	sprintf(toto,"%04.f",(float)(Position_de_pose[4][1]));
goldmas	37:f1a8734c193d	1558	lcd.DisplayStringAt(300, LINE(14), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1559
goldmas	37:f1a8734c193d	1560	lcd.DisplayStringAt(0, LINE(15), (unsigned char *)"vx 5:", LEFT_MODE);
goldmas	37:f1a8734c193d	1561	sprintf(toto,"%04.f",(float)(Position_de_pose[5][0]));
goldmas	37:f1a8734c193d	1562	lcd.DisplayStringAt(100, LINE(15), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1563
goldmas	37:f1a8734c193d	1564	lcd.DisplayStringAt(200, LINE(15), (unsigned char *)"vy 5:", LEFT_MODE);
goldmas	37:f1a8734c193d	1565	sprintf(toto,"%04.f",(float)(Position_de_pose[5][1]));
goldmas	37:f1a8734c193d	1566	lcd.DisplayStringAt(300, LINE(15), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1567	*/
goldmas	37:f1a8734c193d	1568	/*
goldmas	37:f1a8734c193d	1569	lcd.SetTextColor(LCD_COLOR_BLACK);
goldmas	35:2a745eeb7922	1570	lcd.DisplayStringAt(100, LINE(14), (unsigned char *)"x_robot :", LEFT_MODE);
goldmas	37:f1a8734c193d	1571	sprintf(toto,"%05hd",(short)(x_robot));
goldmas	35:2a745eeb7922	1572	lcd.DisplayStringAt(250, LINE(14), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1573
goldmas	35:2a745eeb7922	1574	lcd.DisplayStringAt(100, LINE(15), (unsigned char *)"y_robot :", LEFT_MODE);
goldmas	37:f1a8734c193d	1575	sprintf(toto,"%05hd",(short)(y_robot));
goldmas	35:2a745eeb7922	1576	lcd.DisplayStringAt(250, LINE(15), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1577
goldmas	35:2a745eeb7922	1578	lcd.DisplayStringAt(100, LINE(16), (unsigned char *)"t_robot :", LEFT_MODE);
goldmas	37:f1a8734c193d	1579	sprintf(toto,"%05hd",theta_robot);
goldmas	35:2a745eeb7922	1580	lcd.DisplayStringAt(250, LINE(16), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1581
goldmas	35:2a745eeb7922	1582	lcd.DisplayStringAt(100, LINE(17), (unsigned char *)"g_vert :", LEFT_MODE);
goldmas	35:2a745eeb7922	1583	sprintf(toto,"%04d",gobelet_vert);
goldmas	35:2a745eeb7922	1584	lcd.DisplayStringAt(250, LINE(17), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1585
goldmas	35:2a745eeb7922	1586	lcd.DisplayStringAt(100, LINE(18), (unsigned char *)"g_rouge :", LEFT_MODE);
goldmas	35:2a745eeb7922	1587	sprintf(toto,"%04d",gobelet_rouge);
goldmas	35:2a745eeb7922	1588	lcd.DisplayStringAt(250, LINE(18), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1589
goldmas	35:2a745eeb7922	1590	lcd.DisplayStringAt(100, LINE(19), (unsigned char *)"g_port :", LEFT_MODE);
goldmas	35:2a745eeb7922	1591	sprintf(toto,"%04d",gobelet_port);
goldmas	35:2a745eeb7922	1592	lcd.DisplayStringAt(250, LINE(19), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1593
goldmas	37:f1a8734c193d	1594	lcd.DisplayStringAt(100, LINE(20), (unsigned char *)"m_releve :", LEFT_MODE);
goldmas	37:f1a8734c193d	1595	sprintf(toto,"%04d",manche_releve);
goldmas	37:f1a8734c193d	1596	lcd.DisplayStringAt(250, LINE(20), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1597	*/
goldmas	35:2a745eeb7922	1598	actual_time = gameTimer.read();
goldmas	37:f1a8734c193d	1599	// if(actual_time != old_time)
goldmas	37:f1a8734c193d	1600	// {
goldmas	35:2a745eeb7922	1601	lcd.SetTextColor(LCD_COLOR_BLUE);
goldmas	35:2a745eeb7922	1602	sprintf(toto,"%hd",score_final);
goldmas	35:2a745eeb7922	1603	lcd.DisplayStringAt(250, LINE(8), (unsigned char *)toto, LEFT_MODE);
goldmas	35:2a745eeb7922	1604
goldmas	35:2a745eeb7922	1605	lcd.SetTextColor(LCD_COLOR_RED);
goldmas	35:2a745eeb7922	1606	sprintf(toto,"%hd",actual_time);
goldmas	37:f1a8734c193d	1607	lcd.DisplayStringAt(250, LINE(28), (unsigned char *)toto, LEFT_MODE);
goldmas	37:f1a8734c193d	1608	// old_time = actual_time;
goldmas	37:f1a8734c193d	1609	// }
gabrieltetar	21:d137ec53c3a9	1610	break;
goldmas	35:2a745eeb7922	1611
goldmas	35:2a745eeb7922	1612
gabrieltetar	21:d137ec53c3a9	1613	case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
goldmas	35:2a745eeb7922	1614	// lcd.Clear(LCD_COLOR_WHITE);
goldmas	35:2a745eeb7922	1615	// lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1616
gabrieltetar	21:d137ec53c3a9	1617
gabrieltetar	21:d137ec53c3a9	1618	while(1); // force le redemarage du robot
gabrieltetar	21:d137ec53c3a9	1619	//break;
goldmas	35:2a745eeb7922	1620	}
gabrieltetar	21:d137ec53c3a9	1621	}
gabrieltetar	21:d137ec53c3a9	1622	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1623	/* FUNCTION NAME: Bouton_Strat */
gabrieltetar	21:d137ec53c3a9	1624	/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
gabrieltetar	21:d137ec53c3a9	1625	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1626	signed char Bouton_Strat (void)
gabrieltetar	21:d137ec53c3a9	1627	{
gabrieltetar	21:d137ec53c3a9	1628	char Ack_strat = 0;
gabrieltetar	21:d137ec53c3a9	1629	signed char Strat = 0;
gabrieltetar	21:d137ec53c3a9	1630	Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
gabrieltetar	21:d137ec53c3a9	1631	Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
gabrieltetar	21:d137ec53c3a9	1632	Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
gabrieltetar	21:d137ec53c3a9	1633	Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
gabrieltetar	21:d137ec53c3a9	1634	Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
gabrieltetar	21:d137ec53c3a9	1635	Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
gabrieltetar	21:d137ec53c3a9	1636	Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
gabrieltetar	21:d137ec53c3a9	1637	Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
gabrieltetar	21:d137ec53c3a9	1638	Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
gabrieltetar	21:d137ec53c3a9	1639	Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
gabrieltetar	21:d137ec53c3a9	1640	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	21:d137ec53c3a9	1641	//Definition des boutons
gabrieltetar	21:d137ec53c3a9	1642
gabrieltetar	21:d137ec53c3a9	1643	Ack_strat = 0;
gabrieltetar	21:d137ec53c3a9	1644	Strat = 0;
gabrieltetar	21:d137ec53c3a9	1645	STRAT_1.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1646	STRAT_2.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1647	STRAT_3.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1648	STRAT_4.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1649	STRAT_5.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1650	STRAT_6.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1651	STRAT_7.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1652	STRAT_8.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1653	STRAT_9.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1654	STRAT_10.Draw(0xFFF0F0F0, 0);
gabrieltetar	21:d137ec53c3a9	1655	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	21:d137ec53c3a9	1656
gabrieltetar	21:d137ec53c3a9	1657	while(Ack_strat == 0) {
gabrieltetar	21:d137ec53c3a9	1658	canProcessRx();
gabrieltetar	21:d137ec53c3a9	1659	CANMessage msgTx=CANMessage();
gabrieltetar	21:d137ec53c3a9	1660	//msgTx.id=ECRAN_CHOICE_STRAT;
gabrieltetar	21:d137ec53c3a9	1661	if (RETOUR.Touched())
gabrieltetar	21:d137ec53c3a9	1662	return -1;
gabrieltetar	21:d137ec53c3a9	1663	while(RETOUR.Touched());
gabrieltetar	21:d137ec53c3a9	1664	//////////////////////////////STRATEGIE N°1
gabrieltetar	21:d137ec53c3a9	1665	if (STRAT_1.Touched()) {
gabrieltetar	21:d137ec53c3a9	1666	Strat = 0;
gabrieltetar	21:d137ec53c3a9	1667	//msgTx.data[0] = 0x1;
gabrieltetar	21:d137ec53c3a9	1668	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1669	while(STRAT_1.Touched());
gabrieltetar	21:d137ec53c3a9	1670	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1671	}
gabrieltetar	21:d137ec53c3a9	1672	/////////////////////////////STRATEGIE N°2
gabrieltetar	21:d137ec53c3a9	1673	if (STRAT_2.Touched()) {
gabrieltetar	21:d137ec53c3a9	1674	Strat = 1;
gabrieltetar	21:d137ec53c3a9	1675	//msgTx.data[0] = 0x2;
gabrieltetar	21:d137ec53c3a9	1676	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1677	while(STRAT_2.Touched());
gabrieltetar	21:d137ec53c3a9	1678	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1679	}
gabrieltetar	21:d137ec53c3a9	1680	//////////////////////////////STRATEGIE N°3
gabrieltetar	21:d137ec53c3a9	1681	if (STRAT_3.Touched()) {
gabrieltetar	21:d137ec53c3a9	1682	Strat = 2;
gabrieltetar	21:d137ec53c3a9	1683	//msgTx.data[0] = 0x3;
gabrieltetar	21:d137ec53c3a9	1684	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1685	while(STRAT_3.Touched());
gabrieltetar	21:d137ec53c3a9	1686	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1687	}
gabrieltetar	21:d137ec53c3a9	1688	/////////////////////////////STRATEGIE N°4
gabrieltetar	21:d137ec53c3a9	1689	if (STRAT_4.Touched()) {
gabrieltetar	21:d137ec53c3a9	1690	Strat = 3;
gabrieltetar	21:d137ec53c3a9	1691	//msgTx.data[0] = 0x4;
gabrieltetar	21:d137ec53c3a9	1692	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1693	while(STRAT_4.Touched());
gabrieltetar	21:d137ec53c3a9	1694	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1695	}
gabrieltetar	21:d137ec53c3a9	1696	///////////////////////////////STRATEGIE N°5
gabrieltetar	21:d137ec53c3a9	1697	if (STRAT_5.Touched()) {
gabrieltetar	21:d137ec53c3a9	1698	Strat = 4;
gabrieltetar	21:d137ec53c3a9	1699	//msgTx.data[0] = 0x5;
gabrieltetar	21:d137ec53c3a9	1700	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1701	while(STRAT_5.Touched());
gabrieltetar	21:d137ec53c3a9	1702	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1703	}
gabrieltetar	21:d137ec53c3a9	1704	////////////////////////////////STRATEGIE N°6
gabrieltetar	21:d137ec53c3a9	1705	if (STRAT_6.Touched()) {
gabrieltetar	21:d137ec53c3a9	1706	Strat = 5;
gabrieltetar	21:d137ec53c3a9	1707	//msgTx.data[0] = 0x6;
gabrieltetar	21:d137ec53c3a9	1708	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1709	while(STRAT_6.Touched());
gabrieltetar	21:d137ec53c3a9	1710	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1711	}
gabrieltetar	21:d137ec53c3a9	1712	/////////////////////////////////STRATEGIE N°7
gabrieltetar	21:d137ec53c3a9	1713	if (STRAT_7.Touched()) {
gabrieltetar	21:d137ec53c3a9	1714	Strat = 6;
gabrieltetar	21:d137ec53c3a9	1715	//msgTx.data[0] = 0x7;
gabrieltetar	21:d137ec53c3a9	1716	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1717	while(STRAT_7.Touched());
gabrieltetar	21:d137ec53c3a9	1718	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1719	}
gabrieltetar	21:d137ec53c3a9	1720	/////////////////////////////////STRATEGIE N°8
gabrieltetar	21:d137ec53c3a9	1721	if (STRAT_8.Touched()) {
gabrieltetar	21:d137ec53c3a9	1722	Strat = 7;
gabrieltetar	21:d137ec53c3a9	1723	//msgTx.data[0] = 0x8;
gabrieltetar	21:d137ec53c3a9	1724	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1725	while(STRAT_8.Touched());
gabrieltetar	21:d137ec53c3a9	1726	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1727	}
gabrieltetar	21:d137ec53c3a9	1728	/////////////////////////////////STRATEGIE N°9
gabrieltetar	21:d137ec53c3a9	1729	if (STRAT_9.Touched()) {
gabrieltetar	21:d137ec53c3a9	1730	Strat = 8;
gabrieltetar	21:d137ec53c3a9	1731	//msgTx.data[0] = 0x9;
gabrieltetar	21:d137ec53c3a9	1732	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1733	while(STRAT_9.Touched());
gabrieltetar	21:d137ec53c3a9	1734	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1735	}
gabrieltetar	21:d137ec53c3a9	1736	///////////////////////////////////STRATEGIE N°10
gabrieltetar	21:d137ec53c3a9	1737	if (STRAT_10.Touched()) {
gabrieltetar	21:d137ec53c3a9	1738	Strat = 9;
gabrieltetar	21:d137ec53c3a9	1739	//msgTx.data[0] = 0xA;
gabrieltetar	21:d137ec53c3a9	1740	//can2.write(msgTx);
gabrieltetar	21:d137ec53c3a9	1741	while(STRAT_10.Touched());
gabrieltetar	21:d137ec53c3a9	1742	Ack_strat =1;
gabrieltetar	21:d137ec53c3a9	1743	}
gabrieltetar	21:d137ec53c3a9	1744
gabrieltetar	21:d137ec53c3a9	1745	}
gabrieltetar	21:d137ec53c3a9	1746	return Strat;
gabrieltetar	21:d137ec53c3a9	1747
gabrieltetar	21:d137ec53c3a9	1748	}
gabrieltetar	21:d137ec53c3a9	1749	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1750	/* FUNCTION NAME: SelectionStrat */
gabrieltetar	21:d137ec53c3a9	1751	/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
gabrieltetar	21:d137ec53c3a9	1752	/****************************************************************************************/
gabrieltetar	21:d137ec53c3a9	1753
gabrieltetar	21:d137ec53c3a9	1754
gabrieltetar	21:d137ec53c3a9	1755	void SelectionStrat (unsigned char Strategie)
gabrieltetar	21:d137ec53c3a9	1756	{
gabrieltetar	21:d137ec53c3a9	1757	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	21:d137ec53c3a9	1758	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	21:d137ec53c3a9	1759
gabrieltetar	21:d137ec53c3a9	1760	switch (Strategie+1) {
gabrieltetar	21:d137ec53c3a9	1761	case 0x1 :
gabrieltetar	21:d137ec53c3a9	1762	//description de Strategie n°1
gabrieltetar	21:d137ec53c3a9	1763	lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1764	break;
gabrieltetar	21:d137ec53c3a9	1765
gabrieltetar	21:d137ec53c3a9	1766	case 0x2 :
gabrieltetar	21:d137ec53c3a9	1767	//description de Strategie n°2
gabrieltetar	21:d137ec53c3a9	1768	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1769	break;
gabrieltetar	21:d137ec53c3a9	1770
gabrieltetar	21:d137ec53c3a9	1771	case 0x3 :
gabrieltetar	21:d137ec53c3a9	1772	//description de Strategie n°3
gabrieltetar	21:d137ec53c3a9	1773	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1774	break;
gabrieltetar	21:d137ec53c3a9	1775
gabrieltetar	21:d137ec53c3a9	1776	case 0x4 :
gabrieltetar	21:d137ec53c3a9	1777	//description de Strategie n°4
gabrieltetar	21:d137ec53c3a9	1778	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1779	break;
gabrieltetar	21:d137ec53c3a9	1780
gabrieltetar	21:d137ec53c3a9	1781	case 0x5 :
gabrieltetar	21:d137ec53c3a9	1782	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1783	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1784	break;
gabrieltetar	21:d137ec53c3a9	1785
gabrieltetar	21:d137ec53c3a9	1786	case 0x6 :
gabrieltetar	21:d137ec53c3a9	1787	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1788	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1789	break;
gabrieltetar	21:d137ec53c3a9	1790
gabrieltetar	21:d137ec53c3a9	1791	case 0x7 :
gabrieltetar	21:d137ec53c3a9	1792	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1793	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1794	break;
gabrieltetar	21:d137ec53c3a9	1795
gabrieltetar	21:d137ec53c3a9	1796	case 0x8 :
gabrieltetar	21:d137ec53c3a9	1797	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1798	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1799	break;
gabrieltetar	21:d137ec53c3a9	1800
gabrieltetar	21:d137ec53c3a9	1801	case 0x9 :
gabrieltetar	21:d137ec53c3a9	1802	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1803	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1804	break;
gabrieltetar	21:d137ec53c3a9	1805
gabrieltetar	21:d137ec53c3a9	1806	case 0xA :
gabrieltetar	21:d137ec53c3a9	1807	//description de Strategie n°5
gabrieltetar	21:d137ec53c3a9	1808	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	21:d137ec53c3a9	1809	break;
gabrieltetar	21:d137ec53c3a9	1810	}
gabrieltetar	27:ff70537a7619	1811	}
gabrieltetar	27:ff70537a7619	1812
gabrieltetar	27:ff70537a7619	1813	void DrawC (int l,int h,int x, int y, unsigned char fill){
gabrieltetar	27:ff70537a7619	1814	Point c[8]={{l,0},{l,h/6},{l/5,h/3},{l/5,2(h/3)},{l,5(h/6)},{l,h},{0,5*(h/6)},{0,h/6}};
gabrieltetar	27:ff70537a7619	1815	for(int a=0;a<8;a++){
gabrieltetar	27:ff70537a7619	1816	c[a].X+=x;
gabrieltetar	27:ff70537a7619	1817	c[a].Y+=y;
gabrieltetar	27:ff70537a7619	1818	}
gabrieltetar	27:ff70537a7619	1819	lcd.DrawPolygon(c, 8);
gabrieltetar	27:ff70537a7619	1820
gabrieltetar	27:ff70537a7619	1821	}
gabrieltetar	27:ff70537a7619	1822	void DrawR (int l,int h,int x, int y, unsigned char fill){
gabrieltetar	27:ff70537a7619	1823	Point r[10]={{0,0},{5(l/6),0},{l,h/3},{5(l/6),h/2},{l/2,h/2},{l,h},{2*(l/3),h},{l/4,h/2},{l/4,h},{0,h}};
gabrieltetar	27:ff70537a7619	1824	for(int a=0;a<10;a++){
gabrieltetar	27:ff70537a7619	1825	r[a].X+=x;
gabrieltetar	27:ff70537a7619	1826	r[a].Y+=y;
gabrieltetar	27:ff70537a7619	1827	}
gabrieltetar	27:ff70537a7619	1828	lcd.DrawPolygon(r, 10);
gabrieltetar	27:ff70537a7619	1829	}
gabrieltetar	27:ff70537a7619	1830	void DrawA (int l,int h,int x, int y, unsigned char fill){
gabrieltetar	27:ff70537a7619	1831	Point a[8]={{l/4,0},{3(l/4),0},{l,h},{5(l/6),h},{4(l/6),h/2},{2(l/6),h/2},{l/6,h},{0,h}};
gabrieltetar	27:ff70537a7619	1832	for(int z=0;z<8;z++){
gabrieltetar	27:ff70537a7619	1833	a[z].X+=x;
gabrieltetar	27:ff70537a7619	1834	a[z].Y+=y;
gabrieltetar	27:ff70537a7619	1835	}
gabrieltetar	27:ff70537a7619	1836	lcd.DrawPolygon(a, 8);
gabrieltetar	27:ff70537a7619	1837	}
gabrieltetar	27:ff70537a7619	1838	void DrawCheck (int l,int h,int x, int y, int cochage){
gabrieltetar	27:ff70537a7619	1839	if(x<3)x=3;
gabrieltetar	27:ff70537a7619	1840	if(cochage == 1){
gabrieltetar	27:ff70537a7619	1841	lcd.SetTextColor(VERT_F);
gabrieltetar	27:ff70537a7619	1842	lcd.DrawLine(x,y-(h/2),x+l/2,y+h/2);
gabrieltetar	27:ff70537a7619	1843	lcd.DrawLine(x-1,y-(h/2),x+l/2,y+h/2+1);
gabrieltetar	27:ff70537a7619	1844	lcd.DrawLine(x-2,y-(h/2),x+l/2,y+h/2+2);
gabrieltetar	27:ff70537a7619	1845	lcd.DrawLine(x+l/2,y+h/2,x+(4*(l/3)),y);
gabrieltetar	27:ff70537a7619	1846	lcd.DrawLine(x+l/2,y+h/2+1,x+(4*(l/3))+1,y);
gabrieltetar	27:ff70537a7619	1847	lcd.DrawLine(x+l/2,y+h/2+2,x+(4*(l/3))+2,y);
gabrieltetar	27:ff70537a7619	1848	lcd.SetTextColor(NOIR);
gabrieltetar	27:ff70537a7619	1849	} else {
gabrieltetar	27:ff70537a7619	1850	Point a[4]={{0,0},{l,0},{l,h},{0,h}};
gabrieltetar	27:ff70537a7619	1851	for(int z=0;z<8;z++){
gabrieltetar	27:ff70537a7619	1852	a[z].X+=x;
gabrieltetar	27:ff70537a7619	1853	a[z].Y+=y;
gabrieltetar	27:ff70537a7619	1854	}
gabrieltetar	27:ff70537a7619	1855	lcd.DrawPolygon(a, 4);
gabrieltetar	27:ff70537a7619	1856	}
gabrieltetar	21:d137ec53c3a9	1857	}

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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
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IHM/ihm.cpp@37:f1a8734c193d, 2021-07-17 (annotated)

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