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@33:c54841d11156, 2021-05-12 (annotated)
- Committer:
- goldmas
- Date:
- Wed May 12 14:40:52 2021 +0000
- Revision:
- 33:c54841d11156
- Parent:
- 32:7f8e3ee2adac
- Child:
- 34:c314feaa0d3e
adaptation manche a air et demo bras avec new ident fct;
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 | |
gabrieltetar | 21:d137ec53c3a9 | 3 | #define VERT 0xFF00FF00 |
gabrieltetar | 21:d137ec53c3a9 | 4 | #define ROUGE 0xFFFF0000 |
gabrieltetar | 21:d137ec53c3a9 | 5 | #define BLEU 0xFF0000FF |
gabrieltetar | 21:d137ec53c3a9 | 6 | #define JAUNE 0xFFFDD835//FEFE00 |
gabrieltetar | 21:d137ec53c3a9 | 7 | #define BLANC 0xFF000000 |
gabrieltetar | 21:d137ec53c3a9 | 8 | #define ORANGE 0xFFFFA500 |
gabrieltetar | 21:d137ec53c3a9 | 9 | #define NOIR 0xFF000000 |
gabrieltetar | 21:d137ec53c3a9 | 10 | #define DIY_GREY 0xFFDFDFDF |
gabrieltetar | 21:d137ec53c3a9 | 11 | #define VIOLET 0xFF4527A0 |
gabrieltetar | 27:ff70537a7619 | 12 | #define VERT_F 0xFF00C400 |
gabrieltetar | 21:d137ec53c3a9 | 13 | TS_DISCO_F469NI ts; |
gabrieltetar | 21:d137ec53c3a9 | 14 | LCD_DISCO_F469NI lcd; |
gabrieltetar | 21:d137ec53c3a9 | 15 | |
gabrieltetar | 21:d137ec53c3a9 | 16 | |
gabrieltetar | 21:d137ec53c3a9 | 17 | TS_StateTypeDef TS_State; |
gabrieltetar | 21:d137ec53c3a9 | 18 | |
gabrieltetar | 21:d137ec53c3a9 | 19 | |
gabrieltetar | 21:d137ec53c3a9 | 20 | /////////////////DEFINITION DES BOUTONS//////////////////// |
gabrieltetar | 21:d137ec53c3a9 | 21 | Button COTE_JAUNE(0, 25, 400, 300, "JAUNE"); |
goldmas | 33:c54841d11156 | 22 | Button COTE_VIOLET(0, 350, 400, 300, "BLEU"); |
gabrieltetar | 21:d137ec53c3a9 | 23 | Button RETOUR (0, 680, 400, 110, "--Precedent--"); |
gabrieltetar | 21:d137ec53c3a9 | 24 | Button LANCER (0, 200, 400, 200, "--LANCER--"); |
gabrieltetar | 21:d137ec53c3a9 | 25 | Button CHECK (0, 420, 400, 200, "Valider"); |
gabrieltetar | 21:d137ec53c3a9 | 26 | Button MATCH (0, 50, 400, 320, "Match"); |
gabrieltetar | 21:d137ec53c3a9 | 27 | Button DEMONSTRATION (0, 400, 400, 320, "Demo"); |
gabrieltetar | 21:d137ec53c3a9 | 28 | //menu demo |
gabrieltetar | 21:d137ec53c3a9 | 29 | Button TEST_VENT(0, 25, 400, 100, "Test ventouses"); |
gabrieltetar | 21:d137ec53c3a9 | 30 | Button TEST_MOT(0, 135, 400, 100, "Test moteur"); |
gabrieltetar | 21:d137ec53c3a9 | 31 | Button TEST_COUL(0,245,400,100,"Test capteurs couleur"); |
gabrieltetar | 21:d137ec53c3a9 | 32 | Button TEST_BRAS(0,355,400,100,"Test Bras"); |
gabrieltetar | 21:d137ec53c3a9 | 33 | Button TEST_AUDIO(0,465,400,100,"Test Audio"); |
gabrieltetar | 22:c7763a7ec6c7 | 34 | |
gabrieltetar | 22:c7763a7ec6c7 | 35 | Button TEST_NEXT(0,575,400,100,"------>"); |
gabrieltetar | 22:c7763a7ec6c7 | 36 | Button TEST_DIV(0,25,400,100,"Test Divers"); |
gabrieltetar | 22:c7763a7ec6c7 | 37 | Button TEST_ASSERV(0, 135, 400, 100, "Test asserv"); |
gabrieltetar | 21:d137ec53c3a9 | 38 | //menu demo/demo/ |
gabrieltetar | 21:d137ec53c3a9 | 39 | Button TEST_A(0,25,195,100,"A"); |
gabrieltetar | 21:d137ec53c3a9 | 40 | Button TEST_B(205,25,195,100,"B"); |
gabrieltetar | 21:d137ec53c3a9 | 41 | Button TEST_C(0,135,195,100,"C"); |
gabrieltetar | 21:d137ec53c3a9 | 42 | Button TEST_D(205,135,195,100,"D"); |
gabrieltetar | 22:c7763a7ec6c7 | 43 | Button TEST_NUM(0,245,400,100,"Num"); |
goldmas | 32:7f8e3ee2adac | 44 | Button TEST_ATTRAPER(0,300,400,100,"Attraper"); |
goldmas | 32:7f8e3ee2adac | 45 | Button TEST_RELACHER(0,450,400,100,"Relacher"); |
goldmas | 32:7f8e3ee2adac | 46 | |
gabrieltetar | 21:d137ec53c3a9 | 47 | Button TEST_PLUS(205,355,195,100,"+"); |
gabrieltetar | 21:d137ec53c3a9 | 48 | Button TEST_MOINS(0,355,195,100,"-"); |
goldmas | 32:7f8e3ee2adac | 49 | Button TEST_SERVO_0(0,50,120,100,"Bras 0"); |
goldmas | 32:7f8e3ee2adac | 50 | Button TEST_SERVO_1(140,50,120,100,"Bras 1"); |
goldmas | 32:7f8e3ee2adac | 51 | Button TEST_SERVO_2(280,50,120,100,"Bras 2"); |
goldmas | 32:7f8e3ee2adac | 52 | Button TEST_SERVO_3(0,160,120,100,"Bras 3"); |
goldmas | 32:7f8e3ee2adac | 53 | Button TEST_SERVO_4(140,160,120,100,"Bras 4"); |
goldmas | 32:7f8e3ee2adac | 54 | Button TEST_SERVO_5(280,160,120,100,"Bras 5"); |
gabrieltetar | 22:c7763a7ec6c7 | 55 | Button FORCE_LAUNCH(0, 600, 400, 100, "Force Launch"); |
gabrieltetar | 21:d137ec53c3a9 | 56 | Button SUIVANT(0,380,200,100,"Suivant"); |
gabrieltetar | 21:d137ec53c3a9 | 57 | //////////////////////////////////////////////////////////// |
gabrieltetar | 24:1a13c998c7ac | 58 | |
gabrieltetar | 21:d137ec53c3a9 | 59 | signed char Bouton_Strat (void); |
gabrieltetar | 27:ff70537a7619 | 60 | void DrawC (int l,int h,int x, int y, unsigned char fill); |
gabrieltetar | 27:ff70537a7619 | 61 | void DrawR (int l,int h,int x, int y, unsigned char fill); |
gabrieltetar | 27:ff70537a7619 | 62 | void DrawA (int l,int h,int x, int y, unsigned char fill); |
gabrieltetar | 24:1a13c998c7ac | 63 | |
gabrieltetar | 21:d137ec53c3a9 | 64 | void SelectionStrat (unsigned char numeroStrat); |
gabrieltetar | 21:d137ec53c3a9 | 65 | |
gabrieltetar | 21:d137ec53c3a9 | 66 | /****************************************************************************************/ |
gabrieltetar | 21:d137ec53c3a9 | 67 | /* FUNCTION NAME: automate_etat_ihm */ |
gabrieltetar | 21:d137ec53c3a9 | 68 | /* DESCRIPTION : Automate de gestion de l'affichage */ |
gabrieltetar | 21:d137ec53c3a9 | 69 | /****************************************************************************************/ |
gabrieltetar | 21:d137ec53c3a9 | 70 | void automate_etat_ihm(void) |
gabrieltetar | 21:d137ec53c3a9 | 71 | { |
goldmas | 32:7f8e3ee2adac | 72 | char toto[12]; |
gabrieltetar | 21:d137ec53c3a9 | 73 | int j; |
goldmas | 32:7f8e3ee2adac | 74 | unsigned char maximilien=1, choix_groupe; |
gabrieltetar | 21:d137ec53c3a9 | 75 | if (j==0) { |
gabrieltetar | 21:d137ec53c3a9 | 76 | ts.Init(lcd.GetXSize(), lcd.GetYSize()); |
gabrieltetar | 21:d137ec53c3a9 | 77 | j++; |
gabrieltetar | 21:d137ec53c3a9 | 78 | } |
gabrieltetar | 21:d137ec53c3a9 | 79 | ts.GetState(&TS_State); |
gabrieltetar | 21:d137ec53c3a9 | 80 | switch (strat_etat_s) { |
gabrieltetar | 24:1a13c998c7ac | 81 | case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes |
gabrieltetar | 21:d137ec53c3a9 | 82 | ts.GetState(&TS_State); |
gabrieltetar | 22:c7763a7ec6c7 | 83 | canProcessRx(); |
gabrieltetar | 24:1a13c998c7ac | 84 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 24:1a13c998c7ac | 85 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 24:1a13c998c7ac | 86 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 24:1a13c998c7ac | 87 | wait(0.15); |
gabrieltetar | 27:ff70537a7619 | 88 | DrawC(95,150,0,50,0); |
gabrieltetar | 27:ff70537a7619 | 89 | DrawR(95,150,105,50,0); |
gabrieltetar | 27:ff70537a7619 | 90 | DrawA(95,150,210,50,0); |
gabrieltetar | 27:ff70537a7619 | 91 | DrawC(95,150,315,50,0); |
gabrieltetar | 27:ff70537a7619 | 92 | DrawCheck(30,30,50,243,0); |
gabrieltetar | 27:ff70537a7619 | 93 | DrawCheck(30,30,50,293,0); |
gabrieltetar | 27:ff70537a7619 | 94 | DrawCheck(30,30,50,343,0); |
gabrieltetar | 27:ff70537a7619 | 95 | DrawCheck(30,30,50,393,0); |
gabrieltetar | 27:ff70537a7619 | 96 | lcd.DisplayStringAt(100, 250, (uint8_t *)"Init CAN", LEFT_MODE); |
slowness | 29:ff575aff301f | 97 | DrawCheck(30,30,50,243,can_present); |
gabrieltetar | 27:ff70537a7619 | 98 | lcd.DisplayStringAt(100, 300, (uint8_t *)"Micro SD", LEFT_MODE); |
slowness | 29:ff575aff301f | 99 | DrawCheck(30,30,50,293,sd_present); |
gabrieltetar | 27:ff70537a7619 | 100 | lcd.DisplayStringAt(100, 350, (uint8_t *)"Carte Moteur", LEFT_MODE); |
gabrieltetar | 27:ff70537a7619 | 101 | lcd.DisplayStringAt(100, 400, (uint8_t *)"Balise IR", LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 102 | FORCE_LAUNCH.Draw(0xFFFF0000, 0); |
gabrieltetar | 24:1a13c998c7ac | 103 | |
gabrieltetar | 24:1a13c998c7ac | 104 | strat_etat_s=ATT; |
gabrieltetar | 24:1a13c998c7ac | 105 | break; |
gabrieltetar | 24:1a13c998c7ac | 106 | |
gabrieltetar | 24:1a13c998c7ac | 107 | 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 | 108 | if (flag_check_carte==1) { |
gabrieltetar | 24:1a13c998c7ac | 109 | strat_etat_s = CHOIX; |
gabrieltetar | 24:1a13c998c7ac | 110 | gameEtat = ETAT_CONFIG; |
gabrieltetar | 24:1a13c998c7ac | 111 | } else if (FORCE_LAUNCH.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 112 | strat_etat_s = CHOIX; |
gabrieltetar | 24:1a13c998c7ac | 113 | gameEtat = ETAT_CONFIG; |
gabrieltetar | 24:1a13c998c7ac | 114 | while(FORCE_LAUNCH.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 115 | } |
gabrieltetar | 24:1a13c998c7ac | 116 | |
gabrieltetar | 21:d137ec53c3a9 | 117 | break; |
gabrieltetar | 24:1a13c998c7ac | 118 | |
gabrieltetar | 24:1a13c998c7ac | 119 | |
gabrieltetar | 21:d137ec53c3a9 | 120 | case CHOIX : //Match ou DEMO |
gabrieltetar | 21:d137ec53c3a9 | 121 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 122 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 123 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 124 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 125 | DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0); |
gabrieltetar | 21:d137ec53c3a9 | 126 | MATCH.Draw(0xFFF01010, 0); |
gabrieltetar | 21:d137ec53c3a9 | 127 | while(strat_etat_s == CHOIX) { |
gabrieltetar | 21:d137ec53c3a9 | 128 | canProcessRx(); |
gabrieltetar | 21:d137ec53c3a9 | 129 | if(DEMONSTRATION.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 130 | strat_etat_s = DEMO; |
gabrieltetar | 21:d137ec53c3a9 | 131 | while(DEMONSTRATION.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 132 | } |
gabrieltetar | 21:d137ec53c3a9 | 133 | |
gabrieltetar | 21:d137ec53c3a9 | 134 | if(MATCH.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 135 | strat_etat_s = SELECT_SIDE; |
gabrieltetar | 21:d137ec53c3a9 | 136 | while(MATCH.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 137 | } |
gabrieltetar | 21:d137ec53c3a9 | 138 | |
gabrieltetar | 21:d137ec53c3a9 | 139 | } |
gabrieltetar | 21:d137ec53c3a9 | 140 | break; |
gabrieltetar | 21:d137ec53c3a9 | 141 | |
gabrieltetar | 21:d137ec53c3a9 | 142 | case DEMO : |
gabrieltetar | 21:d137ec53c3a9 | 143 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 144 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 145 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 22:c7763a7ec6c7 | 146 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 1/2", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 147 | RETOUR.Draw(0xFFFF0000, 0); |
gabrieltetar | 21:d137ec53c3a9 | 148 | TEST_VENT.Draw(VERT, 0); |
gabrieltetar | 21:d137ec53c3a9 | 149 | TEST_MOT.Draw(VERT, 0); |
gabrieltetar | 21:d137ec53c3a9 | 150 | TEST_COUL.Draw(VERT, 0); |
gabrieltetar | 21:d137ec53c3a9 | 151 | TEST_BRAS.Draw(VERT, 0); |
gabrieltetar | 21:d137ec53c3a9 | 152 | TEST_AUDIO.Draw(VERT, 0); |
gabrieltetar | 22:c7763a7ec6c7 | 153 | TEST_NEXT.Draw(BLEU, 0); |
gabrieltetar | 21:d137ec53c3a9 | 154 | maximilien=0; |
gabrieltetar | 21:d137ec53c3a9 | 155 | while (strat_etat_s == DEMO) { |
gabrieltetar | 21:d137ec53c3a9 | 156 | canProcessRx(); |
gabrieltetar | 21:d137ec53c3a9 | 157 | if(TEST_VENT.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 158 | while(TEST_VENT.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 159 | strat_etat_s = TEST_VENTOUSE; |
gabrieltetar | 21:d137ec53c3a9 | 160 | } else if(TEST_MOT.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 161 | while(TEST_MOT.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 162 | strat_etat_s = TEST_MOTEUR; |
gabrieltetar | 22:c7763a7ec6c7 | 163 | } else if(TEST_NEXT.Touched()) { |
gabrieltetar | 22:c7763a7ec6c7 | 164 | while(TEST_NEXT.Touched()); |
gabrieltetar | 22:c7763a7ec6c7 | 165 | strat_etat_s = DEMO2; |
gabrieltetar | 21:d137ec53c3a9 | 166 | } else if (TEST_COUL.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 167 | while(TEST_COUL.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 168 | strat_etat_s =TEST_COULEUR ; |
gabrieltetar | 21:d137ec53c3a9 | 169 | } else if (TEST_BRAS.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 170 | while(TEST_BRAS.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 171 | strat_etat_s =TEST_SERVO_BRAS ; |
gabrieltetar | 21:d137ec53c3a9 | 172 | } else if(TEST_AUDIO.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 173 | while(TEST_AUDIO.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 174 | strat_etat_s=TEST_AUD; |
gabrieltetar | 21:d137ec53c3a9 | 175 | } else if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 176 | while(RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 177 | strat_etat_s = CHOIX; |
gabrieltetar | 21:d137ec53c3a9 | 178 | } |
gabrieltetar | 21:d137ec53c3a9 | 179 | } |
gabrieltetar | 21:d137ec53c3a9 | 180 | break; |
gabrieltetar | 24:1a13c998c7ac | 181 | |
gabrieltetar | 24:1a13c998c7ac | 182 | case DEMO2 : |
gabrieltetar | 22:c7763a7ec6c7 | 183 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 22:c7763a7ec6c7 | 184 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 22:c7763a7ec6c7 | 185 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 22:c7763a7ec6c7 | 186 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 2/2", LEFT_MODE); |
gabrieltetar | 22:c7763a7ec6c7 | 187 | RETOUR.Draw(0xFFFF0000, 0); |
gabrieltetar | 22:c7763a7ec6c7 | 188 | TEST_DIV.Draw(VERT, 0); |
gabrieltetar | 22:c7763a7ec6c7 | 189 | TEST_ASSERV.Draw(VERT, 0); |
gabrieltetar | 22:c7763a7ec6c7 | 190 | TEST_NEXT.Draw(BLEU, 0); |
gabrieltetar | 22:c7763a7ec6c7 | 191 | maximilien=0; |
gabrieltetar | 22:c7763a7ec6c7 | 192 | while (strat_etat_s == DEMO2) { |
gabrieltetar | 22:c7763a7ec6c7 | 193 | canProcessRx(); |
gabrieltetar | 22:c7763a7ec6c7 | 194 | if(TEST_NEXT.Touched()) { |
gabrieltetar | 22:c7763a7ec6c7 | 195 | while(TEST_NEXT.Touched()); |
gabrieltetar | 22:c7763a7ec6c7 | 196 | strat_etat_s = DEMO; |
gabrieltetar | 22:c7763a7ec6c7 | 197 | } else if(TEST_DIV.Touched()) { |
gabrieltetar | 22:c7763a7ec6c7 | 198 | while(TEST_DIV.Touched()); |
gabrieltetar | 22:c7763a7ec6c7 | 199 | strat_etat_s = TEST_DIVE; |
gabrieltetar | 22:c7763a7ec6c7 | 200 | } else if(TEST_ASSERV.Touched()) { |
gabrieltetar | 22:c7763a7ec6c7 | 201 | while(TEST_ASSERV.Touched()); |
gabrieltetar | 22:c7763a7ec6c7 | 202 | strat_etat_s = TEST_ASSERVE; |
gabrieltetar | 22:c7763a7ec6c7 | 203 | } else if(RETOUR.Touched()) { |
gabrieltetar | 22:c7763a7ec6c7 | 204 | while(RETOUR.Touched()); |
gabrieltetar | 22:c7763a7ec6c7 | 205 | strat_etat_s = CHOIX; |
gabrieltetar | 22:c7763a7ec6c7 | 206 | } |
gabrieltetar | 22:c7763a7ec6c7 | 207 | } |
gabrieltetar | 24:1a13c998c7ac | 208 | break; |
gabrieltetar | 24:1a13c998c7ac | 209 | |
gabrieltetar | 24:1a13c998c7ac | 210 | case TEST_ASSERVE: |
gabrieltetar | 24:1a13c998c7ac | 211 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 24:1a13c998c7ac | 212 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 24:1a13c998c7ac | 213 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 24:1a13c998c7ac | 214 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Asservissements", LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 215 | RETOUR.Draw(0xFFFF0000,0); |
gabrieltetar | 24:1a13c998c7ac | 216 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 217 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 218 | while(strat_etat_s==TEST_ASSERVE) { |
gabrieltetar | 24:1a13c998c7ac | 219 | if(RETOUR.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 220 | while (RETOUR.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 221 | strat_etat_s=DEMO2; |
gabrieltetar | 24:1a13c998c7ac | 222 | } else if(TEST_A.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 223 | while (TEST_A.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 224 | GoToPosition(2000,0,0,0); |
gabrieltetar | 24:1a13c998c7ac | 225 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 226 | } else if(TEST_B.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 227 | while (TEST_B.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 228 | Rotate(3599); |
gabrieltetar | 24:1a13c998c7ac | 229 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 230 | } |
gabrieltetar | 24:1a13c998c7ac | 231 | } |
gabrieltetar | 24:1a13c998c7ac | 232 | break; |
gabrieltetar | 24:1a13c998c7ac | 233 | |
gabrieltetar | 24:1a13c998c7ac | 234 | case TEST_DIVE: |
gabrieltetar | 24:1a13c998c7ac | 235 | |
gabrieltetar | 24:1a13c998c7ac | 236 | while(strat_etat_s==TEST_DIVE) { |
gabrieltetar | 24:1a13c998c7ac | 237 | canProcessRx(); |
gabrieltetar | 24:1a13c998c7ac | 238 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 24:1a13c998c7ac | 239 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 24:1a13c998c7ac | 240 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 24:1a13c998c7ac | 241 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Coordonnees", LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 242 | RETOUR.Draw(0xFFFF0000,0); |
gabrieltetar | 24:1a13c998c7ac | 243 | sprintf(toto,"%hd",x_robot); |
gabrieltetar | 24:1a13c998c7ac | 244 | lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"X :", LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 245 | lcd.DisplayStringAt(50, LINE(10), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 246 | sprintf(toto,"%hd",y_robot); |
gabrieltetar | 24:1a13c998c7ac | 247 | lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"Y :", LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 248 | lcd.DisplayStringAt(50, LINE(11), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 249 | sprintf(toto,"%hd",theta_robot); |
gabrieltetar | 24:1a13c998c7ac | 250 | lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"T :", LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 251 | lcd.DisplayStringAt(50, LINE(12), (unsigned char *) toto, LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 252 | if(RETOUR.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 253 | while (RETOUR.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 254 | strat_etat_s=DEMO2; |
gabrieltetar | 24:1a13c998c7ac | 255 | } |
gabrieltetar | 24:1a13c998c7ac | 256 | wait(0.2); |
gabrieltetar | 24:1a13c998c7ac | 257 | } |
gabrieltetar | 24:1a13c998c7ac | 258 | break; |
gabrieltetar | 21:d137ec53c3a9 | 259 | |
gabrieltetar | 21:d137ec53c3a9 | 260 | case TEST_VENTOUSE: |
gabrieltetar | 21:d137ec53c3a9 | 261 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 262 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 263 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 264 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 265 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 266 | sprintf(toto,"%hd",maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 267 | lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 268 | RETOUR.Draw(0xFFFF0000,0); |
gabrieltetar | 21:d137ec53c3a9 | 269 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 270 | TEST_NUM.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 271 | TEST_PLUS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 272 | TEST_MOINS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 273 | while(strat_etat_s==TEST_VENTOUSE) { |
gabrieltetar | 21:d137ec53c3a9 | 274 | if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 275 | while (RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 276 | strat_etat_s=DEMO; |
gabrieltetar | 21:d137ec53c3a9 | 277 | } else if(TEST_A.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 278 | while (TEST_A.Touched()); |
maximilienlv | 28:7f2990747e09 | 279 | SendRawId(VENT_ETAT); |
gabrieltetar | 21:d137ec53c3a9 | 280 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 281 | } else if(TEST_NUM.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 282 | while (TEST_NUM.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 283 | TEST_NUM.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 284 | switch(maximilien){ |
gabrieltetar | 21:d137ec53c3a9 | 285 | case 1: |
goldmas | 32:7f8e3ee2adac | 286 | choix_groupe = 0 ; |
goldmas | 32:7f8e3ee2adac | 287 | SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; |
gabrieltetar | 21:d137ec53c3a9 | 288 | break; |
gabrieltetar | 21:d137ec53c3a9 | 289 | case 2: |
goldmas | 32:7f8e3ee2adac | 290 | choix_groupe = 0 ; |
goldmas | 32:7f8e3ee2adac | 291 | SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; |
gabrieltetar | 21:d137ec53c3a9 | 292 | break; |
gabrieltetar | 21:d137ec53c3a9 | 293 | case 3: |
goldmas | 32:7f8e3ee2adac | 294 | choix_groupe = 1 ; |
goldmas | 32:7f8e3ee2adac | 295 | SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; |
gabrieltetar | 21:d137ec53c3a9 | 296 | break; |
gabrieltetar | 21:d137ec53c3a9 | 297 | case 4: |
goldmas | 32:7f8e3ee2adac | 298 | choix_groupe = 1 ; |
goldmas | 32:7f8e3ee2adac | 299 | SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; |
gabrieltetar | 21:d137ec53c3a9 | 300 | break; |
gabrieltetar | 21:d137ec53c3a9 | 301 | case 5: |
goldmas | 32:7f8e3ee2adac | 302 | choix_groupe = 2 ; |
goldmas | 32:7f8e3ee2adac | 303 | SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; |
gabrieltetar | 21:d137ec53c3a9 | 304 | break; |
gabrieltetar | 21:d137ec53c3a9 | 305 | case 6: |
goldmas | 32:7f8e3ee2adac | 306 | choix_groupe = 2 ; |
goldmas | 32:7f8e3ee2adac | 307 | SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; |
goldmas | 32:7f8e3ee2adac | 308 | break; |
goldmas | 32:7f8e3ee2adac | 309 | case 7: |
goldmas | 32:7f8e3ee2adac | 310 | choix_groupe = 3 ; |
goldmas | 32:7f8e3ee2adac | 311 | SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; |
goldmas | 32:7f8e3ee2adac | 312 | break; |
goldmas | 32:7f8e3ee2adac | 313 | case 8: |
goldmas | 32:7f8e3ee2adac | 314 | choix_groupe = 3 ; |
goldmas | 32:7f8e3ee2adac | 315 | SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; |
goldmas | 32:7f8e3ee2adac | 316 | break; |
goldmas | 32:7f8e3ee2adac | 317 | case 9: |
goldmas | 32:7f8e3ee2adac | 318 | choix_groupe = 4 ; |
goldmas | 32:7f8e3ee2adac | 319 | SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; |
goldmas | 32:7f8e3ee2adac | 320 | break; |
goldmas | 32:7f8e3ee2adac | 321 | case 10: |
goldmas | 32:7f8e3ee2adac | 322 | choix_groupe = 4 ; |
goldmas | 32:7f8e3ee2adac | 323 | SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; |
goldmas | 32:7f8e3ee2adac | 324 | break; |
goldmas | 32:7f8e3ee2adac | 325 | case 11: |
goldmas | 32:7f8e3ee2adac | 326 | choix_groupe = 5 ; |
goldmas | 32:7f8e3ee2adac | 327 | SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ; |
goldmas | 32:7f8e3ee2adac | 328 | break; |
goldmas | 32:7f8e3ee2adac | 329 | case 12: |
goldmas | 32:7f8e3ee2adac | 330 | choix_groupe = 5 ; |
goldmas | 32:7f8e3ee2adac | 331 | SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ; |
gabrieltetar | 21:d137ec53c3a9 | 332 | break; |
gabrieltetar | 21:d137ec53c3a9 | 333 | } |
gabrieltetar | 21:d137ec53c3a9 | 334 | } else if(TEST_PLUS.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 335 | while (TEST_PLUS.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 336 | TEST_PLUS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 337 | if(maximilien!=6)maximilien++; |
gabrieltetar | 21:d137ec53c3a9 | 338 | sprintf(toto,"%hd",maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 339 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 340 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 341 | lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 342 | } else if(TEST_MOINS.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 343 | while (TEST_MOINS.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 344 | TEST_MOINS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 345 | if(maximilien!=1)maximilien--; |
gabrieltetar | 21:d137ec53c3a9 | 346 | sprintf(toto,"%hd",maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 347 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 348 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 349 | lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 350 | } |
gabrieltetar | 21:d137ec53c3a9 | 351 | } |
gabrieltetar | 21:d137ec53c3a9 | 352 | break; |
gabrieltetar | 21:d137ec53c3a9 | 353 | |
gabrieltetar | 24:1a13c998c7ac | 354 | case TEST_ELECTROV: |
gabrieltetar | 21:d137ec53c3a9 | 355 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 356 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 357 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 358 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 359 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 360 | RETOUR.Draw(0xFFFF0000,0); |
gabrieltetar | 21:d137ec53c3a9 | 361 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 362 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 363 | while(strat_etat_s==TEST_ELECTROV) { |
gabrieltetar | 21:d137ec53c3a9 | 364 | if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 365 | while (RETOUR.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 366 | strat_etat_s=DEMO; |
gabrieltetar | 21:d137ec53c3a9 | 367 | } else if(TEST_A.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 368 | while (TEST_A.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 369 | //SendRawId(TEST_ELECTROV_A); |
gabrieltetar | 21:d137ec53c3a9 | 370 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 371 | } else if(TEST_B.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 372 | while (TEST_B.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 373 | //SendRawId(TEST_ELECTROV_A); |
gabrieltetar | 21:d137ec53c3a9 | 374 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 375 | } |
gabrieltetar | 21:d137ec53c3a9 | 376 | } |
gabrieltetar | 21:d137ec53c3a9 | 377 | break; |
gabrieltetar | 24:1a13c998c7ac | 378 | |
gabrieltetar | 21:d137ec53c3a9 | 379 | case TEST_AUD: |
gabrieltetar | 21:d137ec53c3a9 | 380 | |
gabrieltetar | 21:d137ec53c3a9 | 381 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 382 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 383 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 384 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 385 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 386 | sprintf(toto,"%hd",maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 387 | lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 388 | RETOUR.Draw(0xFFFF0000,0); |
gabrieltetar | 21:d137ec53c3a9 | 389 | TEST_NUM.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 390 | TEST_PLUS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 391 | TEST_MOINS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 392 | while(strat_etat_s==TEST_AUD) { |
gabrieltetar | 21:d137ec53c3a9 | 393 | if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 394 | while (RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 395 | strat_etat_s=DEMO; |
gabrieltetar | 21:d137ec53c3a9 | 396 | } else if(TEST_NUM.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 397 | while (TEST_NUM.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 398 | TEST_NUM.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 399 | Debug_Audio(3,maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 400 | } else if(TEST_PLUS.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 401 | while (TEST_PLUS.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 402 | TEST_PLUS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 403 | if(maximilien!=20)maximilien++; |
gabrieltetar | 21:d137ec53c3a9 | 404 | sprintf(toto,"%hd",maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 405 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 406 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 407 | lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 408 | } else if(TEST_MOINS.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 409 | while (TEST_MOINS.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 410 | TEST_MOINS.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 411 | if(maximilien!=1)maximilien--; |
gabrieltetar | 21:d137ec53c3a9 | 412 | sprintf(toto,"%hd",maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 413 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 414 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 415 | lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 416 | } |
gabrieltetar | 21:d137ec53c3a9 | 417 | } |
gabrieltetar | 21:d137ec53c3a9 | 418 | break; |
gabrieltetar | 21:d137ec53c3a9 | 419 | |
gabrieltetar | 21:d137ec53c3a9 | 420 | case TEST_SERVO_BRAS: |
goldmas | 33:c54841d11156 | 421 | 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 | 422 | unsigned char choix_bras; |
gabrieltetar | 21:d137ec53c3a9 | 423 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 424 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 425 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 426 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 427 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 428 | sprintf(toto,"%hd",maximilien); |
gabrieltetar | 21:d137ec53c3a9 | 429 | lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 430 | RETOUR.Draw(0xFFFF0000,0); |
goldmas | 32:7f8e3ee2adac | 431 | TEST_ATTRAPER.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 432 | TEST_RELACHER.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 433 | TEST_SERVO_0.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 434 | TEST_SERVO_1.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 435 | TEST_SERVO_2.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 436 | TEST_SERVO_3.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 437 | TEST_SERVO_4.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 438 | TEST_SERVO_5.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 439 | while(strat_etat_s==TEST_SERVO_BRAS) |
goldmas | 32:7f8e3ee2adac | 440 | { |
goldmas | 32:7f8e3ee2adac | 441 | if(RETOUR.Touched()) |
goldmas | 32:7f8e3ee2adac | 442 | { |
gabrieltetar | 21:d137ec53c3a9 | 443 | while (RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 444 | strat_etat_s=DEMO; |
goldmas | 32:7f8e3ee2adac | 445 | } |
goldmas | 32:7f8e3ee2adac | 446 | else if(TEST_SERVO_0.Touched()) |
goldmas | 32:7f8e3ee2adac | 447 | { |
goldmas | 32:7f8e3ee2adac | 448 | while (TEST_SERVO_0.Touched()); |
goldmas | 33:c54841d11156 | 449 | if(bras_select_0 == 0) |
goldmas | 33:c54841d11156 | 450 | { |
goldmas | 33:c54841d11156 | 451 | bras_select_0 = 7 ; |
goldmas | 33:c54841d11156 | 452 | TEST_SERVO_0.Draw(BLEU, BLANC); |
goldmas | 33:c54841d11156 | 453 | } |
goldmas | 33:c54841d11156 | 454 | else |
goldmas | 32:7f8e3ee2adac | 455 | { |
goldmas | 32:7f8e3ee2adac | 456 | bras_select_0 = 0 ; |
goldmas | 32:7f8e3ee2adac | 457 | TEST_SERVO_0.Draw(DIY_GREY, BLANC); |
goldmas | 32:7f8e3ee2adac | 458 | } |
goldmas | 32:7f8e3ee2adac | 459 | } |
goldmas | 32:7f8e3ee2adac | 460 | else if(TEST_SERVO_1.Touched()) |
goldmas | 32:7f8e3ee2adac | 461 | { |
goldmas | 32:7f8e3ee2adac | 462 | while (TEST_SERVO_1.Touched()); |
goldmas | 33:c54841d11156 | 463 | if(bras_select_1 == 1) |
goldmas | 32:7f8e3ee2adac | 464 | { |
goldmas | 32:7f8e3ee2adac | 465 | bras_select_1 = 0 ; |
goldmas | 33:c54841d11156 | 466 | TEST_SERVO_1.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 467 | } |
goldmas | 32:7f8e3ee2adac | 468 | else |
goldmas | 32:7f8e3ee2adac | 469 | { |
goldmas | 32:7f8e3ee2adac | 470 | bras_select_1 = 1 ; |
goldmas | 33:c54841d11156 | 471 | TEST_SERVO_1.Draw(DIY_GREY, BLANC); |
goldmas | 32:7f8e3ee2adac | 472 | } |
goldmas | 32:7f8e3ee2adac | 473 | } |
goldmas | 32:7f8e3ee2adac | 474 | else if(TEST_SERVO_2.Touched()) |
goldmas | 32:7f8e3ee2adac | 475 | { |
goldmas | 32:7f8e3ee2adac | 476 | while (TEST_SERVO_2.Touched()); |
goldmas | 33:c54841d11156 | 477 | if(bras_select_2 == 2) |
goldmas | 32:7f8e3ee2adac | 478 | { |
goldmas | 32:7f8e3ee2adac | 479 | bras_select_2 = 0 ; |
goldmas | 33:c54841d11156 | 480 | TEST_SERVO_2.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 481 | } |
goldmas | 32:7f8e3ee2adac | 482 | else |
goldmas | 32:7f8e3ee2adac | 483 | { |
goldmas | 33:c54841d11156 | 484 | bras_select_2 = 2 ; |
goldmas | 33:c54841d11156 | 485 | TEST_SERVO_2.Draw(DIY_GREY, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 486 | } |
goldmas | 32:7f8e3ee2adac | 487 | } |
goldmas | 32:7f8e3ee2adac | 488 | else if(TEST_SERVO_3.Touched()) |
goldmas | 32:7f8e3ee2adac | 489 | { |
goldmas | 32:7f8e3ee2adac | 490 | while (TEST_SERVO_3.Touched()); |
goldmas | 33:c54841d11156 | 491 | if(bras_select_3 == 3) |
goldmas | 32:7f8e3ee2adac | 492 | { |
goldmas | 32:7f8e3ee2adac | 493 | bras_select_3 = 0 ; |
goldmas | 33:c54841d11156 | 494 | TEST_SERVO_3.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 495 | } |
goldmas | 32:7f8e3ee2adac | 496 | else |
goldmas | 32:7f8e3ee2adac | 497 | { |
goldmas | 33:c54841d11156 | 498 | bras_select_3 = 3 ; |
goldmas | 33:c54841d11156 | 499 | TEST_SERVO_3.Draw(DIY_GREY, BLANC); |
goldmas | 32:7f8e3ee2adac | 500 | } |
goldmas | 32:7f8e3ee2adac | 501 | } |
goldmas | 32:7f8e3ee2adac | 502 | else if(TEST_SERVO_4.Touched()) |
goldmas | 32:7f8e3ee2adac | 503 | { |
goldmas | 32:7f8e3ee2adac | 504 | while (TEST_SERVO_4.Touched()); |
goldmas | 33:c54841d11156 | 505 | if(bras_select_4 == 4) |
goldmas | 32:7f8e3ee2adac | 506 | { |
goldmas | 32:7f8e3ee2adac | 507 | bras_select_4 = 0 ; |
goldmas | 33:c54841d11156 | 508 | TEST_SERVO_4.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 509 | } |
goldmas | 32:7f8e3ee2adac | 510 | else |
goldmas | 32:7f8e3ee2adac | 511 | { |
goldmas | 33:c54841d11156 | 512 | bras_select_4 = 4 ; |
goldmas | 33:c54841d11156 | 513 | TEST_SERVO_4.Draw(DIY_GREY, BLANC); |
goldmas | 32:7f8e3ee2adac | 514 | } |
goldmas | 32:7f8e3ee2adac | 515 | } |
goldmas | 32:7f8e3ee2adac | 516 | else if(TEST_SERVO_5.Touched()) |
goldmas | 32:7f8e3ee2adac | 517 | { |
goldmas | 32:7f8e3ee2adac | 518 | while (TEST_SERVO_5.Touched()); |
goldmas | 33:c54841d11156 | 519 | if(bras_select_5 == 5) |
goldmas | 32:7f8e3ee2adac | 520 | { |
goldmas | 32:7f8e3ee2adac | 521 | bras_select_5 = 0 ; |
goldmas | 33:c54841d11156 | 522 | TEST_SERVO_5.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 523 | } |
goldmas | 32:7f8e3ee2adac | 524 | else |
goldmas | 32:7f8e3ee2adac | 525 | { |
goldmas | 33:c54841d11156 | 526 | bras_select_5 = 5 ; |
goldmas | 33:c54841d11156 | 527 | TEST_SERVO_5.Draw(DIY_GREY, BLANC); |
goldmas | 32:7f8e3ee2adac | 528 | } |
goldmas | 32:7f8e3ee2adac | 529 | } |
goldmas | 32:7f8e3ee2adac | 530 | else if (TEST_ATTRAPER.Touched()) |
goldmas | 32:7f8e3ee2adac | 531 | { |
goldmas | 33:c54841d11156 | 532 | while(TEST_ATTRAPER.Touched()) ; |
goldmas | 33:c54841d11156 | 533 | unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche; |
goldmas | 33:c54841d11156 | 534 | message_droit_at = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ; |
goldmas | 33:c54841d11156 | 535 | message_gauche_at = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ; |
goldmas | 33:c54841d11156 | 536 | |
goldmas | 33:c54841d11156 | 537 | switch (message_gauche_at) |
goldmas | 33:c54841d11156 | 538 | { |
goldmas | 33:c54841d11156 | 539 | case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement |
goldmas | 33:c54841d11156 | 540 | choix_bras = 66 ; |
goldmas | 33:c54841d11156 | 541 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 542 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 543 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 544 | break ; |
goldmas | 33:c54841d11156 | 545 | case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement |
goldmas | 33:c54841d11156 | 546 | choix_bras = 54 ; |
goldmas | 33:c54841d11156 | 547 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 548 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 549 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 550 | break ; |
goldmas | 33:c54841d11156 | 551 | case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement |
goldmas | 33:c54841d11156 | 552 | choix_bras = 53 ; |
goldmas | 33:c54841d11156 | 553 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 554 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 555 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 556 | break ; |
goldmas | 33:c54841d11156 | 557 | case 43 : |
goldmas | 33:c54841d11156 | 558 | choix_bras = 43 ; |
goldmas | 33:c54841d11156 | 559 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 560 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 561 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 562 | break ; |
goldmas | 33:c54841d11156 | 563 | case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement |
goldmas | 33:c54841d11156 | 564 | choix_bras = 5 ; |
goldmas | 33:c54841d11156 | 565 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 566 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 567 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 568 | break ; |
goldmas | 33:c54841d11156 | 569 | case 40 : |
goldmas | 33:c54841d11156 | 570 | choix_bras = 4 ; |
goldmas | 33:c54841d11156 | 571 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 572 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 573 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 574 | break ; |
goldmas | 33:c54841d11156 | 575 | case 3 : |
goldmas | 33:c54841d11156 | 576 | choix_bras = 3 ; |
goldmas | 33:c54841d11156 | 577 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 578 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 579 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 580 | break ; |
goldmas | 33:c54841d11156 | 581 | } |
goldmas | 33:c54841d11156 | 582 | |
goldmas | 33:c54841d11156 | 583 | switch (message_droit_at) |
goldmas | 33:c54841d11156 | 584 | { |
goldmas | 33:c54841d11156 | 585 | case 210 : |
goldmas | 33:c54841d11156 | 586 | choix_bras = 210 ; |
goldmas | 33:c54841d11156 | 587 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 588 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 589 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 590 | break ; |
goldmas | 33:c54841d11156 | 591 | case 217 : |
goldmas | 33:c54841d11156 | 592 | choix_bras = 21 ; |
goldmas | 33:c54841d11156 | 593 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 594 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 595 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 596 | break ; |
goldmas | 33:c54841d11156 | 597 | case 200 : |
goldmas | 33:c54841d11156 | 598 | choix_bras = 20 ; |
goldmas | 33:c54841d11156 | 599 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 600 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 601 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 602 | break ; |
goldmas | 33:c54841d11156 | 603 | case 10 : |
goldmas | 33:c54841d11156 | 604 | choix_bras = 10 ; |
goldmas | 33:c54841d11156 | 605 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 606 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 607 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 608 | break ; |
goldmas | 33:c54841d11156 | 609 | case 207 : |
goldmas | 33:c54841d11156 | 610 | choix_bras = 2 ; |
goldmas | 33:c54841d11156 | 611 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 612 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 613 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 614 | break ; |
goldmas | 33:c54841d11156 | 615 | case 17 : |
goldmas | 33:c54841d11156 | 616 | choix_bras = 1 ; |
goldmas | 33:c54841d11156 | 617 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 618 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 619 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 620 | break ; |
goldmas | 33:c54841d11156 | 621 | case 0 : |
goldmas | 33:c54841d11156 | 622 | choix_bras = 0 ; |
goldmas | 33:c54841d11156 | 623 | SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 624 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 625 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 626 | break ; |
goldmas | 33:c54841d11156 | 627 | } |
goldmas | 33:c54841d11156 | 628 | |
goldmas | 33:c54841d11156 | 629 | message_droit_at = 0 ; |
goldmas | 33:c54841d11156 | 630 | message_gauche_at = 0 ; |
goldmas | 33:c54841d11156 | 631 | |
goldmas | 33:c54841d11156 | 632 | TEST_ATTRAPER.Draw(BLEU, BLANC); |
goldmas | 33:c54841d11156 | 633 | } |
goldmas | 33:c54841d11156 | 634 | else if (TEST_RELACHER.Touched()) |
goldmas | 33:c54841d11156 | 635 | { |
goldmas | 33:c54841d11156 | 636 | while(TEST_RELACHER.Touched()); |
goldmas | 33:c54841d11156 | 637 | unsigned char message_droit_re, message_gauche_re; |
goldmas | 33:c54841d11156 | 638 | message_droit_re = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ; |
goldmas | 33:c54841d11156 | 639 | message_gauche_re = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ; |
goldmas | 33:c54841d11156 | 640 | switch (message_droit_re) |
goldmas | 33:c54841d11156 | 641 | { |
goldmas | 33:c54841d11156 | 642 | case 210 : |
goldmas | 33:c54841d11156 | 643 | choix_bras = 210 ; |
goldmas | 33:c54841d11156 | 644 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 645 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 646 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 647 | break ; |
goldmas | 33:c54841d11156 | 648 | case 217 : |
goldmas | 33:c54841d11156 | 649 | choix_bras = 21 ; |
goldmas | 33:c54841d11156 | 650 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 651 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 652 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 653 | break ; |
goldmas | 33:c54841d11156 | 654 | case 200 : |
goldmas | 33:c54841d11156 | 655 | choix_bras = 20 ; |
goldmas | 33:c54841d11156 | 656 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 657 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 658 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 659 | break ; |
goldmas | 33:c54841d11156 | 660 | case 10 : |
goldmas | 33:c54841d11156 | 661 | choix_bras = 10 ; |
goldmas | 33:c54841d11156 | 662 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 663 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 664 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 665 | break ; |
goldmas | 33:c54841d11156 | 666 | case 207 : |
goldmas | 33:c54841d11156 | 667 | choix_bras = 2 ; |
goldmas | 33:c54841d11156 | 668 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 669 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 670 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 671 | break ; |
goldmas | 33:c54841d11156 | 672 | case 17 : |
goldmas | 33:c54841d11156 | 673 | choix_bras = 1 ; |
goldmas | 33:c54841d11156 | 674 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 675 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 676 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 677 | break ; |
goldmas | 33:c54841d11156 | 678 | case 0 : |
goldmas | 33:c54841d11156 | 679 | choix_bras = 0 ; |
goldmas | 33:c54841d11156 | 680 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 681 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 682 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 683 | break ; |
goldmas | 33:c54841d11156 | 684 | } |
goldmas | 33:c54841d11156 | 685 | |
goldmas | 33:c54841d11156 | 686 | switch (message_gauche_re) |
goldmas | 33:c54841d11156 | 687 | { |
goldmas | 33:c54841d11156 | 688 | case 31 : |
goldmas | 33:c54841d11156 | 689 | choix_bras = 66 ; |
goldmas | 33:c54841d11156 | 690 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 691 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 692 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 693 | break ; |
goldmas | 33:c54841d11156 | 694 | case 28 : |
goldmas | 33:c54841d11156 | 695 | choix_bras = 54 ; |
goldmas | 33:c54841d11156 | 696 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 697 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 698 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 699 | break ; |
goldmas | 33:c54841d11156 | 700 | case 247 : |
goldmas | 33:c54841d11156 | 701 | choix_bras = 53 ; |
goldmas | 33:c54841d11156 | 702 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 703 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 704 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 705 | break ; |
goldmas | 33:c54841d11156 | 706 | case 43 : |
goldmas | 33:c54841d11156 | 707 | choix_bras = 43 ; |
goldmas | 33:c54841d11156 | 708 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 709 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 710 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 711 | break ; |
goldmas | 33:c54841d11156 | 712 | case 244 : |
goldmas | 33:c54841d11156 | 713 | choix_bras = 5 ; |
goldmas | 33:c54841d11156 | 714 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 715 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 716 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 717 | break ; |
goldmas | 33:c54841d11156 | 718 | case 40 : |
goldmas | 33:c54841d11156 | 719 | choix_bras = 4 ; |
goldmas | 33:c54841d11156 | 720 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 721 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 722 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 723 | break ; |
goldmas | 33:c54841d11156 | 724 | case 3 : |
goldmas | 33:c54841d11156 | 725 | choix_bras = 3 ; |
goldmas | 33:c54841d11156 | 726 | SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras)); |
goldmas | 33:c54841d11156 | 727 | waitingAckFrom = 0; |
goldmas | 33:c54841d11156 | 728 | waitingAckID =0; |
goldmas | 33:c54841d11156 | 729 | break ; |
goldmas | 33:c54841d11156 | 730 | } |
goldmas | 33:c54841d11156 | 731 | message_droit_re = 0 ; |
goldmas | 33:c54841d11156 | 732 | message_gauche_re = 0 ; |
goldmas | 33:c54841d11156 | 733 | |
goldmas | 33:c54841d11156 | 734 | TEST_RELACHER.Draw(BLEU, BLANC); |
goldmas | 32:7f8e3ee2adac | 735 | |
gabrieltetar | 21:d137ec53c3a9 | 736 | } |
gabrieltetar | 21:d137ec53c3a9 | 737 | } |
gabrieltetar | 21:d137ec53c3a9 | 738 | break; |
gabrieltetar | 21:d137ec53c3a9 | 739 | |
gabrieltetar | 21:d137ec53c3a9 | 740 | case TEST_COULEUR: |
gabrieltetar | 21:d137ec53c3a9 | 741 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 742 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE); |
gabrieltetar | 24:1a13c998c7ac | 743 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 744 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 745 | TEST_C.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 746 | TEST_D.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 747 | RETOUR.Draw(0xFFFF0000,0); |
gabrieltetar | 21:d137ec53c3a9 | 748 | while(strat_etat_s==TEST_COULEUR) { |
gabrieltetar | 21:d137ec53c3a9 | 749 | if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 750 | while (RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 751 | strat_etat_s=DEMO; |
gabrieltetar | 21:d137ec53c3a9 | 752 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 24:1a13c998c7ac | 753 | }else if(TEST_A.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 754 | while (TEST_A.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 755 | SendRawId(TEST_BRAS_A); |
gabrieltetar | 24:1a13c998c7ac | 756 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 757 | } else if(TEST_B.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 758 | while (TEST_B.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 759 | SendRawId(TEST_BRAS_B); |
gabrieltetar | 24:1a13c998c7ac | 760 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 761 | } else if(TEST_C.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 762 | while (TEST_C.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 763 | SendRawId(TEST_BRAS_C); |
gabrieltetar | 24:1a13c998c7ac | 764 | TEST_C.Draw(BLEU, BLANC); |
gabrieltetar | 24:1a13c998c7ac | 765 | } else if(TEST_D.Touched()) { |
gabrieltetar | 24:1a13c998c7ac | 766 | while (TEST_D.Touched()); |
gabrieltetar | 24:1a13c998c7ac | 767 | SendRawId(TEST_BRAS_D); |
gabrieltetar | 24:1a13c998c7ac | 768 | TEST_D.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 769 | } |
gabrieltetar | 21:d137ec53c3a9 | 770 | } |
gabrieltetar | 21:d137ec53c3a9 | 771 | break; |
gabrieltetar | 21:d137ec53c3a9 | 772 | |
gabrieltetar | 21:d137ec53c3a9 | 773 | case TEST_MOTEUR: |
gabrieltetar | 21:d137ec53c3a9 | 774 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 775 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 776 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 777 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 778 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 779 | RETOUR.Draw(0xFFFF0000,0); |
gabrieltetar | 21:d137ec53c3a9 | 780 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 781 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 782 | while(strat_etat_s==TEST_MOTEUR) { |
gabrieltetar | 21:d137ec53c3a9 | 783 | if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 784 | while (RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 785 | strat_etat_s=DEMO; |
gabrieltetar | 21:d137ec53c3a9 | 786 | } else if(TEST_A.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 787 | while (TEST_A.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 788 | BendRadius(150,1800,1,0); |
gabrieltetar | 21:d137ec53c3a9 | 789 | TEST_A.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 790 | } else if(TEST_B.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 791 | while (TEST_B.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 792 | BendRadius(150,1800,0,0); |
gabrieltetar | 21:d137ec53c3a9 | 793 | TEST_B.Draw(BLEU, BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 794 | } |
gabrieltetar | 21:d137ec53c3a9 | 795 | } |
gabrieltetar | 21:d137ec53c3a9 | 796 | break; ///////////////////////////////////////////FIN DES DEMOS///////////////////////////////////////////////// |
gabrieltetar | 21:d137ec53c3a9 | 797 | |
gabrieltetar | 21:d137ec53c3a9 | 798 | |
gabrieltetar | 21:d137ec53c3a9 | 799 | 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 | 800 | lcd.Clear(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 801 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 802 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 803 | |
gabrieltetar | 21:d137ec53c3a9 | 804 | lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 805 | COTE_JAUNE.Draw(JAUNE, 0); |
gabrieltetar | 21:d137ec53c3a9 | 806 | COTE_VIOLET.Draw(VIOLET, 0); |
gabrieltetar | 21:d137ec53c3a9 | 807 | RETOUR.Draw(LCD_COLOR_RED, 0); |
gabrieltetar | 21:d137ec53c3a9 | 808 | |
gabrieltetar | 21:d137ec53c3a9 | 809 | |
gabrieltetar | 21:d137ec53c3a9 | 810 | while (strat_etat_s == SELECT_SIDE) { |
gabrieltetar | 21:d137ec53c3a9 | 811 | canProcessRx(); |
gabrieltetar | 21:d137ec53c3a9 | 812 | if(COTE_JAUNE.Touched()) { |
maximilienlv | 28:7f2990747e09 | 813 | Cote = 0x1; |
gabrieltetar | 21:d137ec53c3a9 | 814 | InversStrat = Cote; |
gabrieltetar | 21:d137ec53c3a9 | 815 | strat_etat_s = TACTIQUE; |
gabrieltetar | 21:d137ec53c3a9 | 816 | CANMessage trame_Tx = CANMessage(); |
gabrieltetar | 21:d137ec53c3a9 | 817 | trame_Tx.len = 1; |
gabrieltetar | 21:d137ec53c3a9 | 818 | trame_Tx.format = CANStandard; |
gabrieltetar | 21:d137ec53c3a9 | 819 | trame_Tx.type = CANData; |
gabrieltetar | 21:d137ec53c3a9 | 820 | trame_Tx.id=CHOICE_COLOR; |
gabrieltetar | 21:d137ec53c3a9 | 821 | trame_Tx.data[0]=Cote; |
gabrieltetar | 21:d137ec53c3a9 | 822 | can2.write(trame_Tx); |
gabrieltetar | 21:d137ec53c3a9 | 823 | while(COTE_JAUNE.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 824 | |
gabrieltetar | 21:d137ec53c3a9 | 825 | } |
gabrieltetar | 21:d137ec53c3a9 | 826 | |
gabrieltetar | 21:d137ec53c3a9 | 827 | if(COTE_VIOLET.Touched()) { |
maximilienlv | 28:7f2990747e09 | 828 | Cote = 0x0; |
gabrieltetar | 21:d137ec53c3a9 | 829 | InversStrat= Cote; |
gabrieltetar | 21:d137ec53c3a9 | 830 | strat_etat_s = TACTIQUE; |
gabrieltetar | 21:d137ec53c3a9 | 831 | CANMessage trame_Tx = CANMessage(); |
gabrieltetar | 21:d137ec53c3a9 | 832 | trame_Tx.len = 1; |
gabrieltetar | 21:d137ec53c3a9 | 833 | trame_Tx.format = CANStandard; |
gabrieltetar | 21:d137ec53c3a9 | 834 | trame_Tx.type = CANData; |
gabrieltetar | 21:d137ec53c3a9 | 835 | trame_Tx.id=CHOICE_COLOR; |
gabrieltetar | 21:d137ec53c3a9 | 836 | trame_Tx.data[0]=Cote; |
gabrieltetar | 21:d137ec53c3a9 | 837 | can2.write(trame_Tx); |
gabrieltetar | 21:d137ec53c3a9 | 838 | while(COTE_VIOLET.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 839 | } |
gabrieltetar | 21:d137ec53c3a9 | 840 | |
gabrieltetar | 21:d137ec53c3a9 | 841 | if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 842 | strat_etat_s = CHOIX; |
gabrieltetar | 21:d137ec53c3a9 | 843 | while(RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 844 | } |
gabrieltetar | 21:d137ec53c3a9 | 845 | } |
gabrieltetar | 21:d137ec53c3a9 | 846 | |
gabrieltetar | 21:d137ec53c3a9 | 847 | break; |
gabrieltetar | 21:d137ec53c3a9 | 848 | |
gabrieltetar | 21:d137ec53c3a9 | 849 | case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE |
slowness | 29:ff575aff301f | 850 | if (Cote == 1) { |
gabrieltetar | 21:d137ec53c3a9 | 851 | lcd.Clear(JAUNE); |
gabrieltetar | 21:d137ec53c3a9 | 852 | lcd.SetBackColor(JAUNE); |
slowness | 29:ff575aff301f | 853 | } else if (Cote == 0) { |
gabrieltetar | 21:d137ec53c3a9 | 854 | lcd.Clear(VIOLET); |
gabrieltetar | 21:d137ec53c3a9 | 855 | lcd.SetBackColor(VIOLET); |
gabrieltetar | 21:d137ec53c3a9 | 856 | } else { |
gabrieltetar | 21:d137ec53c3a9 | 857 | lcd.Clear(BLEU); |
gabrieltetar | 21:d137ec53c3a9 | 858 | lcd.SetBackColor(BLEU); |
gabrieltetar | 21:d137ec53c3a9 | 859 | } |
gabrieltetar | 21:d137ec53c3a9 | 860 | |
gabrieltetar | 21:d137ec53c3a9 | 861 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 862 | |
gabrieltetar | 21:d137ec53c3a9 | 863 | lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 864 | |
gabrieltetar | 21:d137ec53c3a9 | 865 | nbStrat = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere |
gabrieltetar | 21:d137ec53c3a9 | 866 | if (nbStrat == -1) { |
gabrieltetar | 21:d137ec53c3a9 | 867 | strat_etat_s = SELECT_SIDE; |
gabrieltetar | 21:d137ec53c3a9 | 868 | } else { |
gabrieltetar | 21:d137ec53c3a9 | 869 | strat_etat_s = DETAILS; |
gabrieltetar | 21:d137ec53c3a9 | 870 | } |
gabrieltetar | 21:d137ec53c3a9 | 871 | wait(0.1); |
gabrieltetar | 21:d137ec53c3a9 | 872 | break; |
gabrieltetar | 21:d137ec53c3a9 | 873 | |
gabrieltetar | 21:d137ec53c3a9 | 874 | case DETAILS : //SECONDE VALIDATION DE LA STRAT |
gabrieltetar | 21:d137ec53c3a9 | 875 | lcd.Clear(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 876 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 877 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 878 | CHECK.Draw(VERT); |
gabrieltetar | 21:d137ec53c3a9 | 879 | RETOUR.Draw(LCD_COLOR_RED); |
gabrieltetar | 21:d137ec53c3a9 | 880 | |
gabrieltetar | 21:d137ec53c3a9 | 881 | SelectionStrat(nbStrat); //affiche la stratégie selectionnée |
gabrieltetar | 21:d137ec53c3a9 | 882 | |
gabrieltetar | 21:d137ec53c3a9 | 883 | while (strat_etat_s == DETAILS) { |
gabrieltetar | 21:d137ec53c3a9 | 884 | canProcessRx(); |
gabrieltetar | 21:d137ec53c3a9 | 885 | if (CHECK.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 886 | if(gameEtat == ETAT_CONFIG) { |
gabrieltetar | 21:d137ec53c3a9 | 887 | gameEtat = ETAT_GAME_INIT; |
gabrieltetar | 21:d137ec53c3a9 | 888 | strat_etat_s=LECTURE; |
gabrieltetar | 21:d137ec53c3a9 | 889 | |
gabrieltetar | 21:d137ec53c3a9 | 890 | } |
gabrieltetar | 21:d137ec53c3a9 | 891 | while(CHECK.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 892 | } |
gabrieltetar | 21:d137ec53c3a9 | 893 | |
gabrieltetar | 21:d137ec53c3a9 | 894 | if(RETOUR.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 895 | strat_etat_s = TACTIQUE; |
gabrieltetar | 21:d137ec53c3a9 | 896 | while(RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 897 | } |
gabrieltetar | 21:d137ec53c3a9 | 898 | } |
gabrieltetar | 21:d137ec53c3a9 | 899 | break; |
gabrieltetar | 21:d137ec53c3a9 | 900 | |
gabrieltetar | 21:d137ec53c3a9 | 901 | |
gabrieltetar | 21:d137ec53c3a9 | 902 | case LECTURE : |
gabrieltetar | 21:d137ec53c3a9 | 903 | break; |
gabrieltetar | 21:d137ec53c3a9 | 904 | case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK |
gabrieltetar | 21:d137ec53c3a9 | 905 | lcd.Clear(BLANC); |
gabrieltetar | 21:d137ec53c3a9 | 906 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 907 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 908 | |
gabrieltetar | 21:d137ec53c3a9 | 909 | if (Cote == 0) { |
gabrieltetar | 21:d137ec53c3a9 | 910 | lcd.Clear(VERT); |
gabrieltetar | 21:d137ec53c3a9 | 911 | lcd.SetBackColor(VERT); |
gabrieltetar | 21:d137ec53c3a9 | 912 | } else if (Cote == 1) { |
gabrieltetar | 21:d137ec53c3a9 | 913 | lcd.Clear(ORANGE); |
gabrieltetar | 21:d137ec53c3a9 | 914 | lcd.SetBackColor(ORANGE); |
gabrieltetar | 21:d137ec53c3a9 | 915 | } else { |
gabrieltetar | 21:d137ec53c3a9 | 916 | lcd.Clear(VERT); |
gabrieltetar | 21:d137ec53c3a9 | 917 | lcd.SetBackColor(VERT); |
gabrieltetar | 21:d137ec53c3a9 | 918 | } |
gabrieltetar | 21:d137ec53c3a9 | 919 | canProcessRx(); |
gabrieltetar | 21:d137ec53c3a9 | 920 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 921 | strat_etat_s=WAIT_JACK; |
gabrieltetar | 21:d137ec53c3a9 | 922 | break; |
gabrieltetar | 21:d137ec53c3a9 | 923 | |
gabrieltetar | 21:d137ec53c3a9 | 924 | case WAIT_JACK: //VERITABLE ATTENTE DU JACK |
gabrieltetar | 21:d137ec53c3a9 | 925 | break; |
gabrieltetar | 21:d137ec53c3a9 | 926 | |
gabrieltetar | 21:d137ec53c3a9 | 927 | case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL |
gabrieltetar | 21:d137ec53c3a9 | 928 | lcd.Clear (LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 929 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 930 | |
gabrieltetar | 21:d137ec53c3a9 | 931 | |
gabrieltetar | 21:d137ec53c3a9 | 932 | while(1); // force le redemarage du robot |
gabrieltetar | 21:d137ec53c3a9 | 933 | //break; |
gabrieltetar | 21:d137ec53c3a9 | 934 | |
gabrieltetar | 21:d137ec53c3a9 | 935 | } |
gabrieltetar | 21:d137ec53c3a9 | 936 | } |
gabrieltetar | 21:d137ec53c3a9 | 937 | /****************************************************************************************/ |
gabrieltetar | 21:d137ec53c3a9 | 938 | /* FUNCTION NAME: Bouton_Strat */ |
gabrieltetar | 21:d137ec53c3a9 | 939 | /* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */ |
gabrieltetar | 21:d137ec53c3a9 | 940 | /****************************************************************************************/ |
gabrieltetar | 21:d137ec53c3a9 | 941 | signed char Bouton_Strat (void) |
gabrieltetar | 21:d137ec53c3a9 | 942 | { |
gabrieltetar | 21:d137ec53c3a9 | 943 | char Ack_strat = 0; |
gabrieltetar | 21:d137ec53c3a9 | 944 | signed char Strat = 0; |
gabrieltetar | 21:d137ec53c3a9 | 945 | Button STRAT_1 (0, 30, 190, 110, strat_sd[0]); |
gabrieltetar | 21:d137ec53c3a9 | 946 | Button STRAT_2 (210, 30, 190, 110, strat_sd[1]); |
gabrieltetar | 21:d137ec53c3a9 | 947 | Button STRAT_3 (0, 150, 190, 110, strat_sd[2]); |
gabrieltetar | 21:d137ec53c3a9 | 948 | Button STRAT_4 (210, 150, 190, 110, strat_sd[3]); |
gabrieltetar | 21:d137ec53c3a9 | 949 | Button STRAT_5 (0, 270, 190, 110,strat_sd[4]); |
gabrieltetar | 21:d137ec53c3a9 | 950 | Button STRAT_6 (210, 270, 190, 110, strat_sd[5]); |
gabrieltetar | 21:d137ec53c3a9 | 951 | Button STRAT_7 (0, 390, 190, 110, strat_sd[6]); |
gabrieltetar | 21:d137ec53c3a9 | 952 | Button STRAT_8 (210, 390, 190, 110, strat_sd[7]); |
gabrieltetar | 21:d137ec53c3a9 | 953 | Button STRAT_9 (0, 510, 190, 110, strat_sd[8]); |
gabrieltetar | 21:d137ec53c3a9 | 954 | Button STRAT_10 (210, 510, 190, 110, strat_sd[9]); |
gabrieltetar | 21:d137ec53c3a9 | 955 | Button RETOUR (0, 680, 400, 110, "--Precedent--"); |
gabrieltetar | 21:d137ec53c3a9 | 956 | //Definition des boutons |
gabrieltetar | 21:d137ec53c3a9 | 957 | |
gabrieltetar | 21:d137ec53c3a9 | 958 | Ack_strat = 0; |
gabrieltetar | 21:d137ec53c3a9 | 959 | Strat = 0; |
gabrieltetar | 21:d137ec53c3a9 | 960 | STRAT_1.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 961 | STRAT_2.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 962 | STRAT_3.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 963 | STRAT_4.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 964 | STRAT_5.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 965 | STRAT_6.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 966 | STRAT_7.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 967 | STRAT_8.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 968 | STRAT_9.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 969 | STRAT_10.Draw(0xFFF0F0F0, 0); |
gabrieltetar | 21:d137ec53c3a9 | 970 | RETOUR.Draw(0xFFFF0000, 0); |
gabrieltetar | 21:d137ec53c3a9 | 971 | |
gabrieltetar | 21:d137ec53c3a9 | 972 | while(Ack_strat == 0) { |
gabrieltetar | 21:d137ec53c3a9 | 973 | canProcessRx(); |
gabrieltetar | 21:d137ec53c3a9 | 974 | CANMessage msgTx=CANMessage(); |
gabrieltetar | 21:d137ec53c3a9 | 975 | //msgTx.id=ECRAN_CHOICE_STRAT; |
gabrieltetar | 21:d137ec53c3a9 | 976 | if (RETOUR.Touched()) |
gabrieltetar | 21:d137ec53c3a9 | 977 | return -1; |
gabrieltetar | 21:d137ec53c3a9 | 978 | while(RETOUR.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 979 | //////////////////////////////STRATEGIE N°1 |
gabrieltetar | 21:d137ec53c3a9 | 980 | if (STRAT_1.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 981 | Strat = 0; |
gabrieltetar | 21:d137ec53c3a9 | 982 | //msgTx.data[0] = 0x1; |
gabrieltetar | 21:d137ec53c3a9 | 983 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 984 | while(STRAT_1.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 985 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 986 | } |
gabrieltetar | 21:d137ec53c3a9 | 987 | /////////////////////////////STRATEGIE N°2 |
gabrieltetar | 21:d137ec53c3a9 | 988 | if (STRAT_2.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 989 | Strat = 1; |
gabrieltetar | 21:d137ec53c3a9 | 990 | //msgTx.data[0] = 0x2; |
gabrieltetar | 21:d137ec53c3a9 | 991 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 992 | while(STRAT_2.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 993 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 994 | } |
gabrieltetar | 21:d137ec53c3a9 | 995 | //////////////////////////////STRATEGIE N°3 |
gabrieltetar | 21:d137ec53c3a9 | 996 | if (STRAT_3.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 997 | Strat = 2; |
gabrieltetar | 21:d137ec53c3a9 | 998 | //msgTx.data[0] = 0x3; |
gabrieltetar | 21:d137ec53c3a9 | 999 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1000 | while(STRAT_3.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1001 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1002 | } |
gabrieltetar | 21:d137ec53c3a9 | 1003 | /////////////////////////////STRATEGIE N°4 |
gabrieltetar | 21:d137ec53c3a9 | 1004 | if (STRAT_4.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 1005 | Strat = 3; |
gabrieltetar | 21:d137ec53c3a9 | 1006 | //msgTx.data[0] = 0x4; |
gabrieltetar | 21:d137ec53c3a9 | 1007 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1008 | while(STRAT_4.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1009 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1010 | } |
gabrieltetar | 21:d137ec53c3a9 | 1011 | ///////////////////////////////STRATEGIE N°5 |
gabrieltetar | 21:d137ec53c3a9 | 1012 | if (STRAT_5.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 1013 | Strat = 4; |
gabrieltetar | 21:d137ec53c3a9 | 1014 | //msgTx.data[0] = 0x5; |
gabrieltetar | 21:d137ec53c3a9 | 1015 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1016 | while(STRAT_5.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1017 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1018 | } |
gabrieltetar | 21:d137ec53c3a9 | 1019 | ////////////////////////////////STRATEGIE N°6 |
gabrieltetar | 21:d137ec53c3a9 | 1020 | if (STRAT_6.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 1021 | Strat = 5; |
gabrieltetar | 21:d137ec53c3a9 | 1022 | //msgTx.data[0] = 0x6; |
gabrieltetar | 21:d137ec53c3a9 | 1023 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1024 | while(STRAT_6.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1025 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1026 | } |
gabrieltetar | 21:d137ec53c3a9 | 1027 | /////////////////////////////////STRATEGIE N°7 |
gabrieltetar | 21:d137ec53c3a9 | 1028 | if (STRAT_7.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 1029 | Strat = 6; |
gabrieltetar | 21:d137ec53c3a9 | 1030 | //msgTx.data[0] = 0x7; |
gabrieltetar | 21:d137ec53c3a9 | 1031 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1032 | while(STRAT_7.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1033 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1034 | } |
gabrieltetar | 21:d137ec53c3a9 | 1035 | /////////////////////////////////STRATEGIE N°8 |
gabrieltetar | 21:d137ec53c3a9 | 1036 | if (STRAT_8.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 1037 | Strat = 7; |
gabrieltetar | 21:d137ec53c3a9 | 1038 | //msgTx.data[0] = 0x8; |
gabrieltetar | 21:d137ec53c3a9 | 1039 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1040 | while(STRAT_8.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1041 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1042 | } |
gabrieltetar | 21:d137ec53c3a9 | 1043 | /////////////////////////////////STRATEGIE N°9 |
gabrieltetar | 21:d137ec53c3a9 | 1044 | if (STRAT_9.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 1045 | Strat = 8; |
gabrieltetar | 21:d137ec53c3a9 | 1046 | //msgTx.data[0] = 0x9; |
gabrieltetar | 21:d137ec53c3a9 | 1047 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1048 | while(STRAT_9.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1049 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1050 | } |
gabrieltetar | 21:d137ec53c3a9 | 1051 | ///////////////////////////////////STRATEGIE N°10 |
gabrieltetar | 21:d137ec53c3a9 | 1052 | if (STRAT_10.Touched()) { |
gabrieltetar | 21:d137ec53c3a9 | 1053 | Strat = 9; |
gabrieltetar | 21:d137ec53c3a9 | 1054 | //msgTx.data[0] = 0xA; |
gabrieltetar | 21:d137ec53c3a9 | 1055 | //can2.write(msgTx); |
gabrieltetar | 21:d137ec53c3a9 | 1056 | while(STRAT_10.Touched()); |
gabrieltetar | 21:d137ec53c3a9 | 1057 | Ack_strat =1; |
gabrieltetar | 21:d137ec53c3a9 | 1058 | } |
gabrieltetar | 21:d137ec53c3a9 | 1059 | |
gabrieltetar | 21:d137ec53c3a9 | 1060 | } |
gabrieltetar | 21:d137ec53c3a9 | 1061 | return Strat; |
gabrieltetar | 21:d137ec53c3a9 | 1062 | |
gabrieltetar | 21:d137ec53c3a9 | 1063 | } |
gabrieltetar | 21:d137ec53c3a9 | 1064 | /****************************************************************************************/ |
gabrieltetar | 21:d137ec53c3a9 | 1065 | /* FUNCTION NAME: SelectionStrat */ |
gabrieltetar | 21:d137ec53c3a9 | 1066 | /* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */ |
gabrieltetar | 21:d137ec53c3a9 | 1067 | /****************************************************************************************/ |
gabrieltetar | 21:d137ec53c3a9 | 1068 | |
gabrieltetar | 21:d137ec53c3a9 | 1069 | |
gabrieltetar | 21:d137ec53c3a9 | 1070 | void SelectionStrat (unsigned char Strategie) |
gabrieltetar | 21:d137ec53c3a9 | 1071 | { |
gabrieltetar | 21:d137ec53c3a9 | 1072 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 21:d137ec53c3a9 | 1073 | lcd.SetTextColor(LCD_COLOR_BLACK); |
gabrieltetar | 21:d137ec53c3a9 | 1074 | |
gabrieltetar | 21:d137ec53c3a9 | 1075 | switch (Strategie+1) { |
gabrieltetar | 21:d137ec53c3a9 | 1076 | case 0x1 : |
gabrieltetar | 21:d137ec53c3a9 | 1077 | //description de Strategie n°1 |
gabrieltetar | 21:d137ec53c3a9 | 1078 | lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1079 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1080 | |
gabrieltetar | 21:d137ec53c3a9 | 1081 | case 0x2 : |
gabrieltetar | 21:d137ec53c3a9 | 1082 | //description de Strategie n°2 |
gabrieltetar | 21:d137ec53c3a9 | 1083 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1084 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1085 | |
gabrieltetar | 21:d137ec53c3a9 | 1086 | case 0x3 : |
gabrieltetar | 21:d137ec53c3a9 | 1087 | //description de Strategie n°3 |
gabrieltetar | 21:d137ec53c3a9 | 1088 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1089 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1090 | |
gabrieltetar | 21:d137ec53c3a9 | 1091 | case 0x4 : |
gabrieltetar | 21:d137ec53c3a9 | 1092 | //description de Strategie n°4 |
gabrieltetar | 21:d137ec53c3a9 | 1093 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1094 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1095 | |
gabrieltetar | 21:d137ec53c3a9 | 1096 | case 0x5 : |
gabrieltetar | 21:d137ec53c3a9 | 1097 | //description de Strategie n°5 |
gabrieltetar | 21:d137ec53c3a9 | 1098 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1099 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1100 | |
gabrieltetar | 21:d137ec53c3a9 | 1101 | case 0x6 : |
gabrieltetar | 21:d137ec53c3a9 | 1102 | //description de Strategie n°5 |
gabrieltetar | 21:d137ec53c3a9 | 1103 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1104 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1105 | |
gabrieltetar | 21:d137ec53c3a9 | 1106 | case 0x7 : |
gabrieltetar | 21:d137ec53c3a9 | 1107 | //description de Strategie n°5 |
gabrieltetar | 21:d137ec53c3a9 | 1108 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1109 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1110 | |
gabrieltetar | 21:d137ec53c3a9 | 1111 | case 0x8 : |
gabrieltetar | 21:d137ec53c3a9 | 1112 | //description de Strategie n°5 |
gabrieltetar | 21:d137ec53c3a9 | 1113 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1114 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1115 | |
gabrieltetar | 21:d137ec53c3a9 | 1116 | case 0x9 : |
gabrieltetar | 21:d137ec53c3a9 | 1117 | //description de Strategie n°5 |
gabrieltetar | 21:d137ec53c3a9 | 1118 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1119 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1120 | |
gabrieltetar | 21:d137ec53c3a9 | 1121 | case 0xA : |
gabrieltetar | 21:d137ec53c3a9 | 1122 | //description de Strategie n°5 |
gabrieltetar | 21:d137ec53c3a9 | 1123 | lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE); |
gabrieltetar | 21:d137ec53c3a9 | 1124 | break; |
gabrieltetar | 21:d137ec53c3a9 | 1125 | } |
gabrieltetar | 27:ff70537a7619 | 1126 | } |
gabrieltetar | 27:ff70537a7619 | 1127 | |
gabrieltetar | 27:ff70537a7619 | 1128 | void DrawC (int l,int h,int x, int y, unsigned char fill){ |
gabrieltetar | 27:ff70537a7619 | 1129 | 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 | 1130 | for(int a=0;a<8;a++){ |
gabrieltetar | 27:ff70537a7619 | 1131 | c[a].X+=x; |
gabrieltetar | 27:ff70537a7619 | 1132 | c[a].Y+=y; |
gabrieltetar | 27:ff70537a7619 | 1133 | } |
gabrieltetar | 27:ff70537a7619 | 1134 | lcd.DrawPolygon(c, 8); |
gabrieltetar | 27:ff70537a7619 | 1135 | |
gabrieltetar | 27:ff70537a7619 | 1136 | } |
gabrieltetar | 27:ff70537a7619 | 1137 | void DrawR (int l,int h,int x, int y, unsigned char fill){ |
gabrieltetar | 27:ff70537a7619 | 1138 | 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 | 1139 | for(int a=0;a<10;a++){ |
gabrieltetar | 27:ff70537a7619 | 1140 | r[a].X+=x; |
gabrieltetar | 27:ff70537a7619 | 1141 | r[a].Y+=y; |
gabrieltetar | 27:ff70537a7619 | 1142 | } |
gabrieltetar | 27:ff70537a7619 | 1143 | lcd.DrawPolygon(r, 10); |
gabrieltetar | 27:ff70537a7619 | 1144 | } |
gabrieltetar | 27:ff70537a7619 | 1145 | void DrawA (int l,int h,int x, int y, unsigned char fill){ |
gabrieltetar | 27:ff70537a7619 | 1146 | 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 | 1147 | for(int z=0;z<8;z++){ |
gabrieltetar | 27:ff70537a7619 | 1148 | a[z].X+=x; |
gabrieltetar | 27:ff70537a7619 | 1149 | a[z].Y+=y; |
gabrieltetar | 27:ff70537a7619 | 1150 | } |
gabrieltetar | 27:ff70537a7619 | 1151 | lcd.DrawPolygon(a, 8); |
gabrieltetar | 27:ff70537a7619 | 1152 | } |
gabrieltetar | 27:ff70537a7619 | 1153 | void DrawCheck (int l,int h,int x, int y, int cochage){ |
gabrieltetar | 27:ff70537a7619 | 1154 | if(x<3)x=3; |
gabrieltetar | 27:ff70537a7619 | 1155 | if(cochage == 1){ |
gabrieltetar | 27:ff70537a7619 | 1156 | lcd.SetTextColor(VERT_F); |
gabrieltetar | 27:ff70537a7619 | 1157 | lcd.DrawLine(x,y-(h/2),x+l/2,y+h/2); |
gabrieltetar | 27:ff70537a7619 | 1158 | lcd.DrawLine(x-1,y-(h/2),x+l/2,y+h/2+1); |
gabrieltetar | 27:ff70537a7619 | 1159 | lcd.DrawLine(x-2,y-(h/2),x+l/2,y+h/2+2); |
gabrieltetar | 27:ff70537a7619 | 1160 | lcd.DrawLine(x+l/2,y+h/2,x+(4*(l/3)),y); |
gabrieltetar | 27:ff70537a7619 | 1161 | lcd.DrawLine(x+l/2,y+h/2+1,x+(4*(l/3))+1,y); |
gabrieltetar | 27:ff70537a7619 | 1162 | lcd.DrawLine(x+l/2,y+h/2+2,x+(4*(l/3))+2,y); |
gabrieltetar | 27:ff70537a7619 | 1163 | lcd.SetTextColor(NOIR); |
gabrieltetar | 27:ff70537a7619 | 1164 | } else { |
gabrieltetar | 27:ff70537a7619 | 1165 | Point a[4]={{0,0},{l,0},{l,h},{0,h}}; |
gabrieltetar | 27:ff70537a7619 | 1166 | for(int z=0;z<8;z++){ |
gabrieltetar | 27:ff70537a7619 | 1167 | a[z].X+=x; |
gabrieltetar | 27:ff70537a7619 | 1168 | a[z].Y+=y; |
gabrieltetar | 27:ff70537a7619 | 1169 | } |
gabrieltetar | 27:ff70537a7619 | 1170 | lcd.DrawPolygon(a, 4); |
gabrieltetar | 27:ff70537a7619 | 1171 | } |
gabrieltetar | 21:d137ec53c3a9 | 1172 | } |