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: IHM/ihm.cpp
- Revision:
- 37:f1a8734c193d
- Parent:
- 36:c37dbe2be916
--- a/IHM/ihm.cpp Mon May 31 13:36:03 2021 +0000
+++ b/IHM/ihm.cpp Sat Jul 17 16:07:29 2021 +0000
@@ -40,6 +40,10 @@
Button TEST_NEXT(0,575,400,100,"------>");
Button TEST_DIV(0,25,400,100,"Test Divers");
Button TEST_ASSERV(0, 135, 400, 100, "Test asserv");
+Button TEST_MANCHE(0,245,400,100,"Test manches a air");
+Button TEST_GIROU(0,355,400,100,"Test capteur girouette");
+
+
//menu demo/demo/
Button TEST_A(0,25,195,100,"A");
Button TEST_B(205,25,195,100,"B");
@@ -51,19 +55,19 @@
Button TEST_PLUS(205,355,195,100,"+");
Button TEST_MOINS(0,355,195,100,"-");
-Button TEST_SERVO_0(280,50,120,100,"Bras 0");
-Button TEST_SERVO_1(140,50,120,100,"Bras 1");
-Button TEST_SERVO_2(0,50,120,100,"Bras 2");
-Button TEST_SERVO_3(0,160,120,100,"Bras 3");
-Button TEST_SERVO_4(140,160,120,100,"Bras 4");
-Button TEST_SERVO_5(280,160,120,100,"Bras 5");
+Button TEST_SERVO_0(0,160,120,100,"Bras 0");
+Button TEST_SERVO_1(140,160,120,100,"Bras 1");
+Button TEST_SERVO_2(280,160,120,100,"Bras 2");
+Button TEST_SERVO_3(280,50,120,100,"Bras 3");
+Button TEST_SERVO_4(140,50,120,100,"Bras 4");
+Button TEST_SERVO_5(0,50,120,100,"Bras 5");
-Button TEST_VENT_0(280,50,120,100,"Vent 0");
-Button TEST_VENT_1(140,50,120,100,"Vent 1");
-Button TEST_VENT_2(0,50,120,100,"Vent 2");
-Button TEST_VENT_3(0,160,120,100,"Vent 3");
-Button TEST_VENT_4(140,160,120,100,"Vent 4");
-Button TEST_VENT_5(280,160,120,100,"Vent 5");
+Button TEST_VENT_0(0,160,120,100,"Vent 0");
+Button TEST_VENT_1(140,160,120,100,"Vent 1");
+Button TEST_VENT_2(280,160,120,100,"Vent 2");
+Button TEST_VENT_3(280,50,120,100,"Vent 3");
+Button TEST_VENT_4(140,50,120,100,"Vent 4");
+Button TEST_VENT_5(0,50,120,100,"Vent 5");
Button FORCE_LAUNCH(0, 600, 400, 100, "Force Launch");
Button SUIVANT(0,380,200,100,"Suivant");
@@ -81,7 +85,7 @@
/* DESCRIPTION : Automate de gestion de l'affichage */
/****************************************************************************************/
void automate_etat_ihm(void)
-{
+{
char toto[12];
int j, old_time=0, actual_time=0, old_score=0, actual_score=0, unique=0;
unsigned char maximilien=1, choix_groupe;
@@ -167,25 +171,38 @@
maximilien=0;
while (strat_etat_s == DEMO) {
canProcessRx();
- if(TEST_VENT.Touched()) {
+ if(TEST_VENT.Touched())
+ {
while(TEST_VENT.Touched());
strat_etat_s = TEST_VENTOUSE;
- } else if(TEST_MOT.Touched()) {
+ }
+ else if(TEST_MOT.Touched())
+ {
while(TEST_MOT.Touched());
strat_etat_s = TEST_MOTEUR;
- } else if(TEST_NEXT.Touched()) {
+ }
+ else if(TEST_NEXT.Touched())
+ {
while(TEST_NEXT.Touched());
strat_etat_s = DEMO2;
- } else if (TEST_COUL.Touched()) {
+ }
+ else if (TEST_COUL.Touched())
+ {
while(TEST_COUL.Touched());
strat_etat_s =TEST_COULEUR ;
- } else if (TEST_BRAS.Touched()) {
+ }
+ else if (TEST_BRAS.Touched())
+ {
while(TEST_BRAS.Touched());
strat_etat_s =TEST_SERVO_BRAS ;
- } else if(TEST_AUDIO.Touched()) {
+ }
+ else if(TEST_AUDIO.Touched())
+ {
while(TEST_AUDIO.Touched());
strat_etat_s=TEST_AUD;
- } else if(RETOUR.Touched()) {
+ }
+ else if(RETOUR.Touched())
+ {
while(RETOUR.Touched());
strat_etat_s = CHOIX;
}
@@ -200,26 +217,119 @@
RETOUR.Draw(0xFFFF0000, 0);
TEST_DIV.Draw(VERT, 0);
TEST_ASSERV.Draw(VERT, 0);
+ TEST_MANCHE.Draw(VERT, 0);
+ TEST_GIROU.Draw(VERT, 0);
TEST_NEXT.Draw(BLEU, 0);
maximilien=0;
while (strat_etat_s == DEMO2) {
canProcessRx();
- if(TEST_NEXT.Touched()) {
+ if(TEST_NEXT.Touched())
+ {
while(TEST_NEXT.Touched());
strat_etat_s = DEMO;
- } else if(TEST_DIV.Touched()) {
+ }
+ else if(TEST_DIV.Touched())
+ {
while(TEST_DIV.Touched());
strat_etat_s = TEST_DIVE;
- } else if(TEST_ASSERV.Touched()) {
+ }
+ else if(TEST_ASSERV.Touched())
+ {
while(TEST_ASSERV.Touched());
strat_etat_s = TEST_ASSERVE;
- } else if(RETOUR.Touched()) {
+ }
+ else if(TEST_MANCHE.Touched())
+ {
+ while(TEST_MANCHE.Touched());
+ strat_etat_s = TEST_MANCHES;
+ }
+ else if(TEST_GIROU.Touched())
+ {
+ while(TEST_GIROU.Touched());
+ strat_etat_s = TEST_GIROUS;
+ }
+
+ else if(RETOUR.Touched())
+ {
while(RETOUR.Touched());
strat_etat_s = CHOIX;
}
}
break;
+ case TEST_MANCHES:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Manches a air", LEFT_MODE);
+
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_B.Draw(BLEU, BLANC);
+ TEST_C.Draw(BLEU, BLANC);
+ TEST_D.Draw(BLEU, BLANC) ;
+
+ while(strat_etat_s==TEST_MANCHES)
+ {
+ if(RETOUR.Touched())
+ {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO2;
+ }
+ else if(TEST_A.Touched())
+ {
+ while (TEST_A.Touched());
+ TEST_A.Draw(BLEU, BLANC);
+ SendRawId(TEST_BRAS_1);
+ }
+ else if(TEST_B.Touched())
+ {
+ while (TEST_B.Touched());
+ TEST_B.Draw(BLEU, BLANC);
+ choix_groupe = 0;
+ SendMsgCan(AUTOMATE_MANCHE_MOY, &choix_groupe, sizeof(choix_groupe)) ;
+ wait_ms(500);
+ SendMsgCan(AUTOMATE_MANCHE_BAS, &choix_groupe, sizeof(choix_groupe)) ;
+ wait_ms(500);
+ SendMsgCan(AUTOMATE_MANCHE_HAUT, &choix_groupe, sizeof(choix_groupe)) ;
+ wait_ms(500);
+ choix_groupe = 1;
+ SendMsgCan(AUTOMATE_MANCHE_MOY, &choix_groupe, sizeof(choix_groupe)) ;
+ wait_ms(500);
+ SendMsgCan(AUTOMATE_MANCHE_BAS, &choix_groupe, sizeof(choix_groupe)) ;
+ wait_ms(500);
+ SendMsgCan(AUTOMATE_MANCHE_HAUT, &choix_groupe, sizeof(choix_groupe)) ;
+ wait_ms(500);
+ }
+ else if(TEST_C.Touched())
+ {
+ while (TEST_A.Touched());
+ TEST_C.Draw(BLEU, BLANC);
+ SendRawId(PAVILLON_DEPLOYE);
+ }
+
+ }
+ break;
+
+ case TEST_GIROUS :
+ SendRawId(LECTURE_GIROUETTE) ;
+ wait_ms(5);
+ canProcessRx();
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Girouette", LEFT_MODE);
+ sprintf(toto,"%hd",val_girou);
+ lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"Valeur Girou :", LEFT_MODE);
+ lcd.DisplayStringAt(0, LINE(11), (unsigned char *)toto, LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO2;
+ }
+ wait_ms(200);
+ break ;
+
case TEST_ASSERVE:
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
@@ -231,20 +341,26 @@
TEST_B.Draw(BLEU, BLANC);
TEST_C.Draw(BLEU, BLANC) ;
- while(strat_etat_s==TEST_ASSERVE) {
- if(RETOUR.Touched()) {
+ while(strat_etat_s==TEST_ASSERVE)
+ {
+ if(RETOUR.Touched())
+ {
while (RETOUR.Touched());
strat_etat_s=DEMO2;
- } else if(TEST_A.Touched()) {
+ }
+ else if(TEST_A.Touched())
+ {
while (TEST_A.Touched());
- GoToPosition(2000,0,0,0);
+ GoStraight(2000,0,0,0);
TEST_A.Draw(BLEU, BLANC);
- } else if(TEST_B.Touched()) {
+ }
+ else if(TEST_B.Touched())
+ {
while (TEST_B.Touched());
- Rotate(3599);
+ Rotate(3600*5);
TEST_B.Draw(BLEU, BLANC);
}
- else if(TEST_C.Touched())
+ else if(TEST_C.Touched())
{
while (TEST_C.Touched());
BendRadius(1000,900,1,0);
@@ -868,12 +984,14 @@
break ;
case 217 :
choix_bras = 21 ;
+ GoStraight(-40, 0, 0, 0);
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 200 :
choix_bras = 20 ;
+ GoStraight(-50, 0, 0, 0);
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
@@ -1249,23 +1367,216 @@
lcd.DisplayStringAt(100, LINE(8), (unsigned char *)"Score :", LEFT_MODE);
lcd.SetTextColor(LCD_COLOR_RED);
lcd.DrawRect(0,400,400,320);
- lcd.DisplayStringAt(100, LINE(22), (unsigned char *)"Timer :", LEFT_MODE);
+ lcd.DisplayStringAt(100, LINE(28), (unsigned char *)"Timer :", LEFT_MODE);
unique = 1;
}
- int x_offsetc = -145*cos(theta_robot*M_PI/1800) - 0*sin(theta_robot*M_PI*1800);
- int y_offsetc = -145*sin(theta_robot*M_PI/1800) + 0*cos(theta_robot*M_PI*1800);
+ //Debug pos gobelet
+ int Ventouse_coord[6][2]={{150,-80},{150,0},{150,80},{-150,80},{-150,0},{-150,-80}};
+ int Bras_coord[6][2]={{232,-75},{232,0},{232,75},{-232,75},{-232,0},{-232,-75}};
+
+ float x_offsetv[6];
+ float y_offsetv[6];
+
+ float x_offsetb[6];
+ float y_offsetb[6];
+
+
+
+ for(int i=0; i<6; i++)
+ {
+ x_offsetv[i] = Ventouse_coord[i][0]*cos(theta_robot*M_PI/1800) - Ventouse_coord[i][1]*sin(theta_robot*M_PI/1800);
+ y_offsetv[i] = Ventouse_coord[i][0]*sin(theta_robot*M_PI/1800) + Ventouse_coord[i][1]*cos(theta_robot*M_PI/1800);
+
+ x_offsetb[i] = Bras_coord[i][0]*cos(theta_robot*M_PI/1800) - Bras_coord[i][1]*sin(theta_robot*M_PI/1800);
+ y_offsetb[i] = Bras_coord[i][0]*sin(theta_robot*M_PI/1800) + Bras_coord[i][1]*cos(theta_robot*M_PI/1800);
+ }
+
+ /*
+ if(gobelet_vert != old_gobelet_vert || gobelet_rouge != old_gobelet_rouge || gobelet_port != old_gobelet_port)
+ {
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"vx 0:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[0]));
+ lcd.DisplayStringAt(100, LINE(10), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(10), (unsigned char *)"vy 0:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[0]));
+ lcd.DisplayStringAt(300, LINE(10), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"vx 1:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[1]));
+ lcd.DisplayStringAt(100, LINE(11), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(11), (unsigned char *)"vy 1:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[1]));
+ lcd.DisplayStringAt(300, LINE(11), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"vx 2:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[2]));
+ lcd.DisplayStringAt(100, LINE(12), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(12), (unsigned char *)"vy 2:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[2]));
+ lcd.DisplayStringAt(300, LINE(12), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(13), (unsigned char *)"vx 3:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[3]));
+ lcd.DisplayStringAt(100, LINE(13), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(13), (unsigned char *)"vy 3:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[3]));
+ lcd.DisplayStringAt(300, LINE(13), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(14), (unsigned char *)"vx 4:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[4]));
+ lcd.DisplayStringAt(100, LINE(14), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(14), (unsigned char *)"vy 4:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[4]));
+ lcd.DisplayStringAt(300, LINE(14), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(15), (unsigned char *)"vx 5:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetv[5]));
+ lcd.DisplayStringAt(100, LINE(15), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(15), (unsigned char *)"vy 5:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetv[5]));
+ lcd.DisplayStringAt(300, LINE(15), (unsigned char *)toto, LEFT_MODE);
+
+ ///////////////////////////////////////////////////////////////////////
+
+ lcd.DisplayStringAt(0, LINE(17), (unsigned char *)"bx 0:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[0]));
+ lcd.DisplayStringAt(100, LINE(17), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(17), (unsigned char *)"by 0:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[0]));
+ lcd.DisplayStringAt(300, LINE(17), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(18), (unsigned char *)"bx 1:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[1]));
+ lcd.DisplayStringAt(100, LINE(18), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(18), (unsigned char *)"by 1:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[1]));
+ lcd.DisplayStringAt(300, LINE(18), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(19), (unsigned char *)"bx 2:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[2]));
+ lcd.DisplayStringAt(100, LINE(19), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(19), (unsigned char *)"by 2:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[2]));
+ lcd.DisplayStringAt(300, LINE(19), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(20), (unsigned char *)"bx 3:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[3]));
+ lcd.DisplayStringAt(100, LINE(20), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(20), (unsigned char *)"by 3:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[3]));
+ lcd.DisplayStringAt(300, LINE(20), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(21), (unsigned char *)"bx 4:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[4]));
+ lcd.DisplayStringAt(100, LINE(21), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(21), (unsigned char *)"by 4:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[4]));
+ lcd.DisplayStringAt(300, LINE(21), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(22), (unsigned char *)"bx 5:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(x_robot+x_offsetb[5]));
+ lcd.DisplayStringAt(100, LINE(22), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(22), (unsigned char *)"by 5:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(y_robot+y_offsetb[5]));
+ lcd.DisplayStringAt(300, LINE(22), (unsigned char *)toto, LEFT_MODE);
+
+ old_gobelet_vert = gobelet_vert;
+ old_gobelet_rouge = gobelet_rouge;
+ old_gobelet_port = gobelet_port;
+ }
+ */
+ /*
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(100, LINE(24), (unsigned char *)"g_vert :", LEFT_MODE);
+ sprintf(toto,"%04d",gobelet_vert);
+ lcd.DisplayStringAt(250, LINE(24), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(100, LINE(25), (unsigned char *)"g_rouge :", LEFT_MODE);
+ sprintf(toto,"%04d",gobelet_rouge);
+ lcd.DisplayStringAt(250, LINE(25), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(100, LINE(26), (unsigned char *)"g_port :", LEFT_MODE);
+ sprintf(toto,"%04d",gobelet_port);
+ lcd.DisplayStringAt(250, LINE(26), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(100, LINE(27), (unsigned char *)"girou :", LEFT_MODE);
+ sprintf(toto,"%02d",val_girou);
+ lcd.DisplayStringAt(250, LINE(27), (unsigned char *)toto, LEFT_MODE);
lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"vx 0:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[0][0]));
+ lcd.DisplayStringAt(100, LINE(10), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(10), (unsigned char *)"vy 0:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[0][1]));
+ lcd.DisplayStringAt(300, LINE(10), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"vx 1:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[1][0]));
+ lcd.DisplayStringAt(100, LINE(11), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(11), (unsigned char *)"vy 1:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[1][1]));
+ lcd.DisplayStringAt(300, LINE(11), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"vx 2:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[2][0]));
+ lcd.DisplayStringAt(100, LINE(12), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(12), (unsigned char *)"vy 2:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[2][1]));
+ lcd.DisplayStringAt(300, LINE(12), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(13), (unsigned char *)"vx 3:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[3][0]));
+ lcd.DisplayStringAt(100, LINE(13), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(13), (unsigned char *)"vy 3:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[3][1]));
+ lcd.DisplayStringAt(300, LINE(13), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(14), (unsigned char *)"vx 4:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[4][0]));
+ lcd.DisplayStringAt(100, LINE(14), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(14), (unsigned char *)"vy 4:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[4][1]));
+ lcd.DisplayStringAt(300, LINE(14), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(0, LINE(15), (unsigned char *)"vx 5:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[5][0]));
+ lcd.DisplayStringAt(100, LINE(15), (unsigned char *)toto, LEFT_MODE);
+
+ lcd.DisplayStringAt(200, LINE(15), (unsigned char *)"vy 5:", LEFT_MODE);
+ sprintf(toto,"%04.f",(float)(Position_de_pose[5][1]));
+ lcd.DisplayStringAt(300, LINE(15), (unsigned char *)toto, LEFT_MODE);
+ */
+ /*
+ lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.DisplayStringAt(100, LINE(14), (unsigned char *)"x_robot :", LEFT_MODE);
- sprintf(toto,"%04d",(short)(x_robot+x_offsetc));
+ sprintf(toto,"%05hd",(short)(x_robot));
lcd.DisplayStringAt(250, LINE(14), (unsigned char *)toto, LEFT_MODE);
lcd.DisplayStringAt(100, LINE(15), (unsigned char *)"y_robot :", LEFT_MODE);
- sprintf(toto,"%04d",(short)(y_robot+y_offsetc));
+ sprintf(toto,"%05hd",(short)(y_robot));
lcd.DisplayStringAt(250, LINE(15), (unsigned char *)toto, LEFT_MODE);
lcd.DisplayStringAt(100, LINE(16), (unsigned char *)"t_robot :", LEFT_MODE);
- sprintf(toto,"%04d",theta_robot);
+ sprintf(toto,"%05hd",theta_robot);
lcd.DisplayStringAt(250, LINE(16), (unsigned char *)toto, LEFT_MODE);
lcd.DisplayStringAt(100, LINE(17), (unsigned char *)"g_vert :", LEFT_MODE);
@@ -1280,18 +1591,22 @@
sprintf(toto,"%04d",gobelet_port);
lcd.DisplayStringAt(250, LINE(19), (unsigned char *)toto, LEFT_MODE);
+ lcd.DisplayStringAt(100, LINE(20), (unsigned char *)"m_releve :", LEFT_MODE);
+ sprintf(toto,"%04d",manche_releve);
+ lcd.DisplayStringAt(250, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ */
actual_time = gameTimer.read();
- if(actual_time != old_time)
- {
+// if(actual_time != old_time)
+// {
lcd.SetTextColor(LCD_COLOR_BLUE);
sprintf(toto,"%hd",score_final);
lcd.DisplayStringAt(250, LINE(8), (unsigned char *)toto, LEFT_MODE);
lcd.SetTextColor(LCD_COLOR_RED);
sprintf(toto,"%hd",actual_time);
- lcd.DisplayStringAt(250, LINE(22), (unsigned char *)toto, LEFT_MODE);
- old_time = actual_time;
- }
+ lcd.DisplayStringAt(250, LINE(28), (unsigned char *)toto, LEFT_MODE);
+// old_time = actual_time;
+// }
break;