CRAC Team
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
Diff: Strategie/Strategie.cpp
- Revision:
- 7:44eec996a76e
- Parent:
- 5:81aac085516f
- Child:
- 10:1964bb91b925
--- a/Strategie/Strategie.cpp Fri Jan 31 15:12:18 2020 +0000
+++ b/Strategie/Strategie.cpp Mon Feb 03 10:07:50 2020 +0000
@@ -82,7 +82,6 @@
signed short x_robot,y_robot,theta_robot;//La position du robot
signed short target_x_robot, target_y_robot, target_theta_robot;
E_InstructionType actionPrecedente;
-signed short start_move_x,start_move_y,start_move_theta;//La position du robot lors du début d'un mouvement, utilisé pour reprendre le mouvement apres stop balise
//unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
int flagSendCan=1;
unsigned char Cote = 0; //0 -> JAUNE | 1 -> VIOLET
@@ -119,7 +118,7 @@
float cptf;
int cpt,cpt1;
-typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_CAPTEURS, TEST_SERVO, TEST_TIR, DEMO_IMMEUBLE,DEMO_TRIEUR, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
+typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
T_etat etat = INIT;
E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
E_stratGameEtat memGameEtat= gameEtat;
@@ -127,8 +126,6 @@
E_Stratposdebut etat_pos=RECALAGE_1;
/////////////////DEFINITION DES BOUTONS////////////////////
-Button COTE_VERT(0, 25, 400, 300, "JAUNE");
-Button COTE_ORANGE(0, 350, 400, 300, "VIOLET");
Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
Button RETOUR (0, 680, 400, 110, "--Precedent--");
@@ -136,33 +133,19 @@
Button CHECK (0, 420, 400, 200, "Valider");
Button MATCH (0, 50, 400, 320, "Match");
Button DEMONSTRATION (0, 400, 400, 320, "Demo");
-Button TEST_HERKULEX(0, 25, 400, 100, "Test servos");
-Button TEST_LASER(0, 135, 400, 100, "Test telemetre");
-Button TEST_COULEURS(0,245,400,100,"Test capteurs");
-Button TEST_TIR_BALLE(0,355,400,100,"Test Lanceur");
-Button TEST_IMMEUBLE(0,465,400,100,"Test immeuble");
-Button TEST_TRIEUR(0,575,400,100,"Test aiguilleur");
-Button TIR_CHATEAU(0, 25, 400, 100, "Tir chateau");
-Button EPURATION(0, 150, 400, 100, "epuration");
-Button LANCEUR_ON(0,275,400,100,"allumer le lanceur");
-Button LANCEUR_OFF(0,400,400,100,"eteindre le lanceur");
-Button ABAISSE_BLOC(0, 25, 400, 100, "Ramasser blocs");
-Button RELEVE_BLOC(0, 135, 400, 100, "lacher blocs");
-Button BRAS_ABEILLE_ON(0,245,400,100,"bras abeille");
-Button BRAS_ABEILLE_OFF(0,355,400,100,"baisser bras abeille");
-Button INTERRUPTEUR_ON(0,465,400,100,"baisser bras interrupt");
-Button INTERRUPTEUR_OFF(0,575,400,100,"baisser bras interrupt");
+
+Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
+Button TEST_TELE(0, 135, 400, 100, "Test telemetre");
+Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
+Button TEST_BRAS(0,355,400,100,"Test Bras");
+
+Button TEST_BRAS_GABARIT(0,25,400,100,"Test Gabarit");
+Button TEST_BRAS_GABARITD(0,135,400,100,"Test Gabarit deploye");
+Button TEST_BRAS_PRESENTOIR(0,245,400,100,"Test Presentoir");
+
+
Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
-Button TRI(0, 25, 400, 100, "Test tri");
-Button AIGUILLEUR_D(0, 150, 400, 100, "aiguilleur droite");
-Button AIGUILLEUR_G(0,275,400,100,"aiguilleur gauche");
-Button AIGUILLEUR_CTRE(0,400,400,100,"aiguilleur centre");
Button SUIVANT(0,380,200,100,"Suivant");
-Button COLOR_ORANGE (0, 230, 190, 110,"");
-Button COLOR_JAUNE (210, 230, 190, 110,"");
-Button COLOR_VERT (0, 350, 190, 110,"");
-Button COLOR_BLEU (210, 350, 190, 110,"");
-Button COLOR_NOIR (105, 470, 190, 110,"");
////////////////////////////////////////////////////////////
void SendRawId (unsigned short id);
@@ -407,140 +390,88 @@
break;
case DEMO :
- lcd.Clear(LCD_COLOR_WHITE);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
RETOUR.Draw(0xFFFF0000, 0);
- TEST_HERKULEX.Draw(VERT, 0);
- TEST_LASER.Draw(VERT, 0);
- TEST_COULEURS.Draw(VERT, 0);
- TEST_TIR_BALLE.Draw(VERT, 0);
- TEST_IMMEUBLE.Draw(VERT,0);
- TEST_TRIEUR.Draw(VERT,0);
- if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config//
- InversStrat = 0;//Pas d'inversion de la couleur
- }
- while (etat == DEMO) { ////////////////////////////LISTE DES DIFFERENTES DEMOS POSSIBLES///////////////////////////////////////////
+ TEST_VENT.Draw(VERT, 0);
+ TEST_TELE.Draw(VERT, 0);
+ TEST_COUL.Draw(VERT, 0);
+ TEST_BRAS.Draw(VERT, 0);
+ while (etat == DEMO) {
canProcessRx();
- if(TEST_HERKULEX.Touched()) {
- //Strat = 0x10;
- while(TEST_HERKULEX.Touched());
- CANMessage trame_Tx = CANMessage();
- trame_Tx.len = 1;
- trame_Tx.format = CANStandard;
- trame_Tx.type = CANData;
- trame_Tx.id=CHOICE_COLOR;
- trame_Tx.data[0]=0x2;
- can2.write(trame_Tx);
- TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
- etat = TEST_SERVO;
- lcd.Clear(LCD_COLOR_WHITE);
- ModeDemo=1;
- } else if(TEST_LASER.Touched()) {
- //Strat = 0x11;
- while(TEST_LASER.Touched());
- TEST_LASER.Draw(0xFFF0F0F0, 0);
+ if(TEST_VENT.Touched()) {
+ while(TEST_VENT.Touched());
+ etat = TEST_VENTOUSE;
+ } else if(TEST_TELE.Touched()) {
+ while(TEST_TELE.Touched());
etat = TEST_TELEMETRE;
- } else if (TEST_COULEURS.Touched()) {
- while(TEST_COULEURS.Touched());
- TEST_LASER.Draw(0xFFF0F0F0, 0);
- etat =TEST_CAPTEURS ;
- }
-
- else if (TEST_TIR_BALLE.Touched()) {
- while(TEST_TIR_BALLE.Touched());
- while(1) {
- TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
- // rn42_Tx.printf("A");//experience
- liaison_Tx.envoyer_short(0x30,666);
- pc.printf("data\r");
-
- }
- //ModeDemo=1;
- } else if(TEST_IMMEUBLE.Touched()) {
- while(TEST_IMMEUBLE.Touched());
- TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
- etat =DEMO_IMMEUBLE;
- lcd.Clear(LCD_COLOR_WHITE);
- } else if(TEST_TRIEUR.Touched()) {
- while(TEST_TRIEUR.Touched());
- etat=DEMO_TRIEUR;
- lcd.Clear(LCD_COLOR_WHITE);
- }
- if(RETOUR.Touched()) {
+ } else if (TEST_COUL.Touched()) {
+ while(TEST_COUL.Touched());
+ etat =TEST_COULEUR ;
+ } else if (TEST_BRAS.Touched()) {
+ while(TEST_BRAS.Touched());
+ etat =TEST_SERVO_BRAS ;
+ } else if(RETOUR.Touched()) {
+ while(RETOUR.Touched());
etat = CHOIX;
- while(RETOUR.Touched());
-
- }
- if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
- Ack_strat = 1;
- wait_ms(10);
}
}
break;
- case TEST_SERVO: //TEST DU RESTE DES SERVOS DISPO HORS TIR
- lcd.SetBackColor(LCD_COLOR_WHITE);
- lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
- ABAISSE_BLOC.Draw(VERT, 0);
- RELEVE_BLOC.Draw(VERT, 0);
- BRAS_ABEILLE_ON.Draw(VERT, 0);
- BRAS_ABEILLE_OFF.Draw(VERT, 0);
- INTERRUPTEUR_ON.Draw(VERT, 0);
- INTERRUPTEUR_OFF.Draw(VERT, 0);
+ case TEST_VENTOUSE:
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
RETOUR.Draw(0xFFFF0000,0);
- while(etat==TEST_SERVO) {
+ while(etat==TEST_VENTOUSE) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ etat=DEMO;
+ }
+ }
+ break;
+
+ case TEST_SERVO_BRAS:
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_BRAS_PRESENTOIR.Draw(BLEU, BLANC);
+ TEST_BRAS_GABARIT.Draw(BLEU, BLANC);
+ TEST_BRAS_GABARITD.Draw(BLEU, BLANC);
+ while(etat==TEST_SERVO_BRAS) {
if(RETOUR.Touched()) {
while (RETOUR.Touched());
etat=DEMO;
- } else if(ABAISSE_BLOC.Touched()) {
- while (ABAISSE_BLOC.Touched());
- SendRawId(GABARIT_PETIT_ROBOT);
- break;
- } else if(RELEVE_BLOC.Touched()) {
- while (RELEVE_BLOC.Touched());
- SendRawId(PRESENTOIR_AVANT);
- break;
- } else if(BRAS_ABEILLE_ON.Touched()) {
- while (BRAS_ABEILLE_ON.Touched());
- //SendRawId(BRAS_ABEILLE_UP);
- break;
-
- } else if(BRAS_ABEILLE_OFF.Touched()) {
- while (BRAS_ABEILLE_OFF.Touched());
- //SendRawId(BRAS_ABEILLE_DOWN);
- break;
- } else if(INTERRUPTEUR_ON.Touched()) {
- while (INTERRUPTEUR_ON.Touched());
- //SendRawId(ALLUMER_PANNEAU_UP);
- break;
- } else if(INTERRUPTEUR_OFF.Touched()) {
- while (INTERRUPTEUR_OFF.Touched());
- //SendRawId(ALLUMER_PANNEAU_DOWN);
- break;
+ } else if(TEST_BRAS_PRESENTOIR.Touched()) {
+ while (TEST_BRAS_PRESENTOIR.Touched());
+ SendRawId(PRESENTOIR);
+ } else if(TEST_BRAS_GABARIT.Touched()) {
+ while (TEST_BRAS_GABARIT.Touched());
+ SendRawId(GABARIT);
+ } else if(TEST_BRAS_GABARITD.Touched()) {
+ while (TEST_BRAS_GABARITD.Touched());
+ SendRawId(GABARIT_D);
}
}
break;
-
- case TEST_TIR: // TEST DES FONCTIONS LIEES AUX TIRS
- lcd.SetBackColor(LCD_COLOR_WHITE);
- lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
- TIR_CHATEAU.Draw(VERT, 0);
- EPURATION.Draw(VERT, 0);
- LANCEUR_ON.Draw(VERT, 0);
- LANCEUR_OFF.Draw(VERT, 0);
- RETOUR.Draw(ROUGE, 0);
-
- etat=DEMO;
-
+
+ case TEST_COULEUR:
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ while(etat==TEST_COULEUR) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ etat=DEMO;
+ lcd.Clear (LCD_COLOR_WHITE);
+ }
+ }
break;
-
-
case TEST_TELEMETRE: //AFFICHAGE DE LA VALEUR LUE PAR LES 4 TELEMETRES
ModeDemo=1;
- lcd.Clear(LCD_COLOR_WHITE);
- lcd.SetBackColor(LCD_COLOR_WHITE);
- lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Telemetre", LEFT_MODE);
RETOUR.Draw(0xFFFF0000, 0);
while(etat==TEST_TELEMETRE) {
SendRawId(DATA_RECALAGE);
@@ -550,7 +481,7 @@
if(RETOUR.Touched()) {
while( RETOUR.Touched());
etat=DEMO;
- lcd.Clear(LCD_COLOR_WHITE);
+ ModeDemo=0;
}
}
break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
@@ -841,7 +772,7 @@
SendRawId(GLOBAL_START);
gameEtat = ETAT_GAME_WAIT_FOR_JACK;
- if (etat == TEST_TELEMETRE|| etat ==TEST_CAPTEURS || etat == TEST_SERVO || etat ==TEST_TIR || etat == DEMO_IMMEUBLE) {
+ if (etat == TEST_TELEMETRE|| etat ==TEST_VENTOUSE || etat == TEST_COULEUR || etat ==TEST_SERVO_BRAS) {
SendRawId(DEBUG_FAKE_JAKE);
} else {
etat = AFF_WAIT_JACK;