![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
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
- Committer:
- goldmas
- Date:
- 2021-05-17
- Revision:
- 34:c314feaa0d3e
- Parent:
- 33:c54841d11156
- Child:
- 35:2a745eeb7922
File content as of revision 34:c314feaa0d3e:
#include "global.h" #define VERT 0xFF00FF00 #define ROUGE 0xFFFF0000 #define BLEU 0xFF0000FF #define JAUNE 0xFFFDD835//FEFE00 #define BLANC 0xFF000000 #define ORANGE 0xFFFFA500 #define NOIR 0xFF000000 #define DIY_GREY 0xFFDFDFDF #define VIOLET 0xFF4527A0 #define VERT_F 0xFF00C400 TS_DISCO_F469NI ts; LCD_DISCO_F469NI lcd; TS_StateTypeDef TS_State; /////////////////DEFINITION DES BOUTONS//////////////////// Button COTE_JAUNE(0, 25, 400, 300, "JAUNE"); Button COTE_VIOLET(0, 350, 400, 300, "BLEU"); Button RETOUR (0, 680, 400, 110, "--Precedent--"); Button LANCER (0, 200, 400, 200, "--LANCER--"); Button CHECK (0, 420, 400, 200, "Valider"); Button MATCH (0, 50, 400, 320, "Match"); Button DEMONSTRATION (0, 400, 400, 320, "Demo"); //menu demo Button TEST_VENT(0, 25, 400, 100, "Test ventouses"); Button TEST_MOT(0, 135, 400, 100, "Test moteur"); Button TEST_COUL(0,245,400,100,"Test capteurs couleur"); Button TEST_BRAS(0,355,400,100,"Test Bras"); Button TEST_AUDIO(0,465,400,100,"Test Audio"); 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"); //menu demo/demo/ Button TEST_A(0,25,195,100,"A"); Button TEST_B(205,25,195,100,"B"); Button TEST_C(0,135,195,100,"C"); Button TEST_D(205,135,195,100,"D"); Button TEST_NUM(0,245,400,100,"Num"); Button TEST_ATTRAPER(0,300,400,100,"Attraper"); Button TEST_RELACHER(0,450,400,100,"Relacher"); 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_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 FORCE_LAUNCH(0, 600, 400, 100, "Force Launch"); Button SUIVANT(0,380,200,100,"Suivant"); //////////////////////////////////////////////////////////// signed char Bouton_Strat (void); void DrawC (int l,int h,int x, int y, unsigned char fill); void DrawR (int l,int h,int x, int y, unsigned char fill); void DrawA (int l,int h,int x, int y, unsigned char fill); void SelectionStrat (unsigned char numeroStrat); /****************************************************************************************/ /* FUNCTION NAME: automate_etat_ihm */ /* DESCRIPTION : Automate de gestion de l'affichage */ /****************************************************************************************/ void automate_etat_ihm(void) { char toto[12]; int j; unsigned char maximilien=1, choix_groupe; if (j==0) { ts.Init(lcd.GetXSize(), lcd.GetYSize()); j++; } ts.GetState(&TS_State); switch (strat_etat_s) { case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes ts.GetState(&TS_State); canProcessRx(); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); wait(0.15); DrawC(95,150,0,50,0); DrawR(95,150,105,50,0); DrawA(95,150,210,50,0); DrawC(95,150,315,50,0); DrawCheck(30,30,50,243,0); DrawCheck(30,30,50,293,0); DrawCheck(30,30,50,343,0); DrawCheck(30,30,50,393,0); lcd.DisplayStringAt(100, 250, (uint8_t *)"Init CAN", LEFT_MODE); DrawCheck(30,30,50,243,can_present); lcd.DisplayStringAt(100, 300, (uint8_t *)"Micro SD", LEFT_MODE); DrawCheck(30,30,50,293,sd_present); lcd.DisplayStringAt(100, 350, (uint8_t *)"Carte Moteur", LEFT_MODE); lcd.DisplayStringAt(100, 400, (uint8_t *)"Balise IR", LEFT_MODE); FORCE_LAUNCH.Draw(0xFFFF0000, 0); strat_etat_s=ATT; break; 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...) if (flag_check_carte==1) { strat_etat_s = CHOIX; gameEtat = ETAT_CONFIG; } else if (FORCE_LAUNCH.Touched()) { strat_etat_s = CHOIX; gameEtat = ETAT_CONFIG; while(FORCE_LAUNCH.Touched()); } break; case CHOIX : //Match ou DEMO lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE); DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0); MATCH.Draw(0xFFF01010, 0); while(strat_etat_s == CHOIX) { canProcessRx(); if(DEMONSTRATION.Touched()) { strat_etat_s = DEMO; while(DEMONSTRATION.Touched()); } if(MATCH.Touched()) { strat_etat_s = SELECT_SIDE; while(MATCH.Touched()); } } break; case DEMO : lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 1/2", LEFT_MODE); RETOUR.Draw(0xFFFF0000, 0); TEST_VENT.Draw(VERT, 0); TEST_MOT.Draw(VERT, 0); TEST_COUL.Draw(VERT, 0); TEST_BRAS.Draw(VERT, 0); TEST_AUDIO.Draw(VERT, 0); TEST_NEXT.Draw(BLEU, 0); maximilien=0; while (strat_etat_s == DEMO) { canProcessRx(); if(TEST_VENT.Touched()) { while(TEST_VENT.Touched()); strat_etat_s = TEST_VENTOUSE; } else if(TEST_MOT.Touched()) { while(TEST_MOT.Touched()); strat_etat_s = TEST_MOTEUR; } else if(TEST_NEXT.Touched()) { while(TEST_NEXT.Touched()); strat_etat_s = DEMO2; } else if (TEST_COUL.Touched()) { while(TEST_COUL.Touched()); strat_etat_s =TEST_COULEUR ; } else if (TEST_BRAS.Touched()) { while(TEST_BRAS.Touched()); strat_etat_s =TEST_SERVO_BRAS ; } else if(TEST_AUDIO.Touched()) { while(TEST_AUDIO.Touched()); strat_etat_s=TEST_AUD; } else if(RETOUR.Touched()) { while(RETOUR.Touched()); strat_etat_s = CHOIX; } } break; case DEMO2 : lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 2/2", LEFT_MODE); RETOUR.Draw(0xFFFF0000, 0); TEST_DIV.Draw(VERT, 0); TEST_ASSERV.Draw(VERT, 0); TEST_NEXT.Draw(BLEU, 0); maximilien=0; while (strat_etat_s == DEMO2) { canProcessRx(); if(TEST_NEXT.Touched()) { while(TEST_NEXT.Touched()); strat_etat_s = DEMO; } else if(TEST_DIV.Touched()) { while(TEST_DIV.Touched()); strat_etat_s = TEST_DIVE; } else if(TEST_ASSERV.Touched()) { while(TEST_ASSERV.Touched()); strat_etat_s = TEST_ASSERVE; } else if(RETOUR.Touched()) { while(RETOUR.Touched()); strat_etat_s = CHOIX; } } break; case TEST_ASSERVE: lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Asservissements", LEFT_MODE); RETOUR.Draw(0xFFFF0000,0); TEST_A.Draw(BLEU, BLANC); TEST_B.Draw(BLEU, BLANC); while(strat_etat_s==TEST_ASSERVE) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO2; } else if(TEST_A.Touched()) { while (TEST_A.Touched()); GoToPosition(2000,0,0,0); TEST_A.Draw(BLEU, BLANC); } else if(TEST_B.Touched()) { while (TEST_B.Touched()); Rotate(3599); TEST_B.Draw(BLEU, BLANC); } } break; case TEST_DIVE: while(strat_etat_s==TEST_DIVE) { canProcessRx(); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Coordonnees", LEFT_MODE); RETOUR.Draw(0xFFFF0000,0); sprintf(toto,"%hd",x_robot); lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"X :", LEFT_MODE); lcd.DisplayStringAt(50, LINE(10), (unsigned char *)toto, LEFT_MODE); sprintf(toto,"%hd",y_robot); lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"Y :", LEFT_MODE); lcd.DisplayStringAt(50, LINE(11), (unsigned char *)toto, LEFT_MODE); sprintf(toto,"%hd",theta_robot); lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"T :", LEFT_MODE); lcd.DisplayStringAt(50, LINE(12), (unsigned char *) toto, LEFT_MODE); if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO2; } wait(0.2); } break; case TEST_VENTOUSE: 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 ; unsigned char choix_vent; lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE); sprintf(toto,"%hd",maximilien); lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); RETOUR.Draw(0xFFFF0000,0); TEST_ATTRAPER.Draw(BLEU, BLANC); TEST_RELACHER.Draw(BLEU, BLANC); TEST_VENT_0.Draw(BLEU, BLANC); TEST_VENT_1.Draw(BLEU, BLANC); TEST_VENT_2.Draw(BLEU, BLANC); TEST_VENT_3.Draw(BLEU, BLANC); TEST_VENT_4.Draw(BLEU, BLANC); TEST_VENT_5.Draw(BLEU, BLANC); while(strat_etat_s==TEST_VENTOUSE) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO; } else if(TEST_VENT_0.Touched()) { while (TEST_VENT_0.Touched()); if(vent_select_0 == 0) { vent_select_0 = 7 ; TEST_VENT_0.Draw(BLEU, BLANC); } else { vent_select_0 = 0 ; TEST_VENT_0.Draw(DIY_GREY, BLANC); } } else if(TEST_VENT_1.Touched()) { while (TEST_VENT_1.Touched()); if(vent_select_1 == 1) { vent_select_1 = 0 ; TEST_VENT_1.Draw(BLEU, BLANC); } else { vent_select_1 = 1 ; TEST_VENT_1.Draw(DIY_GREY, BLANC); } } else if(TEST_VENT_2.Touched()) { while (TEST_VENT_2.Touched()); if(vent_select_2 == 2) { vent_select_2 = 0 ; TEST_VENT_2.Draw(BLEU, BLANC); } else { vent_select_2 = 2 ; TEST_VENT_2.Draw(DIY_GREY, BLANC); } } else if(TEST_VENT_3.Touched()) { while (TEST_VENT_3.Touched()); if(vent_select_3 == 3) { vent_select_3 = 0 ; TEST_VENT_3.Draw(BLEU, BLANC); } else { vent_select_3 = 3 ; TEST_VENT_3.Draw(DIY_GREY, BLANC); } } else if(TEST_VENT_4.Touched()) { while (TEST_VENT_4.Touched()); if(vent_select_4 == 4) { vent_select_4 = 0 ; TEST_VENT_4.Draw(BLEU, BLANC); } else { vent_select_4 = 4 ; TEST_VENT_4.Draw(DIY_GREY, BLANC); } } else if(TEST_VENT_5.Touched()) { while (TEST_VENT_5.Touched()); if(vent_select_5 == 5) { vent_select_5 = 0 ; TEST_VENT_5.Draw(BLEU, BLANC); } else { vent_select_5 = 5 ; TEST_VENT_5.Draw(DIY_GREY, BLANC); } } else if (TEST_ATTRAPER.Touched()) { while(TEST_ATTRAPER.Touched()) ; 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) message_droit_at = 100 * vent_select_2 + 10 * vent_select_1 + vent_select_0 ; message_gauche_at = 100 * vent_select_5 + 10 * vent_select_4 + vent_select_3 ; switch (message_gauche_at) { case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_vent = 66 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_vent = 54 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_vent = 53 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 43 : choix_vent = 43 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_vent = 5 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 40 : choix_vent = 4 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 3 : choix_vent = 3 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; } switch (message_droit_at) { case 210 : choix_vent = 210 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 217 : choix_vent = 21 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 200 : choix_vent = 20 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 10 : choix_vent = 10 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 207 : choix_vent = 2 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 17 : choix_vent = 1 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; case 0 : choix_vent = 0 ; SendMsgCan(VENT_AT, &choix_vent,sizeof(choix_vent)); break ; } message_droit_at = 0 ; message_gauche_at = 0 ; TEST_ATTRAPER.Draw(BLEU, BLANC); } else if (TEST_RELACHER.Touched()) { while(TEST_RELACHER.Touched()); unsigned char message_droit_re, message_gauche_re; message_droit_re = 100 * vent_select_2 + 10 * vent_select_1 + vent_select_0 ; message_gauche_re = 100 * vent_select_5 + 10 * vent_select_4 + vent_select_3 ; switch (message_droit_re) { case 210 : choix_vent = 210 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 217 : choix_vent = 21 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 200 : choix_vent = 20 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 10 : choix_vent = 10 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 207 : choix_vent = 2 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 17 : choix_vent = 1 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 0 : choix_vent = 0 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; } switch (message_gauche_re) { case 31 : choix_vent = 66 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 28 : choix_vent = 54 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 247 : choix_vent = 53 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 43 : choix_vent = 43 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 244 : choix_vent = 5 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 40 : choix_vent = 4 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; case 3 : choix_vent = 3 ; SendMsgCan(VENT_RE, &choix_vent,sizeof(choix_vent)); break ; } message_droit_re = 0 ; message_gauche_re = 0 ; //on remet les variables de calcul à 0 pour qu'on puisse recalculer correctement TEST_RELACHER.Draw(BLEU, BLANC); } } break; /* TEST_A.Draw(BLEU, BLANC); TEST_NUM.Draw(BLEU, BLANC); TEST_PLUS.Draw(BLEU, BLANC); TEST_MOINS.Draw(BLEU, BLANC); while(strat_etat_s==TEST_VENTOUSE) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO; } else if(TEST_A.Touched()) { while (TEST_A.Touched()); SendRawId(VENT_ETAT); TEST_A.Draw(BLEU, BLANC); } else if(TEST_NUM.Touched()) { while (TEST_NUM.Touched()); TEST_NUM.Draw(BLEU, BLANC); switch(maximilien){ case 1: choix_groupe = 0 ; SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; break; case 2: choix_groupe = 0 ; SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; break; case 3: choix_groupe = 1 ; SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; break; case 4: choix_groupe = 1 ; SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; break; case 5: choix_groupe = 2 ; SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; break; case 6: choix_groupe = 2 ; SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; break; case 7: choix_groupe = 3 ; SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; break; case 8: choix_groupe = 3 ; SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; break; case 9: choix_groupe = 4 ; SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; break; case 10: choix_groupe = 4 ; SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; break; case 11: choix_groupe = 5 ; SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; break; case 12: choix_groupe = 5 ; SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; break; } } else if(TEST_PLUS.Touched()) { while (TEST_PLUS.Touched()); TEST_PLUS.Draw(BLEU, BLANC); if(maximilien!=6)maximilien++; sprintf(toto,"%hd",maximilien); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); } else if(TEST_MOINS.Touched()) { while (TEST_MOINS.Touched()); TEST_MOINS.Draw(BLEU, BLANC); if(maximilien!=1)maximilien--; sprintf(toto,"%hd",maximilien); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); } } break;*/ case TEST_ELECTROV: lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE); RETOUR.Draw(0xFFFF0000,0); TEST_A.Draw(BLEU, BLANC); TEST_B.Draw(BLEU, BLANC); while(strat_etat_s==TEST_ELECTROV) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO; } else if(TEST_A.Touched()) { while (TEST_A.Touched()); //SendRawId(TEST_ELECTROV_A); TEST_A.Draw(BLEU, BLANC); } else if(TEST_B.Touched()) { while (TEST_B.Touched()); //SendRawId(TEST_ELECTROV_A); TEST_B.Draw(BLEU, BLANC); } } break; case TEST_AUD: lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE); sprintf(toto,"%hd",maximilien); lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); RETOUR.Draw(0xFFFF0000,0); TEST_NUM.Draw(BLEU, BLANC); TEST_PLUS.Draw(BLEU, BLANC); TEST_MOINS.Draw(BLEU, BLANC); while(strat_etat_s==TEST_AUD) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO; } else if(TEST_NUM.Touched()) { while (TEST_NUM.Touched()); TEST_NUM.Draw(BLEU, BLANC); Debug_Audio(3,maximilien); } else if(TEST_PLUS.Touched()) { while (TEST_PLUS.Touched()); TEST_PLUS.Draw(BLEU, BLANC); if(maximilien!=20)maximilien++; sprintf(toto,"%hd",maximilien); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); } else if(TEST_MOINS.Touched()) { while (TEST_MOINS.Touched()); TEST_MOINS.Draw(BLEU, BLANC); if(maximilien!=1)maximilien--; sprintf(toto,"%hd",maximilien); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); } } break; case TEST_SERVO_BRAS: 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 ; unsigned char choix_bras; lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE); sprintf(toto,"%hd",maximilien); lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); RETOUR.Draw(0xFFFF0000,0); TEST_ATTRAPER.Draw(BLEU, BLANC); TEST_RELACHER.Draw(BLEU, BLANC); TEST_SERVO_0.Draw(BLEU, BLANC); TEST_SERVO_1.Draw(BLEU, BLANC); TEST_SERVO_2.Draw(BLEU, BLANC); TEST_SERVO_3.Draw(BLEU, BLANC); TEST_SERVO_4.Draw(BLEU, BLANC); TEST_SERVO_5.Draw(BLEU, BLANC); while(strat_etat_s==TEST_SERVO_BRAS) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO; } else if(TEST_SERVO_0.Touched()) { while (TEST_SERVO_0.Touched()); if(bras_select_0 == 0) { bras_select_0 = 7 ; TEST_SERVO_0.Draw(BLEU, BLANC); } else { bras_select_0 = 0 ; TEST_SERVO_0.Draw(DIY_GREY, BLANC); } } else if(TEST_SERVO_1.Touched()) { while (TEST_SERVO_1.Touched()); if(bras_select_1 == 1) { bras_select_1 = 0 ; TEST_SERVO_1.Draw(BLEU, BLANC); } else { bras_select_1 = 1 ; TEST_SERVO_1.Draw(DIY_GREY, BLANC); } } else if(TEST_SERVO_2.Touched()) { while (TEST_SERVO_2.Touched()); if(bras_select_2 == 2) { bras_select_2 = 0 ; TEST_SERVO_2.Draw(BLEU, BLANC); } else { bras_select_2 = 2 ; TEST_SERVO_2.Draw(DIY_GREY, BLANC); } } else if(TEST_SERVO_3.Touched()) { while (TEST_SERVO_3.Touched()); if(bras_select_3 == 3) { bras_select_3 = 0 ; TEST_SERVO_3.Draw(BLEU, BLANC); } else { bras_select_3 = 3 ; TEST_SERVO_3.Draw(DIY_GREY, BLANC); } } else if(TEST_SERVO_4.Touched()) { while (TEST_SERVO_4.Touched()); if(bras_select_4 == 4) { bras_select_4 = 0 ; TEST_SERVO_4.Draw(BLEU, BLANC); } else { bras_select_4 = 4 ; TEST_SERVO_4.Draw(DIY_GREY, BLANC); } } else if(TEST_SERVO_5.Touched()) { while (TEST_SERVO_5.Touched()); if(bras_select_5 == 5) { bras_select_5 = 0 ; TEST_SERVO_5.Draw(BLEU, BLANC); } else { bras_select_5 = 5 ; TEST_SERVO_5.Draw(DIY_GREY, BLANC); } } else if (TEST_ATTRAPER.Touched()) { while(TEST_ATTRAPER.Touched()) ; unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche; message_droit_at = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ; message_gauche_at = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ; switch (message_gauche_at) { case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_bras = 66 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_bras = 54 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_bras = 53 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 43 : choix_bras = 43 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement choix_bras = 5 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 40 : choix_bras = 4 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 3 : choix_bras = 3 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; } switch (message_droit_at) { case 210 : choix_bras = 210 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 217 : choix_bras = 21 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 200 : choix_bras = 20 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 10 : choix_bras = 10 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 207 : choix_bras = 2 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 17 : choix_bras = 1 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 0 : choix_bras = 0 ; SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; } message_droit_at = 0 ; message_gauche_at = 0 ; TEST_ATTRAPER.Draw(BLEU, BLANC); } else if (TEST_RELACHER.Touched()) { while(TEST_RELACHER.Touched()); unsigned char message_droit_re, message_gauche_re; message_droit_re = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ; message_gauche_re = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ; switch (message_droit_re) { case 210 : choix_bras = 210 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 217 : choix_bras = 21 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 200 : choix_bras = 20 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 10 : choix_bras = 10 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 207 : choix_bras = 2 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 17 : choix_bras = 1 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 0 : choix_bras = 0 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; } switch (message_gauche_re) { case 31 : choix_bras = 66 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 28 : choix_bras = 54 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 247 : choix_bras = 53 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 43 : choix_bras = 43 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 244 : choix_bras = 5 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 40 : choix_bras = 4 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; case 3 : choix_bras = 3 ; SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); waitingAckFrom = 0; waitingAckID =0; break ; } message_droit_re = 0 ; message_gauche_re = 0 ; TEST_RELACHER.Draw(BLEU, BLANC); } } break; case TEST_COULEUR: lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE); TEST_A.Draw(BLEU, BLANC); TEST_B.Draw(BLEU, BLANC); TEST_C.Draw(BLEU, BLANC); TEST_D.Draw(BLEU, BLANC); RETOUR.Draw(0xFFFF0000,0); while(strat_etat_s==TEST_COULEUR) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO; lcd.Clear (LCD_COLOR_WHITE); }else if(TEST_A.Touched()) { while (TEST_A.Touched()); SendRawId(TEST_BRAS_A); TEST_A.Draw(BLEU, BLANC); } else if(TEST_B.Touched()) { while (TEST_B.Touched()); SendRawId(TEST_BRAS_B); TEST_B.Draw(BLEU, BLANC); } else if(TEST_C.Touched()) { while (TEST_C.Touched()); SendRawId(TEST_BRAS_C); TEST_C.Draw(BLEU, BLANC); } else if(TEST_D.Touched()) { while (TEST_D.Touched()); SendRawId(TEST_BRAS_D); TEST_D.Draw(BLEU, BLANC); } } break; case TEST_MOTEUR: lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.Clear (LCD_COLOR_WHITE); lcd.Clear (LCD_COLOR_WHITE); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE); RETOUR.Draw(0xFFFF0000,0); TEST_A.Draw(BLEU, BLANC); TEST_B.Draw(BLEU, BLANC); while(strat_etat_s==TEST_MOTEUR) { if(RETOUR.Touched()) { while (RETOUR.Touched()); strat_etat_s=DEMO; } else if(TEST_A.Touched()) { while (TEST_A.Touched()); BendRadius(150,1800,1,0); TEST_A.Draw(BLEU, BLANC); } else if(TEST_B.Touched()) { while (TEST_B.Touched()); BendRadius(150,1800,0,0); TEST_B.Draw(BLEU, BLANC); } } break; ///////////////////////////////////////////FIN DES DEMOS///////////////////////////////////////////////// case SELECT_SIDE : // CHOIX DU COTE DU TERRAIN + INVERSION DE LA STRAT SI COTE ORANGE+ ENVOI DU COTE A LA CARTE CAPTEUR/ACTIONNEURS lcd.Clear(LCD_COLOR_WHITE); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE); COTE_JAUNE.Draw(JAUNE, 0); COTE_VIOLET.Draw(VIOLET, 0); RETOUR.Draw(LCD_COLOR_RED, 0); while (strat_etat_s == SELECT_SIDE) { canProcessRx(); if(COTE_JAUNE.Touched()) { Cote = 0x1; InversStrat = Cote; strat_etat_s = TACTIQUE; 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]=Cote; can2.write(trame_Tx); while(COTE_JAUNE.Touched()); } if(COTE_VIOLET.Touched()) { Cote = 0x0; InversStrat= Cote; strat_etat_s = TACTIQUE; 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]=Cote; can2.write(trame_Tx); while(COTE_VIOLET.Touched()); } if(RETOUR.Touched()) { strat_etat_s = CHOIX; while(RETOUR.Touched()); } } break; case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE if (Cote == 1) { lcd.Clear(JAUNE); lcd.SetBackColor(JAUNE); } else if (Cote == 0) { lcd.Clear(VIOLET); lcd.SetBackColor(VIOLET); } else { lcd.Clear(BLEU); lcd.SetBackColor(BLEU); } lcd.SetTextColor(LCD_COLOR_BLACK); lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE); nbStrat = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere if (nbStrat == -1) { strat_etat_s = SELECT_SIDE; } else { strat_etat_s = DETAILS; } wait(0.1); break; case DETAILS : //SECONDE VALIDATION DE LA STRAT lcd.Clear(LCD_COLOR_WHITE); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); CHECK.Draw(VERT); RETOUR.Draw(LCD_COLOR_RED); SelectionStrat(nbStrat); //affiche la stratégie selectionnée while (strat_etat_s == DETAILS) { canProcessRx(); if (CHECK.Touched()) { if(gameEtat == ETAT_CONFIG) { gameEtat = ETAT_GAME_INIT; strat_etat_s=LECTURE; } while(CHECK.Touched()); } if(RETOUR.Touched()) { strat_etat_s = TACTIQUE; while(RETOUR.Touched()); } } break; case LECTURE : break; case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK lcd.Clear(BLANC); lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); if (Cote == 0) { lcd.Clear(VERT); lcd.SetBackColor(VERT); } else if (Cote == 1) { lcd.Clear(ORANGE); lcd.SetBackColor(ORANGE); } else { lcd.Clear(VERT); lcd.SetBackColor(VERT); } canProcessRx(); lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE); strat_etat_s=WAIT_JACK; break; case WAIT_JACK: //VERITABLE ATTENTE DU JACK break; case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL lcd.Clear (LCD_COLOR_WHITE); lcd.SetBackColor(LCD_COLOR_WHITE); while(1); // force le redemarage du robot //break; } } /****************************************************************************************/ /* FUNCTION NAME: Bouton_Strat */ /* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */ /****************************************************************************************/ signed char Bouton_Strat (void) { char Ack_strat = 0; signed char Strat = 0; Button STRAT_1 (0, 30, 190, 110, strat_sd[0]); Button STRAT_2 (210, 30, 190, 110, strat_sd[1]); Button STRAT_3 (0, 150, 190, 110, strat_sd[2]); Button STRAT_4 (210, 150, 190, 110, strat_sd[3]); Button STRAT_5 (0, 270, 190, 110,strat_sd[4]); Button STRAT_6 (210, 270, 190, 110, strat_sd[5]); Button STRAT_7 (0, 390, 190, 110, strat_sd[6]); Button STRAT_8 (210, 390, 190, 110, strat_sd[7]); Button STRAT_9 (0, 510, 190, 110, strat_sd[8]); Button STRAT_10 (210, 510, 190, 110, strat_sd[9]); Button RETOUR (0, 680, 400, 110, "--Precedent--"); //Definition des boutons Ack_strat = 0; Strat = 0; STRAT_1.Draw(0xFFF0F0F0, 0); STRAT_2.Draw(0xFFF0F0F0, 0); STRAT_3.Draw(0xFFF0F0F0, 0); STRAT_4.Draw(0xFFF0F0F0, 0); STRAT_5.Draw(0xFFF0F0F0, 0); STRAT_6.Draw(0xFFF0F0F0, 0); STRAT_7.Draw(0xFFF0F0F0, 0); STRAT_8.Draw(0xFFF0F0F0, 0); STRAT_9.Draw(0xFFF0F0F0, 0); STRAT_10.Draw(0xFFF0F0F0, 0); RETOUR.Draw(0xFFFF0000, 0); while(Ack_strat == 0) { canProcessRx(); CANMessage msgTx=CANMessage(); //msgTx.id=ECRAN_CHOICE_STRAT; if (RETOUR.Touched()) return -1; while(RETOUR.Touched()); //////////////////////////////STRATEGIE N°1 if (STRAT_1.Touched()) { Strat = 0; //msgTx.data[0] = 0x1; //can2.write(msgTx); while(STRAT_1.Touched()); Ack_strat =1; } /////////////////////////////STRATEGIE N°2 if (STRAT_2.Touched()) { Strat = 1; //msgTx.data[0] = 0x2; //can2.write(msgTx); while(STRAT_2.Touched()); Ack_strat =1; } //////////////////////////////STRATEGIE N°3 if (STRAT_3.Touched()) { Strat = 2; //msgTx.data[0] = 0x3; //can2.write(msgTx); while(STRAT_3.Touched()); Ack_strat =1; } /////////////////////////////STRATEGIE N°4 if (STRAT_4.Touched()) { Strat = 3; //msgTx.data[0] = 0x4; //can2.write(msgTx); while(STRAT_4.Touched()); Ack_strat =1; } ///////////////////////////////STRATEGIE N°5 if (STRAT_5.Touched()) { Strat = 4; //msgTx.data[0] = 0x5; //can2.write(msgTx); while(STRAT_5.Touched()); Ack_strat =1; } ////////////////////////////////STRATEGIE N°6 if (STRAT_6.Touched()) { Strat = 5; //msgTx.data[0] = 0x6; //can2.write(msgTx); while(STRAT_6.Touched()); Ack_strat =1; } /////////////////////////////////STRATEGIE N°7 if (STRAT_7.Touched()) { Strat = 6; //msgTx.data[0] = 0x7; //can2.write(msgTx); while(STRAT_7.Touched()); Ack_strat =1; } /////////////////////////////////STRATEGIE N°8 if (STRAT_8.Touched()) { Strat = 7; //msgTx.data[0] = 0x8; //can2.write(msgTx); while(STRAT_8.Touched()); Ack_strat =1; } /////////////////////////////////STRATEGIE N°9 if (STRAT_9.Touched()) { Strat = 8; //msgTx.data[0] = 0x9; //can2.write(msgTx); while(STRAT_9.Touched()); Ack_strat =1; } ///////////////////////////////////STRATEGIE N°10 if (STRAT_10.Touched()) { Strat = 9; //msgTx.data[0] = 0xA; //can2.write(msgTx); while(STRAT_10.Touched()); Ack_strat =1; } } return Strat; } /****************************************************************************************/ /* FUNCTION NAME: SelectionStrat */ /* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */ /****************************************************************************************/ void SelectionStrat (unsigned char Strategie) { lcd.SetBackColor(LCD_COLOR_WHITE); lcd.SetTextColor(LCD_COLOR_BLACK); switch (Strategie+1) { case 0x1 : //description de Strategie n°1 lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x2 : //description de Strategie n°2 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x3 : //description de Strategie n°3 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x4 : //description de Strategie n°4 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x5 : //description de Strategie n°5 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x6 : //description de Strategie n°5 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x7 : //description de Strategie n°5 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x8 : //description de Strategie n°5 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0x9 : //description de Strategie n°5 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; case 0xA : //description de Strategie n°5 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); break; } } void DrawC (int l,int h,int x, int y, unsigned char fill){ 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}}; for(int a=0;a<8;a++){ c[a].X+=x; c[a].Y+=y; } lcd.DrawPolygon(c, 8); } void DrawR (int l,int h,int x, int y, unsigned char fill){ 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}}; for(int a=0;a<10;a++){ r[a].X+=x; r[a].Y+=y; } lcd.DrawPolygon(r, 10); } void DrawA (int l,int h,int x, int y, unsigned char fill){ 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}}; for(int z=0;z<8;z++){ a[z].X+=x; a[z].Y+=y; } lcd.DrawPolygon(a, 8); } void DrawCheck (int l,int h,int x, int y, int cochage){ if(x<3)x=3; if(cochage == 1){ lcd.SetTextColor(VERT_F); lcd.DrawLine(x,y-(h/2),x+l/2,y+h/2); lcd.DrawLine(x-1,y-(h/2),x+l/2,y+h/2+1); lcd.DrawLine(x-2,y-(h/2),x+l/2,y+h/2+2); lcd.DrawLine(x+l/2,y+h/2,x+(4*(l/3)),y); lcd.DrawLine(x+l/2,y+h/2+1,x+(4*(l/3))+1,y); lcd.DrawLine(x+l/2,y+h/2+2,x+(4*(l/3))+2,y); lcd.SetTextColor(NOIR); } else { Point a[4]={{0,0},{l,0},{l,h},{0,h}}; for(int z=0;z<8;z++){ a[z].X+=x; a[z].Y+=y; } lcd.DrawPolygon(a, 4); } }