code_carte_IHM_sans_bug - code de la carte IHM avant les bugs et avant le t…

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CRAC Team / Mbed 2 deprecated code_carte_IHM_sans_bug

code de la carte IHM avant les bugs et avant le travail effectué avec Melchior

Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait

Strategie/Strategie.cpp@16:c6c765e8b982, 2020-03-12 (annotated)

Committer:: maximilienlv
Date:: Thu Mar 12 09:25:48 2020 +0000
Revision:: 16:c6c765e8b982
Parent:: 15:5ece9c3ba389
Child:: 17:1cf2043c5c01

demo;

Who changed what in which revision?

User	Revision	Line number	New contents of line
gabrieltetar	1:7e925468f9d9	1	#include "global.h"
gabrieltetar	1:7e925468f9d9	2	#include <string.h>
gabrieltetar	1:7e925468f9d9	3	#include <sstream>
gabrieltetar	1:7e925468f9d9	4	#include <math.h>
gabrieltetar	1:7e925468f9d9	5	#include <vector>
gabrieltetar	1:7e925468f9d9	6
gabrieltetar	1:7e925468f9d9	7
gabrieltetar	1:7e925468f9d9	8	#define M_PI 3.14159265358979323846
gabrieltetar	1:7e925468f9d9	9	#define VERT 0xFF00FF00
gabrieltetar	1:7e925468f9d9	10	#define ROUGE 0xFFFF0000
gabrieltetar	1:7e925468f9d9	11	#define BLEU 0xFF0000FF
gabrieltetar	1:7e925468f9d9	12	#define JAUNE 0xFFFDD835//FEFE00
gabrieltetar	1:7e925468f9d9	13	#define BLANC 0xFF000000
gabrieltetar	1:7e925468f9d9	14	#define ORANGE 0xFFFFA500
gabrieltetar	1:7e925468f9d9	15	#define NOIR 0xFF000000
gabrieltetar	1:7e925468f9d9	16	#define DIY_GREY 0xFFDFDFDF
gabrieltetar	1:7e925468f9d9	17	#define VIOLET 0xFF4527A0
gabrieltetar	1:7e925468f9d9	18
gabrieltetar	1:7e925468f9d9	19	char tableau_aff[10][50];
gabrieltetar	1:7e925468f9d9	20	char tableau_etat[22][50]= {
gabrieltetar	1:7e925468f9d9	21	"Check_carte_screen",
gabrieltetar	1:7e925468f9d9	22	"Check_carte_screen_wait_ack",
gabrieltetar	1:7e925468f9d9	23	"Check_cartes",
gabrieltetar	1:7e925468f9d9	24	"Check_cartes_wait_ack",
gabrieltetar	1:7e925468f9d9	25	"Wait_force",
gabrieltetar	1:7e925468f9d9	26	"Config",
gabrieltetar	1:7e925468f9d9	27	"Game_init",
gabrieltetar	1:7e925468f9d9	28	"Game_wait_for_jack",
gabrieltetar	1:7e925468f9d9	29	"Game_start",
gabrieltetar	1:7e925468f9d9	30	"Game_next_instruction",
gabrieltetar	1:7e925468f9d9	31	"Game_instruction",
gabrieltetar	1:7e925468f9d9	32	"Game_wait_ack",
gabrieltetar	1:7e925468f9d9	33	"Game_jump_time",
gabrieltetar	1:7e925468f9d9	34	"Game_jump_config",
gabrieltetar	1:7e925468f9d9	35	"Game_jump_position",
gabrieltetar	1:7e925468f9d9	36	"Game_wait_end_instruction",
gabrieltetar	1:7e925468f9d9	37	"Warning_timeout",
gabrieltetar	1:7e925468f9d9	38	"Waring_end_balise_wait",
gabrieltetar	1:7e925468f9d9	39	"Warning_end_last_instruction",
gabrieltetar	1:7e925468f9d9	40	"Warning_switch_strategie",
gabrieltetar	1:7e925468f9d9	41	"End",
gabrieltetar	1:7e925468f9d9	42	"End_loop",
gabrieltetar	1:7e925468f9d9	43	};
gabrieltetar	1:7e925468f9d9	44
gabrieltetar	1:7e925468f9d9	45	int waitingAckID_FIN;
gabrieltetar	1:7e925468f9d9	46	int waitingAckFrom_FIN;
gabrieltetar	1:7e925468f9d9	47
gabrieltetar	1:7e925468f9d9	48	Ticker ticker;
gabrieltetar	1:7e925468f9d9	49	TS_DISCO_F469NI ts;
gabrieltetar	1:7e925468f9d9	50	LCD_DISCO_F469NI lcd;
gabrieltetar	1:7e925468f9d9	51
gabrieltetar	1:7e925468f9d9	52	TS_StateTypeDef TS_State;
gabrieltetar	1:7e925468f9d9	53
gabrieltetar	1:7e925468f9d9	54	Ticker chrono;
gabrieltetar	1:7e925468f9d9	55	Timeout AffTime;
gabrieltetar	1:7e925468f9d9	56	Timer timer;
gabrieltetar	1:7e925468f9d9	57	Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
gabrieltetar	1:7e925468f9d9	58	Timer gameTimer;
gabrieltetar	1:7e925468f9d9	59	Timer debugetatTimer;
gabrieltetar	1:7e925468f9d9	60	Timer timeoutWarning;
gabrieltetar	1:7e925468f9d9	61	Timer timeoutWarningWaitEnd;
gabrieltetar	1:7e925468f9d9	62	Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
gabrieltetar	1:7e925468f9d9	63
gabrieltetar	1:7e925468f9d9	64	unsigned char screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	65	unsigned char test[32] = {32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32};
gabrieltetar	1:7e925468f9d9	66
gabrieltetar	1:7e925468f9d9	67	char counter = 0;
gabrieltetar	1:7e925468f9d9	68	char check;
gabrieltetar	1:7e925468f9d9	69	char Jack = 1;
gabrieltetar	1:7e925468f9d9	70	short SCORE_GLOBAL=0;
gabrieltetar	1:7e925468f9d9	71	short SCORE_GR=0;
gabrieltetar	1:7e925468f9d9	72	short SCORE_PR=0;
gabrieltetar	14:6aa8aa1699ad	73	unsigned short distance_recalage;
gabrieltetar	14:6aa8aa1699ad	74	unsigned short distance_revenir;
gabrieltetar	1:7e925468f9d9	75
gabrieltetar	14:6aa8aa1699ad	76	unsigned short x;
gabrieltetar	14:6aa8aa1699ad	77	unsigned short y;
gabrieltetar	14:6aa8aa1699ad	78	unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
gabrieltetar	1:7e925468f9d9	79	int flag = 0, flag_strat = 0, flag_timer;
gabrieltetar	1:7e925468f9d9	80	int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	81	char Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	82	signed char Strat = 0;
gabrieltetar	1:7e925468f9d9	83	signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
gabrieltetar	1:7e925468f9d9	84
gabrieltetar	1:7e925468f9d9	85	signed short x_robot,y_robot,theta_robot;//La position du robot
gabrieltetar	1:7e925468f9d9	86	signed short target_x_robot, target_y_robot, target_theta_robot;
gabrieltetar	1:7e925468f9d9	87	E_InstructionType actionPrecedente;
gabrieltetar	1:7e925468f9d9	88	//unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
gabrieltetar	1:7e925468f9d9	89	int flagSendCan=1;
gabrieltetar	1:7e925468f9d9	90	unsigned char Cote = 0; //0 -> JAUNE \| 1 -> VIOLET
gabrieltetar	1:7e925468f9d9	91	unsigned short angleRecalage = 0;
gabrieltetar	1:7e925468f9d9	92	unsigned char checkCurrent = 0;
gabrieltetar	1:7e925468f9d9	93	unsigned char countAliveCard = 0;
gabrieltetar	1:7e925468f9d9	94	unsigned char ligne=0;
gabrieltetar	1:7e925468f9d9	95
gabrieltetar	1:7e925468f9d9	96
gabrieltetar	1:7e925468f9d9	97	int Fevitement=0;
gabrieltetar	1:7e925468f9d9	98	int EvitEtat= 0;
gabrieltetar	1:7e925468f9d9	99	int stop_evitement=0;
gabrieltetar	1:7e925468f9d9	100
gabrieltetar	1:7e925468f9d9	101
gabrieltetar	1:7e925468f9d9	102
gabrieltetar	1:7e925468f9d9	103
gabrieltetar	1:7e925468f9d9	104
gabrieltetar	1:7e925468f9d9	105	signed char Strategie = 0; //N° de la strategie (1-10)
gabrieltetar	1:7e925468f9d9	106
gabrieltetar	1:7e925468f9d9	107	unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
gabrieltetar	1:7e925468f9d9	108
gabrieltetar	1:7e925468f9d9	109	unsigned char countRobotNear = 0;//Le nombre de robot à proximité
gabrieltetar	1:7e925468f9d9	110
gabrieltetar	1:7e925468f9d9	111	unsigned char ingnorBaliseOnce = 0;//une fois détecté réinitialise
gabrieltetar	1:7e925468f9d9	112	unsigned char ingnorBalise = 0;//0:balise ignore 1:on ecoute la balise
gabrieltetar	1:7e925468f9d9	113	short direction;
gabrieltetar	1:7e925468f9d9	114
gabrieltetar	1:7e925468f9d9	115	unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
gabrieltetar	1:7e925468f9d9	116
gabrieltetar	1:7e925468f9d9	117	struct S_Instruction instruction;
gabrieltetar	1:7e925468f9d9	118	struct S_Dodge_queue dodgeq;
gabrieltetar	1:7e925468f9d9	119
gabrieltetar	1:7e925468f9d9	120	char couleur1, couleur2, couleur3;
gabrieltetar	1:7e925468f9d9	121	float cptf;
gabrieltetar	1:7e925468f9d9	122	int cpt,cpt1;
gabrieltetar	1:7e925468f9d9	123
gabrieltetar	14:6aa8aa1699ad	124	typedef enum {INIT, ATT, CHOIX, DEMO, TEST_MOTEUR, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, TEST_ELECTROV,TEST_AUD, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
gabrieltetar	1:7e925468f9d9	125	T_etat etat = INIT;
gabrieltetar	1:7e925468f9d9	126	E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	127	E_stratGameEtat memGameEtat= gameEtat;
gabrieltetar	1:7e925468f9d9	128	E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	129	E_Stratposdebut etat_pos=RECALAGE_1;
gabrieltetar	1:7e925468f9d9	130
gabrieltetar	1:7e925468f9d9	131	/////////////////DEFINITION DES BOUTONS////////////////////
gabrieltetar	1:7e925468f9d9	132	Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
gabrieltetar	1:7e925468f9d9	133	Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
gabrieltetar	1:7e925468f9d9	134	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	135	Button LANCER (0, 200, 400, 200, "--LANCER--");
gabrieltetar	1:7e925468f9d9	136	Button CHECK (0, 420, 400, 200, "Valider");
gabrieltetar	1:7e925468f9d9	137	Button MATCH (0, 50, 400, 320, "Match");
gabrieltetar	1:7e925468f9d9	138	Button DEMONSTRATION (0, 400, 400, 320, "Demo");
gabrieltetar	10:1964bb91b925	139	//menu demo
gabrieltetar	7:44eec996a76e	140	Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
gabrieltetar	14:6aa8aa1699ad	141	Button TEST_MOT(0, 135, 400, 100, "Test moteur");
gabrieltetar	7:44eec996a76e	142	Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
gabrieltetar	7:44eec996a76e	143	Button TEST_BRAS(0,355,400,100,"Test Bras");
gabrieltetar	10:1964bb91b925	144	Button TEST_AUDIO(0,465,400,100,"Test Audio");
gabrieltetar	14:6aa8aa1699ad	145	Button TEST_ELECTRV(0,575,400,100,"Test Divers");
gabrieltetar	10:1964bb91b925	146	//menu demo/demo/
gabrieltetar	10:1964bb91b925	147	Button TEST_A(0,25,195,100,"A");
gabrieltetar	10:1964bb91b925	148	Button TEST_B(205,25,195,100,"B");
gabrieltetar	10:1964bb91b925	149	Button TEST_C(0,135,195,100,"C");
gabrieltetar	10:1964bb91b925	150	Button TEST_D(205,135,195,100,"D");
gabrieltetar	10:1964bb91b925	151	Button TEST_NUM(0,245,400,100,"Bras num");
gabrieltetar	10:1964bb91b925	152	Button TEST_PLUS(205,355,195,100,"+");
gabrieltetar	10:1964bb91b925	153	Button TEST_MOINS(0,355,195,100,"-");
gabrieltetar	7:44eec996a76e	154
gabrieltetar	7:44eec996a76e	155
gabrieltetar	1:7e925468f9d9	156	Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
gabrieltetar	1:7e925468f9d9	157	Button SUIVANT(0,380,200,100,"Suivant");
gabrieltetar	1:7e925468f9d9	158	////////////////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	159
gabrieltetar	1:7e925468f9d9	160	void SendRawId (unsigned short id);
gabrieltetar	1:7e925468f9d9	161	void SelectionStrat (unsigned char numeroStrat);
gabrieltetar	1:7e925468f9d9	162	void Setflag(void);
gabrieltetar	1:7e925468f9d9	163	void can2Rx_ISR(void);
gabrieltetar	1:7e925468f9d9	164	signed char Bouton_Strat (void);
gabrieltetar	1:7e925468f9d9	165	signed char blocage_balise;
gabrieltetar	1:7e925468f9d9	166	void print_segment(int nombre, int decalage);
gabrieltetar	1:7e925468f9d9	167	void affichage_compteur (int nombre);
gabrieltetar	1:7e925468f9d9	168	void effacer_segment(long couleur);
gabrieltetar	14:6aa8aa1699ad	169	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2);
gabrieltetar	1:7e925468f9d9	170	unsigned short telemetreDistance=0;
gabrieltetar	1:7e925468f9d9	171	unsigned short telemetreDistance_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	172	unsigned short telemetreDistance_avant_droite=0;
gabrieltetar	1:7e925468f9d9	173	unsigned short telemetreDistance_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	174	unsigned short telemetreDistance_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	175
gabrieltetar	1:7e925468f9d9	176	unsigned char DT_AVD_interrupt=0;
gabrieltetar	1:7e925468f9d9	177	unsigned char DT_AVG_interrupt=0;
gabrieltetar	1:7e925468f9d9	178	unsigned char DT_ARD_interrupt=0;
gabrieltetar	1:7e925468f9d9	179	unsigned char DT_ARG_interrupt=0;
gabrieltetar	1:7e925468f9d9	180
gabrieltetar	1:7e925468f9d9	181
gabrieltetar	1:7e925468f9d9	182
gabrieltetar	1:7e925468f9d9	183	unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE};
gabrieltetar	1:7e925468f9d9	184	unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE};
gabrieltetar	1:7e925468f9d9	185	InterruptIn jack(PG_11); // entrée numerique en interruption pour le jack
gabrieltetar	1:7e925468f9d9	186
gabrieltetar	1:7e925468f9d9	187
gabrieltetar	1:7e925468f9d9	188
gabrieltetar	1:7e925468f9d9	189
gabrieltetar	1:7e925468f9d9	190
gabrieltetar	1:7e925468f9d9	191
gabrieltetar	1:7e925468f9d9	192	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	193	/* FUNCTION NAME: chronometre_ISR */
gabrieltetar	1:7e925468f9d9	194	/* DESCRIPTION : Interruption à la fin des 90s du match */
gabrieltetar	1:7e925468f9d9	195	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	196	void chronometre_ISR (void)
gabrieltetar	1:7e925468f9d9	197	{
gabrieltetar	1:7e925468f9d9	198	SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
gabrieltetar	1:7e925468f9d9	199	SendRawId(GLOBAL_GAME_END);//Indication fin de match
gabrieltetar	1:7e925468f9d9	200	etat=FIN;
gabrieltetar	1:7e925468f9d9	201	gameTimer.stop();//Arret du timer
gabrieltetar	1:7e925468f9d9	202
gabrieltetar	1:7e925468f9d9	203	while(1);//On bloque la programme dans l'interruption
gabrieltetar	1:7e925468f9d9	204	}
gabrieltetar	1:7e925468f9d9	205
gabrieltetar	1:7e925468f9d9	206
gabrieltetar	1:7e925468f9d9	207
gabrieltetar	1:7e925468f9d9	208	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	209	/* FUNCTION NAME: jack_ISR */
gabrieltetar	1:7e925468f9d9	210	/* DESCRIPTION : Interruption en changement d'état sur le Jack */
gabrieltetar	1:7e925468f9d9	211	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	212	void jack_ISR (void)
gabrieltetar	1:7e925468f9d9	213	{
gabrieltetar	1:7e925468f9d9	214	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	215	gameEtat = ETAT_GAME_START;//On débute le match
gabrieltetar	14:6aa8aa1699ad	216	etat=COMPTEUR;
gabrieltetar	1:7e925468f9d9	217	blocage_balise=1;
gabrieltetar	1:7e925468f9d9	218	}
gabrieltetar	1:7e925468f9d9	219	}
gabrieltetar	1:7e925468f9d9	220
gabrieltetar	1:7e925468f9d9	221	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	222	/* FUNCTION NAME: SelectionStrat */
gabrieltetar	1:7e925468f9d9	223	/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
gabrieltetar	1:7e925468f9d9	224	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	225
gabrieltetar	1:7e925468f9d9	226
gabrieltetar	1:7e925468f9d9	227	void SelectionStrat (unsigned char Strategie)
gabrieltetar	1:7e925468f9d9	228	{
gabrieltetar	1:7e925468f9d9	229	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	230	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	231
gabrieltetar	1:7e925468f9d9	232	switch (Strategie+1) {
gabrieltetar	1:7e925468f9d9	233	case 0x1 :
gabrieltetar	1:7e925468f9d9	234	//description de Strategie n°1
gabrieltetar	1:7e925468f9d9	235	lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	236	break;
gabrieltetar	1:7e925468f9d9	237
gabrieltetar	1:7e925468f9d9	238	case 0x2 :
gabrieltetar	1:7e925468f9d9	239	//description de Strategie n°2
gabrieltetar	1:7e925468f9d9	240	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	241	break;
gabrieltetar	1:7e925468f9d9	242
gabrieltetar	1:7e925468f9d9	243	case 0x3 :
gabrieltetar	1:7e925468f9d9	244	//description de Strategie n°3
gabrieltetar	1:7e925468f9d9	245	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	246	break;
gabrieltetar	1:7e925468f9d9	247
gabrieltetar	1:7e925468f9d9	248	case 0x4 :
gabrieltetar	1:7e925468f9d9	249	//description de Strategie n°4
gabrieltetar	1:7e925468f9d9	250	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	251	break;
gabrieltetar	1:7e925468f9d9	252
gabrieltetar	1:7e925468f9d9	253	case 0x5 :
gabrieltetar	1:7e925468f9d9	254	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	255	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	256	break;
gabrieltetar	1:7e925468f9d9	257
gabrieltetar	1:7e925468f9d9	258	case 0x6 :
gabrieltetar	1:7e925468f9d9	259	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	260	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	261	break;
gabrieltetar	1:7e925468f9d9	262
gabrieltetar	1:7e925468f9d9	263	case 0x7 :
gabrieltetar	1:7e925468f9d9	264	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	265	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	266	break;
gabrieltetar	1:7e925468f9d9	267
gabrieltetar	1:7e925468f9d9	268	case 0x8 :
gabrieltetar	1:7e925468f9d9	269	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	270	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	271	break;
gabrieltetar	1:7e925468f9d9	272
gabrieltetar	1:7e925468f9d9	273	case 0x9 :
gabrieltetar	1:7e925468f9d9	274	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	275	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	276	break;
gabrieltetar	1:7e925468f9d9	277
gabrieltetar	1:7e925468f9d9	278	case 0xA :
gabrieltetar	1:7e925468f9d9	279	//description de Strategie n°5
gabrieltetar	1:7e925468f9d9	280	lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	281	break;
gabrieltetar	1:7e925468f9d9	282	}
gabrieltetar	1:7e925468f9d9	283	}
gabrieltetar	1:7e925468f9d9	284
gabrieltetar	1:7e925468f9d9	285	void Setflag(void)
gabrieltetar	1:7e925468f9d9	286	{
gabrieltetar	10:1964bb91b925	287	flagSendCan = 1;//gab le zgeg
gabrieltetar	1:7e925468f9d9	288	}
gabrieltetar	1:7e925468f9d9	289
gabrieltetar	1:7e925468f9d9	290
gabrieltetar	1:7e925468f9d9	291	//Affiche une variable sur l'écran tactile//
gabrieltetar	1:7e925468f9d9	292	void affichage_var(double Var)
gabrieltetar	1:7e925468f9d9	293	{
gabrieltetar	1:7e925468f9d9	294	if(ligne==7)
gabrieltetar	1:7e925468f9d9	295	ligne=0;
gabrieltetar	1:7e925468f9d9	296	char aff[10]="toto";
gabrieltetar	1:7e925468f9d9	297	sprintf(aff,"%lf ",Var);
gabrieltetar	1:7e925468f9d9	298	lcd.DisplayStringAt(120, LINE(20+(ligne)), (uint8_t *)aff, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	299	//ligne++;
gabrieltetar	1:7e925468f9d9	300
gabrieltetar	1:7e925468f9d9	301	}
gabrieltetar	1:7e925468f9d9	302
gabrieltetar	1:7e925468f9d9	303
gabrieltetar	1:7e925468f9d9	304	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	305	/* FUNCTION NAME: affichage_debug */
gabrieltetar	1:7e925468f9d9	306	/* DESCRIPTION : Affiche l'état de gameEtat sur l'écran lcd */
gabrieltetar	1:7e925468f9d9	307	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	308	void affichage_debug(int Var)
gabrieltetar	1:7e925468f9d9	309	{
gabrieltetar	1:7e925468f9d9	310	int i;
gabrieltetar	1:7e925468f9d9	311	int conv=(int)Var;
gabrieltetar	1:7e925468f9d9	312	SUIVANT.Draw(ROUGE, 0);
gabrieltetar	1:7e925468f9d9	313	for(i=0; i<9; i++) {
gabrieltetar	1:7e925468f9d9	314	strcpy(tableau_aff[i],"");
gabrieltetar	1:7e925468f9d9	315	strcpy(tableau_aff[i],tableau_aff[i+1]);
gabrieltetar	1:7e925468f9d9	316	}
gabrieltetar	1:7e925468f9d9	317	strcpy(tableau_aff[9],tableau_etat[conv]);
gabrieltetar	1:7e925468f9d9	318
gabrieltetar	1:7e925468f9d9	319	for(i=0; i<10; i++) {
gabrieltetar	1:7e925468f9d9	320	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	321	lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
gabrieltetar	1:7e925468f9d9	322	}
gabrieltetar	1:7e925468f9d9	323	/*while(!ack_bluetooth){ // mode pas à pas en bluetooth ou via écran
gabrieltetar	1:7e925468f9d9	324	//liaison_bluetooth();
gabrieltetar	1:7e925468f9d9	325	}
gabrieltetar	1:7e925468f9d9	326	ack_bluetooth=0;*/
gabrieltetar	1:7e925468f9d9	327	/*while(SUIVANT.Touched()==0);
gabrieltetar	1:7e925468f9d9	328	while(SUIVANT.Touched());*/
gabrieltetar	1:7e925468f9d9	329	}
gabrieltetar	1:7e925468f9d9	330
gabrieltetar	1:7e925468f9d9	331	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	332	/* FUNCTION NAME: automate_etat_ihm */
gabrieltetar	1:7e925468f9d9	333	/* DESCRIPTION : Automate de gestion de l'affichage */
gabrieltetar	1:7e925468f9d9	334	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	335	void automate_etat_ihm(void)
gabrieltetar	1:7e925468f9d9	336	{
gabrieltetar	10:1964bb91b925	337	char toto[2];
gabrieltetar	1:7e925468f9d9	338	int j;
gabrieltetar	10:1964bb91b925	339	unsigned char maximilien=1;
gabrieltetar	1:7e925468f9d9	340	if (j==0) {
gabrieltetar	1:7e925468f9d9	341	ts.Init(lcd.GetXSize(), lcd.GetYSize());
gabrieltetar	1:7e925468f9d9	342	j++;
gabrieltetar	1:7e925468f9d9	343	}
gabrieltetar	1:7e925468f9d9	344	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	345	switch (etat) {
gabrieltetar	1:7e925468f9d9	346	case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
gabrieltetar	1:7e925468f9d9	347	ts.GetState(&TS_State);
gabrieltetar	1:7e925468f9d9	348	canProcessRx();
gabrieltetar	1:7e925468f9d9	349	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	350	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	351	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	352	wait(0.15);
gabrieltetar	1:7e925468f9d9	353	lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	354	//cartes non verifiées////////////////
gabrieltetar	1:7e925468f9d9	355	lcd.SetTextColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	356	lcd.FillRect(0,400,400,150); //carte moteur
gabrieltetar	1:7e925468f9d9	357	lcd.FillRect(0,600,400,150); //Balise
gabrieltetar	1:7e925468f9d9	358	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	359	lcd.SetBackColor(DIY_GREY);
gabrieltetar	1:7e925468f9d9	360	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	361	lcd.DisplayStringAt(110,650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	362	////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	363	FORCE_LAUNCH.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	364
gabrieltetar	1:7e925468f9d9	365	etat=ATT;
gabrieltetar	1:7e925468f9d9	366	break;
gabrieltetar	1:7e925468f9d9	367
gabrieltetar	1:7e925468f9d9	368	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	1:7e925468f9d9	369	if (flag==1) {
gabrieltetar	1:7e925468f9d9	370	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	371	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	372	} else if (FORCE_LAUNCH.Touched()) {
gabrieltetar	1:7e925468f9d9	373	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	374	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	375	while(FORCE_LAUNCH.Touched());
gabrieltetar	1:7e925468f9d9	376	}
gabrieltetar	1:7e925468f9d9	377
gabrieltetar	1:7e925468f9d9	378	break;
gabrieltetar	1:7e925468f9d9	379
gabrieltetar	1:7e925468f9d9	380
gabrieltetar	1:7e925468f9d9	381	case CHOIX : //Match ou DEMO
gabrieltetar	1:7e925468f9d9	382	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	383	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	384	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	385	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	386	DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
gabrieltetar	1:7e925468f9d9	387	MATCH.Draw(0xFFF01010, 0);
gabrieltetar	1:7e925468f9d9	388	while(etat == CHOIX) {
gabrieltetar	1:7e925468f9d9	389	canProcessRx();
gabrieltetar	1:7e925468f9d9	390	if(DEMONSTRATION.Touched()) {
gabrieltetar	1:7e925468f9d9	391	etat = DEMO;
gabrieltetar	1:7e925468f9d9	392	while(DEMONSTRATION.Touched());
gabrieltetar	1:7e925468f9d9	393	}
gabrieltetar	1:7e925468f9d9	394
gabrieltetar	1:7e925468f9d9	395	if(MATCH.Touched()) {
gabrieltetar	1:7e925468f9d9	396	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	397	while(MATCH.Touched());
gabrieltetar	1:7e925468f9d9	398	}
gabrieltetar	1:7e925468f9d9	399
gabrieltetar	1:7e925468f9d9	400	}
gabrieltetar	1:7e925468f9d9	401	break;
gabrieltetar	1:7e925468f9d9	402
gabrieltetar	1:7e925468f9d9	403	case DEMO :
gabrieltetar	10:1964bb91b925	404	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	405	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	7:44eec996a76e	406	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	407	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	408	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	7:44eec996a76e	409	TEST_VENT.Draw(VERT, 0);
gabrieltetar	14:6aa8aa1699ad	410	TEST_MOT.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	411	TEST_COUL.Draw(VERT, 0);
gabrieltetar	7:44eec996a76e	412	TEST_BRAS.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	413	TEST_AUDIO.Draw(VERT, 0);
gabrieltetar	10:1964bb91b925	414	TEST_ELECTRV.Draw(VERT, 0);
gabrieltetar	14:6aa8aa1699ad	415	maximilien=0;
gabrieltetar	7:44eec996a76e	416	while (etat == DEMO) {
gabrieltetar	1:7e925468f9d9	417	canProcessRx();
gabrieltetar	7:44eec996a76e	418	if(TEST_VENT.Touched()) {
gabrieltetar	7:44eec996a76e	419	while(TEST_VENT.Touched());
gabrieltetar	7:44eec996a76e	420	etat = TEST_VENTOUSE;
gabrieltetar	14:6aa8aa1699ad	421	} else if(TEST_MOT.Touched()) {
gabrieltetar	14:6aa8aa1699ad	422	while(TEST_MOT.Touched());
gabrieltetar	14:6aa8aa1699ad	423	etat = TEST_MOTEUR;
gabrieltetar	10:1964bb91b925	424	} else if(TEST_ELECTRV.Touched()) {
gabrieltetar	10:1964bb91b925	425	while(TEST_ELECTRV.Touched());
gabrieltetar	10:1964bb91b925	426	etat = TEST_ELECTROV;
gabrieltetar	7:44eec996a76e	427	} else if (TEST_COUL.Touched()) {
gabrieltetar	7:44eec996a76e	428	while(TEST_COUL.Touched());
gabrieltetar	7:44eec996a76e	429	etat =TEST_COULEUR ;
gabrieltetar	7:44eec996a76e	430	} else if (TEST_BRAS.Touched()) {
gabrieltetar	7:44eec996a76e	431	while(TEST_BRAS.Touched());
gabrieltetar	7:44eec996a76e	432	etat =TEST_SERVO_BRAS ;
gabrieltetar	10:1964bb91b925	433	} else if(TEST_AUDIO.Touched()) {
gabrieltetar	10:1964bb91b925	434	while(TEST_AUDIO.Touched());
gabrieltetar	14:6aa8aa1699ad	435	etat=TEST_AUD;
gabrieltetar	7:44eec996a76e	436	} else if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	437	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	438	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	439	}
gabrieltetar	1:7e925468f9d9	440	}
gabrieltetar	1:7e925468f9d9	441	break;
gabrieltetar	1:7e925468f9d9	442
gabrieltetar	1:7e925468f9d9	443
gabrieltetar	10:1964bb91b925	444	case TEST_VENTOUSE:
gabrieltetar	10:1964bb91b925	445	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	446	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	447	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	448	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	449	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Ventouse", LEFT_MODE);
gabrieltetar	10:1964bb91b925	450	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	451	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	452	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	453	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	454	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	455	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	456	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	11:848ea39838bf	457	while(etat==TEST_VENTOUSE) {
gabrieltetar	7:44eec996a76e	458	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	459	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	460	etat=DEMO;
gabrieltetar	10:1964bb91b925	461	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	462	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	463	//SendRawId(TEST_VENT_A);
gabrieltetar	10:1964bb91b925	464	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	465	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	466	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	467	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	468	switch(maximilien){
gabrieltetar	10:1964bb91b925	469	case 1:
gabrieltetar	14:6aa8aa1699ad	470	//SendRawId(TEST_VENT_1);
gabrieltetar	10:1964bb91b925	471	break;
gabrieltetar	10:1964bb91b925	472	case 2:
gabrieltetar	14:6aa8aa1699ad	473	//SendRawId(TEST_VENT_2);
gabrieltetar	10:1964bb91b925	474	break;
gabrieltetar	10:1964bb91b925	475	case 3:
gabrieltetar	14:6aa8aa1699ad	476	//SendRawId(TEST_VENT_3);
gabrieltetar	10:1964bb91b925	477	break;
gabrieltetar	10:1964bb91b925	478	case 4:
gabrieltetar	14:6aa8aa1699ad	479	//SendRawId(TEST_VENT_4);
gabrieltetar	10:1964bb91b925	480	break;
gabrieltetar	10:1964bb91b925	481	case 5:
gabrieltetar	14:6aa8aa1699ad	482	//SendRawId(TEST_VENT_5);
gabrieltetar	10:1964bb91b925	483	break;
gabrieltetar	10:1964bb91b925	484	case 6:
gabrieltetar	14:6aa8aa1699ad	485	//SendRawId(TEST_VENT_6);
gabrieltetar	10:1964bb91b925	486	break;
gabrieltetar	10:1964bb91b925	487	}
gabrieltetar	10:1964bb91b925	488	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	489	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	490	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	491	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	492	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	493	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	494	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	495	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	496	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	497	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	498	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	499	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	500	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	501	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	502	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	503	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	504	}
gabrieltetar	7:44eec996a76e	505	}
gabrieltetar	7:44eec996a76e	506	break;
gabrieltetar	10:1964bb91b925	507
gabrieltetar	10:1964bb91b925	508	case TEST_ELECTROV:
gabrieltetar	10:1964bb91b925	509	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	510	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	511	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	512	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	513	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE);
gabrieltetar	7:44eec996a76e	514	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	515	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	516	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	11:848ea39838bf	517	while(etat==TEST_ELECTROV) {
gabrieltetar	1:7e925468f9d9	518	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	519	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	520	etat=DEMO;
gabrieltetar	10:1964bb91b925	521	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	522	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	523	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	10:1964bb91b925	524	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	525	} else if(TEST_B.Touched()) {
gabrieltetar	14:6aa8aa1699ad	526	while (TEST_B.Touched());
gabrieltetar	14:6aa8aa1699ad	527	//SendRawId(TEST_ELECTROV_A);
gabrieltetar	14:6aa8aa1699ad	528	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	529	}
gabrieltetar	14:6aa8aa1699ad	530	}
gabrieltetar	14:6aa8aa1699ad	531	break;
gabrieltetar	14:6aa8aa1699ad	532
gabrieltetar	14:6aa8aa1699ad	533	case TEST_AUD:
gabrieltetar	14:6aa8aa1699ad	534
gabrieltetar	14:6aa8aa1699ad	535	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	536	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	14:6aa8aa1699ad	537	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	538	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	539	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	540	sprintf(toto,"%hd",maximilien);
gabrieltetar	14:6aa8aa1699ad	541	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	542	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	14:6aa8aa1699ad	543	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	544	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	545	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	546	while(etat==TEST_AUD) {
gabrieltetar	14:6aa8aa1699ad	547	if(RETOUR.Touched()) {
gabrieltetar	14:6aa8aa1699ad	548	while (RETOUR.Touched());
gabrieltetar	14:6aa8aa1699ad	549	etat=DEMO;
gabrieltetar	10:1964bb91b925	550	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	551	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	552	TEST_NUM.Draw(BLEU, BLANC);
maximilienlv	16:c6c765e8b982	553	Debug_
maximilienlv	16:c6c765e8b982	554	Audio(3,maximilien);
gabrieltetar	10:1964bb91b925	555	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	556	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	557	TEST_PLUS.Draw(BLEU, BLANC);
maximilienlv	16:c6c765e8b982	558	if(maximilien!=20)maximilien++;
gabrieltetar	10:1964bb91b925	559	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	560	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	561	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	562	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	563	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	564	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	565	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	566	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	567	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	568	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	569	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	570	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	571	}
gabrieltetar	10:1964bb91b925	572	}
gabrieltetar	10:1964bb91b925	573	break;
gabrieltetar	14:6aa8aa1699ad	574
gabrieltetar	10:1964bb91b925	575	case TEST_SERVO_BRAS:
gabrieltetar	10:1964bb91b925	576
gabrieltetar	10:1964bb91b925	577	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	578	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	579	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	580	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	581	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Bras", LEFT_MODE);
gabrieltetar	10:1964bb91b925	582	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	583	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	584	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	10:1964bb91b925	585	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	586	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	587	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	588	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	589	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	590	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	591	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	592	while(etat==TEST_SERVO_BRAS) {
gabrieltetar	10:1964bb91b925	593	if(RETOUR.Touched()) {
gabrieltetar	10:1964bb91b925	594	while (RETOUR.Touched());
gabrieltetar	10:1964bb91b925	595	etat=DEMO;
gabrieltetar	10:1964bb91b925	596	} else if(TEST_A.Touched()) {
gabrieltetar	10:1964bb91b925	597	while (TEST_A.Touched());
gabrieltetar	10:1964bb91b925	598	SendRawId(TEST_BRAS_A);
gabrieltetar	10:1964bb91b925	599	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	600	} else if(TEST_B.Touched()) {
gabrieltetar	10:1964bb91b925	601	while (TEST_B.Touched());
gabrieltetar	10:1964bb91b925	602	SendRawId(TEST_BRAS_B);
gabrieltetar	10:1964bb91b925	603	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	604	} else if(TEST_C.Touched()) {
gabrieltetar	10:1964bb91b925	605	while (TEST_C.Touched());
gabrieltetar	10:1964bb91b925	606	SendRawId(TEST_BRAS_C);
gabrieltetar	10:1964bb91b925	607	TEST_C.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	608	} else if(TEST_D.Touched()) {
gabrieltetar	10:1964bb91b925	609	while (TEST_D.Touched());
gabrieltetar	10:1964bb91b925	610	SendRawId(TEST_BRAS_D);
gabrieltetar	10:1964bb91b925	611	TEST_D.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	612	} else if(TEST_NUM.Touched()) {
gabrieltetar	10:1964bb91b925	613	while (TEST_NUM.Touched());
gabrieltetar	10:1964bb91b925	614	TEST_NUM.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	615	switch(maximilien){
gabrieltetar	10:1964bb91b925	616	case 1:
gabrieltetar	10:1964bb91b925	617	SendRawId(TEST_BRAS_1);
gabrieltetar	10:1964bb91b925	618	break;
gabrieltetar	10:1964bb91b925	619	case 2:
gabrieltetar	10:1964bb91b925	620	SendRawId(TEST_BRAS_2);
gabrieltetar	10:1964bb91b925	621	break;
gabrieltetar	10:1964bb91b925	622	case 3:
gabrieltetar	10:1964bb91b925	623	SendRawId(TEST_BRAS_3);
gabrieltetar	10:1964bb91b925	624	break;
gabrieltetar	10:1964bb91b925	625	case 4:
gabrieltetar	10:1964bb91b925	626	SendRawId(TEST_BRAS_4);
gabrieltetar	10:1964bb91b925	627	break;
gabrieltetar	10:1964bb91b925	628	case 5:
gabrieltetar	10:1964bb91b925	629	SendRawId(TEST_BRAS_5);
gabrieltetar	10:1964bb91b925	630	break;
gabrieltetar	10:1964bb91b925	631	case 6:
gabrieltetar	10:1964bb91b925	632	SendRawId(TEST_BRAS_6);
gabrieltetar	10:1964bb91b925	633	break;
gabrieltetar	10:1964bb91b925	634	}
gabrieltetar	10:1964bb91b925	635	} else if(TEST_PLUS.Touched()) {
gabrieltetar	10:1964bb91b925	636	while (TEST_PLUS.Touched());
gabrieltetar	10:1964bb91b925	637	TEST_PLUS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	638	if(maximilien!=6)maximilien++;
gabrieltetar	10:1964bb91b925	639	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	640	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	641	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	642	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	10:1964bb91b925	643	} else if(TEST_MOINS.Touched()) {
gabrieltetar	10:1964bb91b925	644	while (TEST_MOINS.Touched());
gabrieltetar	10:1964bb91b925	645	TEST_MOINS.Draw(BLEU, BLANC);
gabrieltetar	10:1964bb91b925	646	if(maximilien!=1)maximilien--;
gabrieltetar	10:1964bb91b925	647	sprintf(toto,"%hd",maximilien);
gabrieltetar	10:1964bb91b925	648	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	10:1964bb91b925	649	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	10:1964bb91b925	650	lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	651	}
gabrieltetar	1:7e925468f9d9	652	}
gabrieltetar	1:7e925468f9d9	653	break;
gabrieltetar	7:44eec996a76e	654
gabrieltetar	7:44eec996a76e	655	case TEST_COULEUR:
gabrieltetar	7:44eec996a76e	656	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	657	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
gabrieltetar	7:44eec996a76e	658	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	7:44eec996a76e	659	while(etat==TEST_COULEUR) {
gabrieltetar	7:44eec996a76e	660	if(RETOUR.Touched()) {
gabrieltetar	7:44eec996a76e	661	while (RETOUR.Touched());
gabrieltetar	7:44eec996a76e	662	etat=DEMO;
gabrieltetar	7:44eec996a76e	663	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	664	}
gabrieltetar	7:44eec996a76e	665	}
gabrieltetar	1:7e925468f9d9	666	break;
gabrieltetar	1:7e925468f9d9	667
gabrieltetar	14:6aa8aa1699ad	668	case TEST_MOTEUR:
gabrieltetar	14:6aa8aa1699ad	669	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	670	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	14:6aa8aa1699ad	671	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	7:44eec996a76e	672	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	14:6aa8aa1699ad	673	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE);
gabrieltetar	14:6aa8aa1699ad	674	RETOUR.Draw(0xFFFF0000,0);
gabrieltetar	14:6aa8aa1699ad	675	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	676	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	677	while(etat==TEST_MOTEUR) {
gabrieltetar	1:7e925468f9d9	678	if(RETOUR.Touched()) {
gabrieltetar	14:6aa8aa1699ad	679	while (RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	680	etat=DEMO;
gabrieltetar	14:6aa8aa1699ad	681	} else if(TEST_A.Touched()) {
gabrieltetar	14:6aa8aa1699ad	682	while (TEST_A.Touched());
gabrieltetar	14:6aa8aa1699ad	683	BendRadius(150,1800,1,0);
gabrieltetar	14:6aa8aa1699ad	684	TEST_A.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	685	} else if(TEST_B.Touched()) {
gabrieltetar	14:6aa8aa1699ad	686	while (TEST_B.Touched());
gabrieltetar	14:6aa8aa1699ad	687	BendRadius(150,1800,0,0);
gabrieltetar	14:6aa8aa1699ad	688	TEST_B.Draw(BLEU, BLANC);
gabrieltetar	14:6aa8aa1699ad	689	}
gabrieltetar	1:7e925468f9d9	690	}
gabrieltetar	1:7e925468f9d9	691	break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	692
gabrieltetar	1:7e925468f9d9	693
gabrieltetar	1:7e925468f9d9	694	case SELECT_SIDE : // CHOIX DU COTE DU TERRAIN + INVERSION DE LA STRAT SI COTE ORANGE+ ENVOI DU COTE A LA CARTE CAPTEUR/ACTIONNEURS
gabrieltetar	1:7e925468f9d9	695	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	696	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	697	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	698
gabrieltetar	1:7e925468f9d9	699	lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	700	COTE_JAUNE.Draw(JAUNE, 0);
gabrieltetar	1:7e925468f9d9	701	COTE_VIOLET.Draw(VIOLET, 0);
gabrieltetar	1:7e925468f9d9	702	RETOUR.Draw(LCD_COLOR_RED, 0);
gabrieltetar	1:7e925468f9d9	703
gabrieltetar	1:7e925468f9d9	704
gabrieltetar	1:7e925468f9d9	705	while (etat == SELECT_SIDE) {
gabrieltetar	1:7e925468f9d9	706	canProcessRx();
gabrieltetar	1:7e925468f9d9	707	if(COTE_JAUNE.Touched()) {
gabrieltetar	1:7e925468f9d9	708	Cote = 0x0;
gabrieltetar	1:7e925468f9d9	709	InversStrat = Cote;
gabrieltetar	1:7e925468f9d9	710	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	711	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	712	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	713	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	714	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	715	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	716	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	717	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	718	while(COTE_JAUNE.Touched());
gabrieltetar	1:7e925468f9d9	719
gabrieltetar	1:7e925468f9d9	720	}
gabrieltetar	1:7e925468f9d9	721
gabrieltetar	1:7e925468f9d9	722	if(COTE_VIOLET.Touched()) {
gabrieltetar	1:7e925468f9d9	723	Cote = 0x1;
gabrieltetar	1:7e925468f9d9	724	InversStrat= Cote;
gabrieltetar	1:7e925468f9d9	725	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	726	CANMessage trame_Tx = CANMessage();
gabrieltetar	1:7e925468f9d9	727	trame_Tx.len = 1;
gabrieltetar	1:7e925468f9d9	728	trame_Tx.format = CANStandard;
gabrieltetar	1:7e925468f9d9	729	trame_Tx.type = CANData;
gabrieltetar	1:7e925468f9d9	730	trame_Tx.id=CHOICE_COLOR;
gabrieltetar	1:7e925468f9d9	731	trame_Tx.data[0]=Cote;
gabrieltetar	1:7e925468f9d9	732	can2.write(trame_Tx);
gabrieltetar	1:7e925468f9d9	733	while(COTE_VIOLET.Touched());
gabrieltetar	1:7e925468f9d9	734	}
gabrieltetar	1:7e925468f9d9	735
gabrieltetar	1:7e925468f9d9	736	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	737	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	738	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	739	}
gabrieltetar	1:7e925468f9d9	740	}
gabrieltetar	1:7e925468f9d9	741
gabrieltetar	1:7e925468f9d9	742	break;
gabrieltetar	1:7e925468f9d9	743
gabrieltetar	1:7e925468f9d9	744	case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
gabrieltetar	1:7e925468f9d9	745	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	746	lcd.Clear(JAUNE);
gabrieltetar	1:7e925468f9d9	747	lcd.SetBackColor(JAUNE);
gabrieltetar	1:7e925468f9d9	748	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	749	lcd.Clear(VIOLET);
gabrieltetar	1:7e925468f9d9	750	lcd.SetBackColor(VIOLET);
gabrieltetar	1:7e925468f9d9	751	} else {
gabrieltetar	1:7e925468f9d9	752	lcd.Clear(BLEU);
gabrieltetar	1:7e925468f9d9	753	lcd.SetBackColor(BLEU);
gabrieltetar	1:7e925468f9d9	754	}
gabrieltetar	1:7e925468f9d9	755
gabrieltetar	1:7e925468f9d9	756	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	757
gabrieltetar	1:7e925468f9d9	758	lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	759
gabrieltetar	1:7e925468f9d9	760	Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
gabrieltetar	1:7e925468f9d9	761	if (Strategie == -1) {
gabrieltetar	1:7e925468f9d9	762	etat = SELECT_SIDE;
gabrieltetar	1:7e925468f9d9	763	} else {
gabrieltetar	1:7e925468f9d9	764	etat = DETAILS;
gabrieltetar	1:7e925468f9d9	765	}
gabrieltetar	1:7e925468f9d9	766	wait(0.1);
gabrieltetar	1:7e925468f9d9	767	break;
gabrieltetar	1:7e925468f9d9	768
gabrieltetar	1:7e925468f9d9	769	case DETAILS : //SECONDE VALIDATION DE LA STRAT
gabrieltetar	1:7e925468f9d9	770	lcd.Clear(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	771	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	772	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	773	CHECK.Draw(VERT);
gabrieltetar	1:7e925468f9d9	774	RETOUR.Draw(LCD_COLOR_RED);
gabrieltetar	1:7e925468f9d9	775
gabrieltetar	1:7e925468f9d9	776	SelectionStrat(Strategie); //affiche la stratégie selectionnée
gabrieltetar	1:7e925468f9d9	777
gabrieltetar	1:7e925468f9d9	778	while (etat == DETAILS) {
gabrieltetar	1:7e925468f9d9	779	canProcessRx();
gabrieltetar	1:7e925468f9d9	780	if (CHECK.Touched()) {
gabrieltetar	1:7e925468f9d9	781	if(gameEtat == ETAT_CONFIG) {
gabrieltetar	1:7e925468f9d9	782	gameEtat = ETAT_GAME_INIT;
gabrieltetar	1:7e925468f9d9	783	etat=LECTURE;
gabrieltetar	1:7e925468f9d9	784
gabrieltetar	1:7e925468f9d9	785	}
gabrieltetar	1:7e925468f9d9	786	while(CHECK.Touched());
gabrieltetar	1:7e925468f9d9	787	}
gabrieltetar	1:7e925468f9d9	788
gabrieltetar	1:7e925468f9d9	789	if(RETOUR.Touched()) {
gabrieltetar	1:7e925468f9d9	790	etat = TACTIQUE;
gabrieltetar	1:7e925468f9d9	791	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	792	}
gabrieltetar	1:7e925468f9d9	793	}
gabrieltetar	1:7e925468f9d9	794	break;
gabrieltetar	1:7e925468f9d9	795
gabrieltetar	1:7e925468f9d9	796
gabrieltetar	1:7e925468f9d9	797	case LECTURE :
gabrieltetar	1:7e925468f9d9	798	break;
gabrieltetar	1:7e925468f9d9	799	case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	800	lcd.Clear(BLANC);
gabrieltetar	1:7e925468f9d9	801	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	802	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	803
gabrieltetar	1:7e925468f9d9	804	if (Cote == 0) {
gabrieltetar	1:7e925468f9d9	805	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	806	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	807	} else if (Cote == 1) {
gabrieltetar	1:7e925468f9d9	808	lcd.Clear(ORANGE);
gabrieltetar	1:7e925468f9d9	809	lcd.SetBackColor(ORANGE);
gabrieltetar	1:7e925468f9d9	810	} else {
gabrieltetar	1:7e925468f9d9	811	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	812	lcd.SetBackColor(VERT);
gabrieltetar	1:7e925468f9d9	813	}
gabrieltetar	1:7e925468f9d9	814	canProcessRx();
gabrieltetar	1:7e925468f9d9	815	lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
gabrieltetar	1:7e925468f9d9	816	etat=WAIT_JACK;
gabrieltetar	1:7e925468f9d9	817	break;
gabrieltetar	1:7e925468f9d9	818
gabrieltetar	1:7e925468f9d9	819	case WAIT_JACK: //VERITABLE ATTENTE DU JACK
gabrieltetar	1:7e925468f9d9	820	break;
gabrieltetar	1:7e925468f9d9	821
gabrieltetar	1:7e925468f9d9	822	case COMPTEUR: //PEUT AFFICHER UN COMPTEUR DU TEMPS RESTANT AVANT LA FIN DE LA PARTIE OU BIEN TRES UTILE POUR PRINT DES VARIABLES CHAQUE SEC EX: gameEtat
gabrieltetar	1:7e925468f9d9	823	cptf=gameTimer.read();
gabrieltetar	1:7e925468f9d9	824	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	825	cpt=(int)cptf;
gabrieltetar	1:7e925468f9d9	826	if(cpt != cpt1) {
gabrieltetar	1:7e925468f9d9	827	lcd.Clear(VERT);
gabrieltetar	1:7e925468f9d9	828	// affichage_compteur(100-cpt);
gabrieltetar	1:7e925468f9d9	829	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	830	affichage_var(SCORE_PR);
gabrieltetar	1:7e925468f9d9	831	if(liaison_pr.paquet_en_attente()) {
gabrieltetar	1:7e925468f9d9	832	PaquetDomotique *paquet=liaison_pr.lire();
gabrieltetar	1:7e925468f9d9	833	if(paquet->identifiant==PAQUET_IDENTIFIANT_AJOUTERSCORE) {
gabrieltetar	1:7e925468f9d9	834	SCORE_PR+=convertir_score(paquet);
gabrieltetar	1:7e925468f9d9	835	}
gabrieltetar	1:7e925468f9d9	836	delete paquet;
gabrieltetar	1:7e925468f9d9	837	}
gabrieltetar	1:7e925468f9d9	838	}
gabrieltetar	1:7e925468f9d9	839	cpt1=cpt;
gabrieltetar	1:7e925468f9d9	840	flag_timer=0;
gabrieltetar	1:7e925468f9d9	841
gabrieltetar	1:7e925468f9d9	842	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	843	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	844
gabrieltetar	1:7e925468f9d9	845	break;
gabrieltetar	1:7e925468f9d9	846
gabrieltetar	1:7e925468f9d9	847	case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
gabrieltetar	1:7e925468f9d9	848	lcd.Clear (LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	849	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	5:81aac085516f	850
gabrieltetar	1:7e925468f9d9	851	//affichage_compteur(SCORE_PR);
gabrieltetar	1:7e925468f9d9	852	affichage_var(SCORE_PR);
gabrieltetar	5:81aac085516f	853
gabrieltetar	1:7e925468f9d9	854	while(1); // force le redemarage du robot
gabrieltetar	1:7e925468f9d9	855	//break;
gabrieltetar	1:7e925468f9d9	856
gabrieltetar	1:7e925468f9d9	857	}
gabrieltetar	1:7e925468f9d9	858	}
gabrieltetar	1:7e925468f9d9	859
gabrieltetar	1:7e925468f9d9	860
gabrieltetar	1:7e925468f9d9	861
gabrieltetar	1:7e925468f9d9	862	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	863	/* FUNCTION NAME: automate_process */
gabrieltetar	1:7e925468f9d9	864	/* DESCRIPTION : Automate de gestion de la stratégie du robot */
gabrieltetar	1:7e925468f9d9	865	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	866	void automate_process(void)
gabrieltetar	1:7e925468f9d9	867	{
gabrieltetar	1:7e925468f9d9	868	static unsigned char AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	869	static unsigned char MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	870	signed char localData1 = 0;
gabrieltetar	1:7e925468f9d9	871	signed short localData2 = 0;
gabrieltetar	1:7e925468f9d9	872	unsigned short localData3 = 0;
gabrieltetar	1:7e925468f9d9	873	//signed short localData4 = 0;
gabrieltetar	1:7e925468f9d9	874	unsigned char localData5 = 0;
gabrieltetar	1:7e925468f9d9	875
gabrieltetar	1:7e925468f9d9	876
gabrieltetar	1:7e925468f9d9	877	if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments
gabrieltetar	1:7e925468f9d9	878	gameTimer.stop();
gabrieltetar	1:7e925468f9d9	879	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	880	gameEtat = ETAT_END;//Fin du temps
gabrieltetar	1:7e925468f9d9	881	etat=FIN;
gabrieltetar	1:7e925468f9d9	882	}
gabrieltetar	1:7e925468f9d9	883
gabrieltetar	1:7e925468f9d9	884	if(lastEtat != gameEtat \|\| debugetatTimer.read_ms() >= 1000) {
gabrieltetar	1:7e925468f9d9	885	lastEtat = gameEtat;
gabrieltetar	1:7e925468f9d9	886	debugetatTimer.reset();
gabrieltetar	1:7e925468f9d9	887	sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
gabrieltetar	1:7e925468f9d9	888	}
gabrieltetar	1:7e925468f9d9	889
gabrieltetar	1:7e925468f9d9	890
gabrieltetar	1:7e925468f9d9	891
gabrieltetar	1:7e925468f9d9	892	switch(gameEtat) {
gabrieltetar	1:7e925468f9d9	893
gabrieltetar	1:7e925468f9d9	894	case ETAT_CHECK_CARTES:
gabrieltetar	1:7e925468f9d9	895	/*
gabrieltetar	1:7e925468f9d9	896	Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
gabrieltetar	1:7e925468f9d9	897	*/
gabrieltetar	1:7e925468f9d9	898	waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
gabrieltetar	1:7e925468f9d9	899	SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
gabrieltetar	1:7e925468f9d9	900
gabrieltetar	1:7e925468f9d9	901	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	902	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	903	cartesCheker.start();//On lance le timer pour le timeout
gabrieltetar	1:7e925468f9d9	904	gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	905	break;
gabrieltetar	1:7e925468f9d9	906
gabrieltetar	1:7e925468f9d9	907	case ETAT_CHECK_CARTES_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	908	/*
gabrieltetar	1:7e925468f9d9	909	On attend l'ack de la carte en cours de vérification
gabrieltetar	1:7e925468f9d9	910	*/
gabrieltetar	1:7e925468f9d9	911	//printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
gabrieltetar	1:7e925468f9d9	912	if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
gabrieltetar	1:7e925468f9d9	913	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	914	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	915	countAliveCard++;
gabrieltetar	1:7e925468f9d9	916	checkCurrent++;
gabrieltetar	1:7e925468f9d9	917	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	918	printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
gabrieltetar	1:7e925468f9d9	919	if(countAliveCard >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	920	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	921	SendRawId(ECRAN_ALL_CHECK);
gabrieltetar	1:7e925468f9d9	922	flag=1;
gabrieltetar	1:7e925468f9d9	923
gabrieltetar	1:7e925468f9d9	924	//tactile_printf("Selection couleur et strategie");
gabrieltetar	1:7e925468f9d9	925	} else {
gabrieltetar	1:7e925468f9d9	926	gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
gabrieltetar	1:7e925468f9d9	927	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	928	}
gabrieltetar	1:7e925468f9d9	929	} else
gabrieltetar	1:7e925468f9d9	930	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	931	} else if(cartesCheker.read_ms () > 100) {
gabrieltetar	1:7e925468f9d9	932	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	933	if(screenChecktry >=3) {
gabrieltetar	1:7e925468f9d9	934	//printf("missing card %d\n",id_check[checkCurrent]);
gabrieltetar	1:7e925468f9d9	935	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	936	checkCurrent++;
gabrieltetar	1:7e925468f9d9	937
gabrieltetar	1:7e925468f9d9	938	if(checkCurrent >= NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	939	if(countAliveCard == NOMBRE_CARTES) {
gabrieltetar	1:7e925468f9d9	940	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	941	flag=1;
gabrieltetar	1:7e925468f9d9	942	} else {
gabrieltetar	1:7e925468f9d9	943	gameEtat = ETAT_WAIT_FORCE;
gabrieltetar	1:7e925468f9d9	944	waitingAckFrom = ECRAN_ALL_CHECK;
gabrieltetar	1:7e925468f9d9	945	}
gabrieltetar	1:7e925468f9d9	946	} else
gabrieltetar	1:7e925468f9d9	947	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	948
gabrieltetar	1:7e925468f9d9	949	} else
gabrieltetar	1:7e925468f9d9	950	gameEtat = ETAT_CHECK_CARTES;
gabrieltetar	1:7e925468f9d9	951
gabrieltetar	1:7e925468f9d9	952	}
gabrieltetar	1:7e925468f9d9	953	break;
gabrieltetar	1:7e925468f9d9	954	case ETAT_WAIT_FORCE:
gabrieltetar	1:7e925468f9d9	955	/*
gabrieltetar	1:7e925468f9d9	956	Attente du forçage de la part de la carte IHM
gabrieltetar	1:7e925468f9d9	957	*/
gabrieltetar	1:7e925468f9d9	958	if(waitingAckFrom == 0) {
gabrieltetar	1:7e925468f9d9	959	gameEtat = ETAT_CONFIG;
gabrieltetar	1:7e925468f9d9	960	}
gabrieltetar	1:7e925468f9d9	961	break;
gabrieltetar	1:7e925468f9d9	962	case ETAT_CONFIG:
gabrieltetar	1:7e925468f9d9	963	/*
gabrieltetar	1:7e925468f9d9	964	Attente de l'odre de choix de mode,
gabrieltetar	1:7e925468f9d9	965	Il est possible de modifier la couleur et l'id de la stratégie
gabrieltetar	1:7e925468f9d9	966	Il est aussi possible d'envoyer les ordres de debug
gabrieltetar	1:7e925468f9d9	967	*/
gabrieltetar	1:7e925468f9d9	968	modeTelemetre = 0;
gabrieltetar	1:7e925468f9d9	969	break;
gabrieltetar	1:7e925468f9d9	970	case ETAT_GAME_INIT:
gabrieltetar	1:7e925468f9d9	971	//On charge la liste des instructions
gabrieltetar	1:7e925468f9d9	972
gabrieltetar	1:7e925468f9d9	973	loadAllInstruction(Strategie);//Mise en cache de toute les instructions
gabrieltetar	1:7e925468f9d9	974	led3=1;
gabrieltetar	1:7e925468f9d9	975
gabrieltetar	1:7e925468f9d9	976	SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	977
gabrieltetar	1:7e925468f9d9	978	gameEtat = ETAT_GAME_WAIT_FOR_JACK;
gabrieltetar	10:1964bb91b925	979	Debug_Audio(3,7);
gabrieltetar	14:6aa8aa1699ad	980	if (etat == TEST_MOTEUR\|\| etat ==TEST_VENTOUSE \|\| etat == TEST_COULEUR \|\| etat ==TEST_SERVO_BRAS) {
gabrieltetar	1:7e925468f9d9	981	SendRawId(DEBUG_FAKE_JAKE);
gabrieltetar	1:7e925468f9d9	982	} else {
gabrieltetar	1:7e925468f9d9	983	etat = AFF_WAIT_JACK;
gabrieltetar	1:7e925468f9d9	984	}
gabrieltetar	1:7e925468f9d9	985	//tactile_printf("Attente du JACK.");
gabrieltetar	1:7e925468f9d9	986	setAsservissementEtat(1);//On réactive l'asservissement
gabrieltetar	1:7e925468f9d9	987	jack.mode(PullDown); // désactivation de la résistance interne du jack
gabrieltetar	1:7e925468f9d9	988	jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
gabrieltetar	1:7e925468f9d9	989
gabrieltetar	1:7e925468f9d9	990	localData2 = POSITION_DEBUT_T;
gabrieltetar	1:7e925468f9d9	991	localData3 = POSITION_DEBUT_Y;
gabrieltetar	1:7e925468f9d9	992	if(InversStrat == 1) {
gabrieltetar	1:7e925468f9d9	993	localData2 = -localData2;//Inversion theta
gabrieltetar	1:7e925468f9d9	994	localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
gabrieltetar	1:7e925468f9d9	995	}
gabrieltetar	1:7e925468f9d9	996	SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2);
gabrieltetar	1:7e925468f9d9	997
gabrieltetar	1:7e925468f9d9	998	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	999	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	1000
gabrieltetar	1:7e925468f9d9	1001	break;
gabrieltetar	1:7e925468f9d9	1002	case ETAT_GAME_WAIT_FOR_JACK:
gabrieltetar	1:7e925468f9d9	1003	if(instruction.order==POSITION_DEBUT) {
gabrieltetar	1:7e925468f9d9	1004	switch(etat_pos) { // AUTOMATE PERMETTANT AU ROBOT DE SE POSITIONNER TOUT SEUL AU DEBUT DE LA PARTIE (Ne PAS RETIRER LE JACK PENDANT CE TEMPS !!!)
gabrieltetar	1:7e925468f9d9	1005	case RECALAGE_1:
gabrieltetar	1:7e925468f9d9	1006	SendRawId(RECALAGE_START);
gabrieltetar	1:7e925468f9d9	1007	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1008	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1009	GoStraight(3000, 1,MOITIEE_ROBOT, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot (les -5 qui trainent sont dus au tables pourraves sur place)
gabrieltetar	1:7e925468f9d9	1010	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1011	canProcessRx();
gabrieltetar	1:7e925468f9d9	1012	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1013	waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1014	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1015	canProcessRx();
gabrieltetar	1:7e925468f9d9	1016	etat_pos=RECULER_1;
gabrieltetar	1:7e925468f9d9	1017	break;
gabrieltetar	1:7e925468f9d9	1018
gabrieltetar	1:7e925468f9d9	1019	case RECULER_1:
gabrieltetar	1:7e925468f9d9	1020	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1021	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1022	GoStraight(-100, 0, 0, 0);//-450
gabrieltetar	1:7e925468f9d9	1023	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1024	canProcessRx();
gabrieltetar	1:7e925468f9d9	1025	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1026	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1027	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1028	canProcessRx();
gabrieltetar	1:7e925468f9d9	1029	etat_pos=TOURNER;
gabrieltetar	1:7e925468f9d9	1030	break;
gabrieltetar	1:7e925468f9d9	1031
gabrieltetar	1:7e925468f9d9	1032	case TOURNER:
gabrieltetar	1:7e925468f9d9	1033	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1034	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1035	if(Cote==0) {
gabrieltetar	1:7e925468f9d9	1036	localData2 = 900;
gabrieltetar	1:7e925468f9d9	1037	} else {
gabrieltetar	1:7e925468f9d9	1038	localData2=-900;
gabrieltetar	1:7e925468f9d9	1039	}
gabrieltetar	1:7e925468f9d9	1040	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1041	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1042	canProcessRx();
gabrieltetar	1:7e925468f9d9	1043	waitingAckID_FIN=ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1044	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1045	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1046	canProcessRx();
gabrieltetar	1:7e925468f9d9	1047	etat_pos=RECALAGE_2;
gabrieltetar	1:7e925468f9d9	1048	break;
gabrieltetar	1:7e925468f9d9	1049
gabrieltetar	1:7e925468f9d9	1050	case RECALAGE_2:
gabrieltetar	1:7e925468f9d9	1051	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1052	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1053	if(Cote==1) {
gabrieltetar	1:7e925468f9d9	1054	localData3=3000-(MOITIEE_ROBOT);
gabrieltetar	1:7e925468f9d9	1055	} else {
gabrieltetar	1:7e925468f9d9	1056	localData3=MOITIEE_ROBOT;
gabrieltetar	1:7e925468f9d9	1057	}
gabrieltetar	1:7e925468f9d9	1058	GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot
gabrieltetar	1:7e925468f9d9	1059	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1060	canProcessRx();
gabrieltetar	1:7e925468f9d9	1061	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1062	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1063	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1064	canProcessRx();
gabrieltetar	1:7e925468f9d9	1065	etat_pos=RECULER_2;
gabrieltetar	1:7e925468f9d9	1066	break;
gabrieltetar	1:7e925468f9d9	1067
gabrieltetar	1:7e925468f9d9	1068	case RECULER_2:
gabrieltetar	1:7e925468f9d9	1069	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1070	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1071	GoStraight(-100, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1072	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1073	canProcessRx();
gabrieltetar	1:7e925468f9d9	1074	waitingAckID_FIN=ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1075	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1076	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1077	canProcessRx();
gabrieltetar	1:7e925468f9d9	1078	etat_pos=GOTOPOS;
gabrieltetar	1:7e925468f9d9	1079	break;
gabrieltetar	1:7e925468f9d9	1080
gabrieltetar	1:7e925468f9d9	1081	case GOTOPOS:
gabrieltetar	1:7e925468f9d9	1082	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1083
gabrieltetar	1:7e925468f9d9	1084	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1085	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1086	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1087	} else {
gabrieltetar	1:7e925468f9d9	1088	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1089	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1090	}
gabrieltetar	1:7e925468f9d9	1091
gabrieltetar	1:7e925468f9d9	1092	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1093	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1094	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1095
gabrieltetar	1:7e925468f9d9	1096	while(waitingAckID !=0 && waitingAckFrom !=0)
gabrieltetar	1:7e925468f9d9	1097	canProcessRx();
gabrieltetar	1:7e925468f9d9	1098	waitingAckID_FIN=ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1099	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1100	while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0)
gabrieltetar	1:7e925468f9d9	1101	canProcessRx();
gabrieltetar	1:7e925468f9d9	1102	etat_pos=FIN_POS;
gabrieltetar	1:7e925468f9d9	1103	break;
gabrieltetar	1:7e925468f9d9	1104	case FIN_POS:
gabrieltetar	1:7e925468f9d9	1105	actual_instruction = instruction.nextLineOK;
gabrieltetar	1:7e925468f9d9	1106	break;
gabrieltetar	1:7e925468f9d9	1107	}
gabrieltetar	1:7e925468f9d9	1108	}
gabrieltetar	1:7e925468f9d9	1109
gabrieltetar	1:7e925468f9d9	1110
gabrieltetar	1:7e925468f9d9	1111	break;
gabrieltetar	1:7e925468f9d9	1112	case ETAT_GAME_START:
gabrieltetar	10:1964bb91b925	1113	Debug_Audio(3,3);
gabrieltetar	1:7e925468f9d9	1114	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1115
gabrieltetar	1:7e925468f9d9	1116	if (ModeDemo == 0) {
gabrieltetar	1:7e925468f9d9	1117	chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s
gabrieltetar	1:7e925468f9d9	1118	gameTimer.start();
gabrieltetar	1:7e925468f9d9	1119	}
gabrieltetar	1:7e925468f9d9	1120	gameTimer.reset();
gabrieltetar	1:7e925468f9d9	1121	jack.fall(NULL);//On désactive l'interruption du jack
gabrieltetar	1:7e925468f9d9	1122	//SendRawId(GLOBAL_START);
gabrieltetar	1:7e925468f9d9	1123	Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
gabrieltetar	1:7e925468f9d9	1124	//tactile_printf("Start");//Pas vraiment utile mais bon
gabrieltetar	1:7e925468f9d9	1125	break;
gabrieltetar	1:7e925468f9d9	1126	case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1127	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1128	/*
gabrieltetar	1:7e925468f9d9	1129	Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
gabrieltetar	1:7e925468f9d9	1130	*/
gabrieltetar	1:7e925468f9d9	1131	//printf("load next instruction\n");
gabrieltetar	1:7e925468f9d9	1132	if(dodgeq.nb > 0){//dodge q
gabrieltetar	1:7e925468f9d9	1133	instruction.order=dodgeq.inst[dodgeq.nb-1].order;
gabrieltetar	1:7e925468f9d9	1134	instruction.arg1=dodgeq.inst[dodgeq.nb-1].arg1;
gabrieltetar	1:7e925468f9d9	1135	instruction.arg2=dodgeq.inst[dodgeq.nb-1].arg2;
gabrieltetar	1:7e925468f9d9	1136	instruction.arg3=dodgeq.inst[dodgeq.nb-1].arg3;
gabrieltetar	1:7e925468f9d9	1137	gameEtat=ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1138	dodgeq.nb--;
gabrieltetar	1:7e925468f9d9	1139	}//end dodge q
gabrieltetar	1:7e925468f9d9	1140	else{// no dodge q
gabrieltetar	1:7e925468f9d9	1141	if(actual_instruction >= nb_instructions \|\| actual_instruction == 255) {
gabrieltetar	1:7e925468f9d9	1142	gameEtat = ETAT_END;
gabrieltetar	1:7e925468f9d9	1143	//Il n'y a plus d'instruction, fin du jeu
gabrieltetar	1:7e925468f9d9	1144	} else {
gabrieltetar	1:7e925468f9d9	1145	instruction = strat_instructions[actual_instruction];
gabrieltetar	1:7e925468f9d9	1146	//On effectue le traitement de l'instruction
gabrieltetar	1:7e925468f9d9	1147	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1148	}
gabrieltetar	1:7e925468f9d9	1149	}//end no dodge q
gabrieltetar	1:7e925468f9d9	1150	screenChecktry = 0;
gabrieltetar	1:7e925468f9d9	1151	ingnorInversionOnce = 0;
gabrieltetar	1:7e925468f9d9	1152	break;
gabrieltetar	1:7e925468f9d9	1153	case ETAT_GAME_PROCESS_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1154	/*
gabrieltetar	1:7e925468f9d9	1155	Traitement de l'instruction, envoie de la trame CAN
gabrieltetar	1:7e925468f9d9	1156	*/
gabrieltetar	1:7e925468f9d9	1157	//debug_Instruction(instruction);
gabrieltetar	1:7e925468f9d9	1158	//affichage_debug(gameEtat);
gabrieltetar	1:7e925468f9d9	1159	//rn42_Tx.printf("A");//lance l'electron
gabrieltetar	1:7e925468f9d9	1160	actionPrecedente = instruction.order;
gabrieltetar	1:7e925468f9d9	1161	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1162	case MV_BEZIER: {
gabrieltetar	1:7e925468f9d9	1163	static vector< vector<short> >P1;
gabrieltetar	1:7e925468f9d9	1164	static vector< vector<short> >C1;
gabrieltetar	1:7e925468f9d9	1165	static vector< vector<short> >C2;
gabrieltetar	1:7e925468f9d9	1166	static int i = 0;
gabrieltetar	1:7e925468f9d9	1167
gabrieltetar	1:7e925468f9d9	1168	//Ajoute une ligne aux tableaux pour chaques courbes de la trajectoire
gabrieltetar	1:7e925468f9d9	1169	P1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1170	C1.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1171	C2.push_back(vector<short>()); //Nouvelle ligne
gabrieltetar	1:7e925468f9d9	1172
gabrieltetar	1:7e925468f9d9	1173	P1[i].push_back(instruction.arg1); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1174	C1[i].push_back(instruction.arg3); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1175	C2[i].push_back(instruction.arg5); //Nouvelle colonne X
gabrieltetar	1:7e925468f9d9	1176
gabrieltetar	1:7e925468f9d9	1177	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1178	P1[i].push_back(3000-instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1179	C1[i].push_back(3000-instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1180	C2[i].push_back(3000-instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1181	} else {
gabrieltetar	1:7e925468f9d9	1182	P1[i].push_back(instruction.arg2); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1183	C1[i].push_back(instruction.arg4); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1184	C2[i].push_back(instruction.arg6); //Nouvelle colonne Y
gabrieltetar	1:7e925468f9d9	1185	}
gabrieltetar	1:7e925468f9d9	1186
gabrieltetar	1:7e925468f9d9	1187	i++;
gabrieltetar	1:7e925468f9d9	1188
gabrieltetar	1:7e925468f9d9	1189	if(instruction.nextActionType == WAIT) { //Si il n'y a qu'une seule courbe ou que c'est la dernière courbe de la trajectoire
gabrieltetar	1:7e925468f9d9	1190	//Passage des points dans des variables temporaires pour pouvoir clear les vector avant d'être bloqué dans l'attente de l'ack
gabrieltetar	1:7e925468f9d9	1191	//Empeche les vector de ne pas être reset si l'ack n'est pas reçu avant la fin du match
gabrieltetar	1:7e925468f9d9	1192	int nbCourbes = P1.size();
gabrieltetar	1:7e925468f9d9	1193	short P1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1194	short C1_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1195	short C2_temp[nbCourbes][2];
gabrieltetar	1:7e925468f9d9	1196
gabrieltetar	1:7e925468f9d9	1197	for(int j=0; j<nbCourbes; j++) {
gabrieltetar	1:7e925468f9d9	1198	for(int i=0; i<2; i++) {
gabrieltetar	1:7e925468f9d9	1199	P1_temp[j][i] = P1[j][i];
gabrieltetar	1:7e925468f9d9	1200	C1_temp[j][i] = C1[j][i];
gabrieltetar	1:7e925468f9d9	1201	C2_temp[j][i] = C2[j][i];
gabrieltetar	1:7e925468f9d9	1202	}
gabrieltetar	1:7e925468f9d9	1203	}
gabrieltetar	1:7e925468f9d9	1204
gabrieltetar	1:7e925468f9d9	1205	//Clear des tableaux de points pour la prochaine trajectoire
gabrieltetar	1:7e925468f9d9	1206	P1.clear();
gabrieltetar	1:7e925468f9d9	1207	C1.clear();
gabrieltetar	1:7e925468f9d9	1208	C2.clear();
gabrieltetar	1:7e925468f9d9	1209	i = 0;
gabrieltetar	1:7e925468f9d9	1210
gabrieltetar	1:7e925468f9d9	1211	//Calcul de la courbe et envoi des valeurs
gabrieltetar	1:7e925468f9d9	1212	if(instruction.direction == FORWARD) {
gabrieltetar	1:7e925468f9d9	1213	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 0);
gabrieltetar	1:7e925468f9d9	1214	} else if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1215	courbeBezier(nbCourbes, P1_temp, C1_temp, C2_temp, 1);
gabrieltetar	1:7e925468f9d9	1216	}
gabrieltetar	1:7e925468f9d9	1217
gabrieltetar	1:7e925468f9d9	1218	waitingAckID = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1219	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1220	}
gabrieltetar	1:7e925468f9d9	1221	break;
gabrieltetar	1:7e925468f9d9	1222	}
gabrieltetar	1:7e925468f9d9	1223	case MV_COURBURE://C'est un rayon de courbure
gabrieltetar	10:1964bb91b925	1224	Debug_Audio(3,6);
gabrieltetar	1:7e925468f9d9	1225	float alpha=0, theta=0;
gabrieltetar	1:7e925468f9d9	1226	unsigned short alph=0;
gabrieltetar	1:7e925468f9d9	1227	actionPrecedente = MV_COURBURE;
gabrieltetar	1:7e925468f9d9	1228	waitingAckID = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1229	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1230	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1231	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1232	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1233	} else {
gabrieltetar	1:7e925468f9d9	1234	if(MV_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1235	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1236	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1237	} else {
gabrieltetar	1:7e925468f9d9	1238	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1239	}
gabrieltetar	1:7e925468f9d9	1240	}
gabrieltetar	1:7e925468f9d9	1241	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1242	if(instruction.direction == LEFT) instruction.direction = RIGHT;
gabrieltetar	1:7e925468f9d9	1243	else instruction.direction = LEFT;
gabrieltetar	1:7e925468f9d9	1244	}
gabrieltetar	1:7e925468f9d9	1245
gabrieltetar	1:7e925468f9d9	1246	localData1 = ((instruction.direction == LEFT)?1:-1);
gabrieltetar	1:7e925468f9d9	1247	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1248	/*if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1249	localData1 = -localData1;//Inversion de la direction
gabrieltetar	1:7e925468f9d9	1250	}*/
gabrieltetar	1:7e925468f9d9	1251
gabrieltetar	1:7e925468f9d9	1252	BendRadius(instruction.arg1, localData2, localData1, localData5);
gabrieltetar	1:7e925468f9d9	1253	if(localData2>0) {
gabrieltetar	1:7e925468f9d9	1254	direction=1;
gabrieltetar	1:7e925468f9d9	1255	} else {
gabrieltetar	1:7e925468f9d9	1256	direction=-1;
gabrieltetar	1:7e925468f9d9	1257	}
gabrieltetar	1:7e925468f9d9	1258	if(localData2>0)alph=localData2;
gabrieltetar	1:7e925468f9d9	1259	else alph=-localData2;
gabrieltetar	1:7e925468f9d9	1260	alpha = localData2*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1261	theta = theta_robot*M_PI/1800.0f;
gabrieltetar	1:7e925468f9d9	1262
gabrieltetar	1:7e925468f9d9	1263	if(instruction.direction == LEFT) { //-------------LEFT
gabrieltetar	1:7e925468f9d9	1264	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1265	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1266	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1267	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1268	dodgeq.inst[0].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1269	}
gabrieltetar	1:7e925468f9d9	1270	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1271	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1272	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1273	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1274	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1275	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1276	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1277	alph-=alph/2;
gabrieltetar	1:7e925468f9d9	1278	}
gabrieltetar	1:7e925468f9d9	1279	}
gabrieltetar	1:7e925468f9d9	1280	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1281	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1282	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1283	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1284	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1285	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1286	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1287	alph-=alph/3;
gabrieltetar	1:7e925468f9d9	1288	}
gabrieltetar	1:7e925468f9d9	1289	}
gabrieltetar	1:7e925468f9d9	1290	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1291	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1292	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1293	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1294	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1295	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1296	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1297	alph-=alph/4;
gabrieltetar	1:7e925468f9d9	1298	}
gabrieltetar	1:7e925468f9d9	1299	}
gabrieltetar	1:7e925468f9d9	1300	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1301	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1302	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1303	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1304	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1305	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1306	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1307	alph-=alph/5;
gabrieltetar	1:7e925468f9d9	1308	}
gabrieltetar	1:7e925468f9d9	1309	}
gabrieltetar	1:7e925468f9d9	1310	else {
gabrieltetar	1:7e925468f9d9	1311	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1312	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1313	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X
gabrieltetar	1:7e925468f9d9	1314	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y
gabrieltetar	1:7e925468f9d9	1315	dodgeq.inst[c].arg3 = theta_robot + alph;// T
gabrieltetar	1:7e925468f9d9	1316	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1317	alph-=alph/6;
gabrieltetar	1:7e925468f9d9	1318	}
gabrieltetar	1:7e925468f9d9	1319	}
gabrieltetar	1:7e925468f9d9	1320	} else { //-----------------------------------------RIGHT
gabrieltetar	1:7e925468f9d9	1321	if(alph<450){ // 1 XYT
gabrieltetar	1:7e925468f9d9	1322	dodgeq.inst[0].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1323	dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1324	dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1325	dodgeq.inst[0].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1326	}
gabrieltetar	1:7e925468f9d9	1327	else if(alph<900){
gabrieltetar	1:7e925468f9d9	1328	for(int c=0;c<2;c++){ // 2 points de passages
gabrieltetar	1:7e925468f9d9	1329	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1330	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1331	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1332	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1333	alpha-=alpha/2.0f;
gabrieltetar	1:7e925468f9d9	1334	}
gabrieltetar	1:7e925468f9d9	1335	}
gabrieltetar	1:7e925468f9d9	1336	else if(alph<1350){
gabrieltetar	1:7e925468f9d9	1337	for(int c=0;c<3;c++){ // 3 points de passages
gabrieltetar	1:7e925468f9d9	1338	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1339	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1340	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1341	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1342	alpha-=alpha/3.0f;
gabrieltetar	1:7e925468f9d9	1343	}
gabrieltetar	1:7e925468f9d9	1344	}
gabrieltetar	1:7e925468f9d9	1345	else if(alph<1800){
gabrieltetar	1:7e925468f9d9	1346	for(int c=0;c<4;c++){ // 4 points de passages
gabrieltetar	1:7e925468f9d9	1347	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1348	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1349	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1350	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1351	alpha-=alpha/4.0f;
gabrieltetar	1:7e925468f9d9	1352	}
gabrieltetar	1:7e925468f9d9	1353	}
gabrieltetar	1:7e925468f9d9	1354	else if(alph<2250){
gabrieltetar	1:7e925468f9d9	1355	for(int c=0;c<5;c++){ // 5 points de passages
gabrieltetar	1:7e925468f9d9	1356	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1357	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1358	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1359	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1360	alpha-=alpha/5.0f;
gabrieltetar	1:7e925468f9d9	1361	}
gabrieltetar	1:7e925468f9d9	1362	}
gabrieltetar	1:7e925468f9d9	1363	else {
gabrieltetar	1:7e925468f9d9	1364	for(int c=0;c<6;c++){ // 6 points de passages
gabrieltetar	1:7e925468f9d9	1365	dodgeq.inst[c].order = MV_XYT;
gabrieltetar	1:7e925468f9d9	1366	dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X
gabrieltetar	1:7e925468f9d9	1367	dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y
gabrieltetar	1:7e925468f9d9	1368	dodgeq.inst[c].arg3 = theta_robot - alph;// T
gabrieltetar	1:7e925468f9d9	1369	alpha-=alpha/6.0f;
gabrieltetar	1:7e925468f9d9	1370	}
gabrieltetar	1:7e925468f9d9	1371	}
gabrieltetar	1:7e925468f9d9	1372	}
gabrieltetar	1:7e925468f9d9	1373	break;
gabrieltetar	1:7e925468f9d9	1374
gabrieltetar	1:7e925468f9d9	1375
gabrieltetar	1:7e925468f9d9	1376
gabrieltetar	1:7e925468f9d9	1377	case MV_LINE://Ligne droite
gabrieltetar	10:1964bb91b925	1378	Debug_Audio(3,8);
gabrieltetar	1:7e925468f9d9	1379	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1380	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1381	if(instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1382	MV_enchainement++;
gabrieltetar	1:7e925468f9d9	1383	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1384	} else {
gabrieltetar	1:7e925468f9d9	1385	if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
gabrieltetar	1:7e925468f9d9	1386	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1387	MV_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1388	} else {
gabrieltetar	1:7e925468f9d9	1389	localData5 = 0;
gabrieltetar	1:7e925468f9d9	1390	}
gabrieltetar	1:7e925468f9d9	1391	}
gabrieltetar	1:7e925468f9d9	1392	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1393	GoStraight(localData2, 0, 0, localData5);
gabrieltetar	1:7e925468f9d9	1394
gabrieltetar	1:7e925468f9d9	1395	target_x_robot = x_robot + localData2cos((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1396	target_y_robot = y_robot + localData2sin((double)theta_robotM_PI/1800);
gabrieltetar	1:7e925468f9d9	1397	target_theta_robot = theta_robot;
gabrieltetar	1:7e925468f9d9	1398
gabrieltetar	1:7e925468f9d9	1399	break;
gabrieltetar	1:7e925468f9d9	1400	case MV_TURN: //Rotation sur place
gabrieltetar	10:1964bb91b925	1401	Debug_Audio(3,9);
gabrieltetar	1:7e925468f9d9	1402	target_x_robot = x_robot;
gabrieltetar	1:7e925468f9d9	1403	target_y_robot = y_robot;
gabrieltetar	1:7e925468f9d9	1404	target_theta_robot = theta_robot + localData2;
gabrieltetar	1:7e925468f9d9	1405	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1406
gabrieltetar	1:7e925468f9d9	1407	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1408	localData2 = -localData2;
gabrieltetar	1:7e925468f9d9	1409	}
gabrieltetar	1:7e925468f9d9	1410
gabrieltetar	1:7e925468f9d9	1411
gabrieltetar	1:7e925468f9d9	1412	if(instruction.direction == ABSOLUTE) {
gabrieltetar	1:7e925468f9d9	1413	//C'est un rotation absolu, il faut la convertir en relative
gabrieltetar	1:7e925468f9d9	1414
gabrieltetar	1:7e925468f9d9	1415	localData2 = (localData2 - theta_robot)%3600;
gabrieltetar	1:7e925468f9d9	1416	if(localData2 > 1800) localData2 = localData2-3600;
gabrieltetar	1:7e925468f9d9	1417
gabrieltetar	1:7e925468f9d9	1418	else if(localData2 <-1800) localData2 = localData2+3600;
gabrieltetar	1:7e925468f9d9	1419	}
gabrieltetar	1:7e925468f9d9	1420
gabrieltetar	1:7e925468f9d9	1421
gabrieltetar	1:7e925468f9d9	1422	waitingAckID = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1423	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1424	Rotate(localData2);
gabrieltetar	1:7e925468f9d9	1425
gabrieltetar	1:7e925468f9d9	1426	break;
gabrieltetar	1:7e925468f9d9	1427	case MV_XYT:
gabrieltetar	10:1964bb91b925	1428	Debug_Audio(3,10);
gabrieltetar	1:7e925468f9d9	1429	if(instruction.direction == BACKWARD) {
gabrieltetar	1:7e925468f9d9	1430	localData1 = -1;
gabrieltetar	1:7e925468f9d9	1431	} else {
gabrieltetar	1:7e925468f9d9	1432	localData1 = 1;
gabrieltetar	1:7e925468f9d9	1433	}
gabrieltetar	1:7e925468f9d9	1434
gabrieltetar	1:7e925468f9d9	1435	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1436	localData2 = -instruction.arg3;
gabrieltetar	1:7e925468f9d9	1437	localData3 = 3000 - instruction.arg2;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1438	} else {
gabrieltetar	1:7e925468f9d9	1439	localData3 = instruction.arg2;
gabrieltetar	1:7e925468f9d9	1440	localData2 = instruction.arg3;
gabrieltetar	1:7e925468f9d9	1441	}
gabrieltetar	1:7e925468f9d9	1442
gabrieltetar	1:7e925468f9d9	1443	GoToPosition(instruction.arg1,localData3,localData2,localData1);
gabrieltetar	1:7e925468f9d9	1444	waitingAckID = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1445	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1446
gabrieltetar	1:7e925468f9d9	1447	target_x_robot = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1448	target_y_robot = localData3;
gabrieltetar	1:7e925468f9d9	1449	target_theta_robot = localData2;
gabrieltetar	1:7e925468f9d9	1450
gabrieltetar	1:7e925468f9d9	1451	break;
gabrieltetar	1:7e925468f9d9	1452	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1453	if(instruction.nextActionType == MECANIQUE) {
gabrieltetar	1:7e925468f9d9	1454	instruction.nextActionType = WAIT;
gabrieltetar	1:7e925468f9d9	1455
gabrieltetar	1:7e925468f9d9	1456	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1457	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1458
gabrieltetar	1:7e925468f9d9	1459	localData2 = (((instruction.direction == FORWARD)?1:-1)*3000);//On indique une distance de 3000 pour etre sur que le robot va ce recaler
gabrieltetar	1:7e925468f9d9	1460
gabrieltetar	1:7e925468f9d9	1461	if(instruction.precision == RECALAGE_Y) {
gabrieltetar	1:7e925468f9d9	1462	localData5 = 2;
gabrieltetar	1:7e925468f9d9	1463	if(InversStrat == 1 && ingnorInversionOnce == 0) {
gabrieltetar	1:7e925468f9d9	1464	localData3 = 3000 - instruction.arg1;//Inversion du Y
gabrieltetar	1:7e925468f9d9	1465	} else {
gabrieltetar	1:7e925468f9d9	1466	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1467	}
gabrieltetar	1:7e925468f9d9	1468	} else {
gabrieltetar	1:7e925468f9d9	1469	localData5 = 1;
gabrieltetar	1:7e925468f9d9	1470	localData3 = instruction.arg1;
gabrieltetar	1:7e925468f9d9	1471	}
gabrieltetar	1:7e925468f9d9	1472	GoStraight(localData2, localData5, localData3, 0);
gabrieltetar	1:7e925468f9d9	1473	} else { //CAPTEUR
gabrieltetar	1:7e925468f9d9	1474	SendRawId(DATA_RECALAGE);
gabrieltetar	1:7e925468f9d9	1475	waitingAckID = RECEPTION_RECALAGE;
gabrieltetar	1:7e925468f9d9	1476	waitingAckFrom = ACKNOWLEDGE_TELEMETRE;
gabrieltetar	1:7e925468f9d9	1477
gabrieltetar	1:7e925468f9d9	1478	// On attend que les variables soient actualisé
gabrieltetar	1:7e925468f9d9	1479	while(!(waitingAckID == 0 && waitingAckFrom == 0))
gabrieltetar	1:7e925468f9d9	1480	canProcessRx();
gabrieltetar	1:7e925468f9d9	1481	while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0))
gabrieltetar	1:7e925468f9d9	1482	canProcessRx();
gabrieltetar	1:7e925468f9d9	1483
gabrieltetar	1:7e925468f9d9	1484	if(instruction.precision == RECALAGE_Y) { // ((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600)) (theta_robot < 900 && theta_robot > -900)
gabrieltetar	1:7e925468f9d9	1485	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot);
gabrieltetar	1:7e925468f9d9	1486	} else if(instruction.precision == RECALAGE_X) {
gabrieltetar	1:7e925468f9d9	1487	SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1488	} else if(instruction.precision == RECALAGE_T) {
gabrieltetar	1:7e925468f9d9	1489	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() );
gabrieltetar	1:7e925468f9d9	1490	}
gabrieltetar	1:7e925468f9d9	1491	}
gabrieltetar	1:7e925468f9d9	1492	break;
gabrieltetar	1:7e925468f9d9	1493
gabrieltetar	1:7e925468f9d9	1494	case ACTION:
gabrieltetar	1:7e925468f9d9	1495
gabrieltetar	1:7e925468f9d9	1496	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1497	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1498	int tempo = 0;
gabrieltetar	1:7e925468f9d9	1499	waitingAckID= ACK_ACTION; //On veut un ack de type action
gabrieltetar	1:7e925468f9d9	1500	waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
gabrieltetar	14:6aa8aa1699ad	1501	tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
gabrieltetar	1:7e925468f9d9	1502	// unsigned char test=(unsigned char) tempo;
gabrieltetar	1:7e925468f9d9	1503	// SendMsgCan(0x5BD, &test,1);
gabrieltetar	1:7e925468f9d9	1504	if(tempo == 1) {
gabrieltetar	1:7e925468f9d9	1505	//L'action est spécifique
gabrieltetar	1:7e925468f9d9	1506	if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) {
gabrieltetar	1:7e925468f9d9	1507	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1508	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1509	} else {
gabrieltetar	1:7e925468f9d9	1510	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1511	}
gabrieltetar	1:7e925468f9d9	1512	return;
gabrieltetar	1:7e925468f9d9	1513	} else if (tempo == 2) {
gabrieltetar	1:7e925468f9d9	1514	// on est dans le cas de l'avance selon le telemetre
gabrieltetar	1:7e925468f9d9	1515	waitingAckID = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1516	waitingAckFrom = ACKNOWLEDGE_MOTEUR;
gabrieltetar	1:7e925468f9d9	1517
gabrieltetar	1:7e925468f9d9	1518	localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
gabrieltetar	1:7e925468f9d9	1519	GoStraight(telemetreDistance, 0, 0, 0);
gabrieltetar	1:7e925468f9d9	1520	// on reset la distance du telemetre à 0
gabrieltetar	1:7e925468f9d9	1521	telemetreDistance = 5000;
gabrieltetar	1:7e925468f9d9	1522	} else {
gabrieltetar	1:7e925468f9d9	1523	//C'est un AX12 qu'il faut bouger
gabrieltetar	1:7e925468f9d9	1524	//AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
gabrieltetar	1:7e925468f9d9	1525	//AX12_enchainement++;
gabrieltetar	1:7e925468f9d9	1526
gabrieltetar	1:7e925468f9d9	1527	}
gabrieltetar	1:7e925468f9d9	1528	break;
gabrieltetar	1:7e925468f9d9	1529	default:
gabrieltetar	1:7e925468f9d9	1530	//Instruction inconnue, on l'ignore
gabrieltetar	1:7e925468f9d9	1531	break;
gabrieltetar	1:7e925468f9d9	1532	}
gabrieltetar	1:7e925468f9d9	1533
gabrieltetar	1:7e925468f9d9	1534	if(instruction.nextActionType == JUMP \|\| instruction.nextActionType == WAIT) {
gabrieltetar	1:7e925468f9d9	1535	gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
gabrieltetar	1:7e925468f9d9	1536	screenChecktry++;//On incrèment le conteur de tentative de 1
gabrieltetar	1:7e925468f9d9	1537	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1538	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1539	if(AX12_enchainement > 0) {
gabrieltetar	1:7e925468f9d9	1540	//AX12_processChange();//Il faut lancer le déplacement des AX12
gabrieltetar	1:7e925468f9d9	1541	//AX12_enchainement = 0;
gabrieltetar	1:7e925468f9d9	1542	}
gabrieltetar	1:7e925468f9d9	1543	} else { //C'est un enchainement
gabrieltetar	1:7e925468f9d9	1544	if(instruction.order == MV_LINE) {
gabrieltetar	1:7e925468f9d9	1545	gameEtat = ETAT_GAME_WAIT_ACK;
gabrieltetar	1:7e925468f9d9	1546	} else {
gabrieltetar	1:7e925468f9d9	1547	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1548	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
gabrieltetar	1:7e925468f9d9	1549	}
gabrieltetar	1:7e925468f9d9	1550	}
gabrieltetar	1:7e925468f9d9	1551
gabrieltetar	1:7e925468f9d9	1552	break;
gabrieltetar	1:7e925468f9d9	1553	case ETAT_GAME_WAIT_ACK:
gabrieltetar	1:7e925468f9d9	1554	canProcessRx();
gabrieltetar	1:7e925468f9d9	1555	//SendSpeed(200);//--------------------------------------------------MODE RALENTI !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
gabrieltetar	1:7e925468f9d9	1556	if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
gabrieltetar	1:7e925468f9d9	1557	//if(true) {
gabrieltetar	1:7e925468f9d9	1558	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1559	if(instruction.nextActionType == JUMP) {
gabrieltetar	1:7e925468f9d9	1560	if(instruction.jumpAction == JUMP_POSITION) {
gabrieltetar	1:7e925468f9d9	1561	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1562	} else { //Pour eviter les erreurs, on dit que c'est par défaut un jump time
gabrieltetar	1:7e925468f9d9	1563	gameEtat = ETAT_GAME_JUMP_TIME;
gabrieltetar	1:7e925468f9d9	1564	cartesCheker.reset();//On reset le timeOut
gabrieltetar	1:7e925468f9d9	1565	cartesCheker.start();
gabrieltetar	1:7e925468f9d9	1566	}
gabrieltetar	1:7e925468f9d9	1567	} else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
gabrieltetar	1:7e925468f9d9	1568	/*wait_ms(200);
gabrieltetar	1:7e925468f9d9	1569	#ifdef ROBOT_BIG
gabrieltetar	1:7e925468f9d9	1570	SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1571	#else
gabrieltetar	1:7e925468f9d9	1572	SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	1573	#endif
gabrieltetar	1:7e925468f9d9	1574	wait_ms(200);*/
gabrieltetar	1:7e925468f9d9	1575
gabrieltetar	1:7e925468f9d9	1576	gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1577	switch(instruction.order) {
gabrieltetar	1:7e925468f9d9	1578	case MV_BEZIER:
gabrieltetar	1:7e925468f9d9	1579	waitingAckID_FIN = ASSERVISSEMENT_BEZIER;
gabrieltetar	1:7e925468f9d9	1580	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1581	break;
gabrieltetar	1:7e925468f9d9	1582	case MV_COURBURE:
gabrieltetar	1:7e925468f9d9	1583	waitingAckID_FIN = ASSERVISSEMENT_COURBURE;
gabrieltetar	1:7e925468f9d9	1584	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1585	break;
gabrieltetar	1:7e925468f9d9	1586	case MV_LINE:
gabrieltetar	1:7e925468f9d9	1587	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1588	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1589	break;
gabrieltetar	1:7e925468f9d9	1590	case MV_TURN:
gabrieltetar	1:7e925468f9d9	1591	waitingAckID_FIN = ASSERVISSEMENT_ROTATION;
gabrieltetar	1:7e925468f9d9	1592	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1593	break;
gabrieltetar	1:7e925468f9d9	1594	case MV_XYT:
gabrieltetar	1:7e925468f9d9	1595	waitingAckID_FIN = ASSERVISSEMENT_XYT;
gabrieltetar	1:7e925468f9d9	1596	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1597	break;
gabrieltetar	1:7e925468f9d9	1598	case MV_RECALAGE:
gabrieltetar	1:7e925468f9d9	1599	waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1600	waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1601	break;
gabrieltetar	1:7e925468f9d9	1602	case ACTION:
gabrieltetar	1:7e925468f9d9	1603
gabrieltetar	1:7e925468f9d9	1604	if (modeTelemetre == 0) {
gabrieltetar	1:7e925468f9d9	1605	if (telemetreDistance == 0) {
gabrieltetar	1:7e925468f9d9	1606	waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action
gabrieltetar	1:7e925468f9d9	1607	waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
gabrieltetar	1:7e925468f9d9	1608	} else if(telemetreDistance == 5000) {
gabrieltetar	1:7e925468f9d9	1609	// on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
gabrieltetar	1:7e925468f9d9	1610	//waitingAckID_FIN = ASSERVISSEMENT_RECALAGE;
gabrieltetar	1:7e925468f9d9	1611	//waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR;
gabrieltetar	1:7e925468f9d9	1612	telemetreDistance = 0;
gabrieltetar	1:7e925468f9d9	1613	}
gabrieltetar	1:7e925468f9d9	1614	} else { // si on attend la reponse du telemetre
gabrieltetar	1:7e925468f9d9	1615	//modeTelemetre = 1;
gabrieltetar	1:7e925468f9d9	1616	waitingAckID_FIN = OBJET_SUR_TABLE;
gabrieltetar	1:7e925468f9d9	1617	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1618	}
gabrieltetar	1:7e925468f9d9	1619	break;
gabrieltetar	1:7e925468f9d9	1620	default:
gabrieltetar	1:7e925468f9d9	1621	break;
gabrieltetar	1:7e925468f9d9	1622	}
gabrieltetar	1:7e925468f9d9	1623	} else {
gabrieltetar	1:7e925468f9d9	1624	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1625	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1626	}
gabrieltetar	1:7e925468f9d9	1627	} else if(cartesCheker.read_ms () > 1000) {
gabrieltetar	1:7e925468f9d9	1628	cartesCheker.stop();
gabrieltetar	1:7e925468f9d9	1629	if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
gabrieltetar	1:7e925468f9d9	1630	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1631	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1632	} else {
gabrieltetar	1:7e925468f9d9	1633	gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
gabrieltetar	1:7e925468f9d9	1634	}
gabrieltetar	1:7e925468f9d9	1635	}
gabrieltetar	1:7e925468f9d9	1636	break;
gabrieltetar	1:7e925468f9d9	1637
gabrieltetar	1:7e925468f9d9	1638	case ETAT_GAME_JUMP_TIME:
gabrieltetar	1:7e925468f9d9	1639	if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1640	cartesCheker.stop();//On arrete le timer
gabrieltetar	1:7e925468f9d9	1641	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1642	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1643	}
gabrieltetar	1:7e925468f9d9	1644	break;
gabrieltetar	1:7e925468f9d9	1645
gabrieltetar	1:7e925468f9d9	1646	case ETAT_GAME_JUMP_CONFIG:
gabrieltetar	1:7e925468f9d9	1647	signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
gabrieltetar	1:7e925468f9d9	1648	// 1 si l'instruction est plus grande que la position du robot
gabrieltetar	1:7e925468f9d9	1649	// -1 si l'instruction est plus petite que la position du robot
gabrieltetar	1:7e925468f9d9	1650	// 0 si l'instruction et position du robot sont proche de moins de 1cm
gabrieltetar	1:7e925468f9d9	1651	if (abs(x_robot-instruction.JumpTimeOrX)<10) {
gabrieltetar	1:7e925468f9d9	1652	depasX = 0;
gabrieltetar	1:7e925468f9d9	1653	} else if(x_robot > instruction.JumpTimeOrX) {
gabrieltetar	1:7e925468f9d9	1654	depasX = -1;
gabrieltetar	1:7e925468f9d9	1655	}
gabrieltetar	1:7e925468f9d9	1656
gabrieltetar	1:7e925468f9d9	1657	if(abs(y_robot-instruction.JumpY)<10) {
gabrieltetar	1:7e925468f9d9	1658	depasY = 0;
gabrieltetar	1:7e925468f9d9	1659	} else if(y_robot > instruction.JumpY) {
gabrieltetar	1:7e925468f9d9	1660	depasY = -1;
gabrieltetar	1:7e925468f9d9	1661	}
gabrieltetar	1:7e925468f9d9	1662
gabrieltetar	1:7e925468f9d9	1663	gameEtat = ETAT_GAME_JUMP_POSITION;
gabrieltetar	1:7e925468f9d9	1664	break;
gabrieltetar	1:7e925468f9d9	1665	case ETAT_GAME_JUMP_POSITION:
gabrieltetar	1:7e925468f9d9	1666	bool Xok = false, Yok = false;
gabrieltetar	1:7e925468f9d9	1667
gabrieltetar	1:7e925468f9d9	1668	if (depasX == 0) {
gabrieltetar	1:7e925468f9d9	1669	Xok = true;
gabrieltetar	1:7e925468f9d9	1670	} else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5) {
gabrieltetar	1:7e925468f9d9	1671	Xok = true;
gabrieltetar	1:7e925468f9d9	1672	}
gabrieltetar	1:7e925468f9d9	1673
gabrieltetar	1:7e925468f9d9	1674	if (depasY == 0) {
gabrieltetar	1:7e925468f9d9	1675	Yok = true;
gabrieltetar	1:7e925468f9d9	1676	} else if ((instruction.JumpY - y_robot)*depasY < -5) {
gabrieltetar	1:7e925468f9d9	1677	Yok = true;
gabrieltetar	1:7e925468f9d9	1678	}
gabrieltetar	1:7e925468f9d9	1679
gabrieltetar	1:7e925468f9d9	1680	// on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
gabrieltetar	1:7e925468f9d9	1681	if (Xok && Yok) {
gabrieltetar	1:7e925468f9d9	1682	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1683	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1684	}
gabrieltetar	1:7e925468f9d9	1685
gabrieltetar	1:7e925468f9d9	1686	break;
gabrieltetar	1:7e925468f9d9	1687	case ETAT_GAME_WAIT_END_INSTRUCTION:
gabrieltetar	1:7e925468f9d9	1688	canProcessRx();
gabrieltetar	1:7e925468f9d9	1689	if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée
gabrieltetar	1:7e925468f9d9	1690	actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
gabrieltetar	1:7e925468f9d9	1691	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
gabrieltetar	1:7e925468f9d9	1692	}
gabrieltetar	1:7e925468f9d9	1693
gabrieltetar	1:7e925468f9d9	1694	break;
gabrieltetar	1:7e925468f9d9	1695
gabrieltetar	1:7e925468f9d9	1696	case ETAT_END:
gabrieltetar	10:1964bb91b925	1697	Debug_Audio(3,4);
gabrieltetar	1:7e925468f9d9	1698	if (ModeDemo) {
gabrieltetar	1:7e925468f9d9	1699	gameEtat = ETAT_CHECK_CARTE_SCREEN;
gabrieltetar	1:7e925468f9d9	1700	ModeDemo = 1;
gabrieltetar	1:7e925468f9d9	1701	} else {
gabrieltetar	1:7e925468f9d9	1702	gameEtat = ETAT_END_LOOP;
gabrieltetar	1:7e925468f9d9	1703	}
gabrieltetar	1:7e925468f9d9	1704	break;
gabrieltetar	1:7e925468f9d9	1705	case ETAT_END_LOOP:
gabrieltetar	1:7e925468f9d9	1706	//Rien, on tourne en rond
gabrieltetar	1:7e925468f9d9	1707
gabrieltetar	1:7e925468f9d9	1708	break;
gabrieltetar	1:7e925468f9d9	1709	default:
gabrieltetar	1:7e925468f9d9	1710
gabrieltetar	1:7e925468f9d9	1711	break;
gabrieltetar	1:7e925468f9d9	1712	}
gabrieltetar	1:7e925468f9d9	1713	}
gabrieltetar	1:7e925468f9d9	1714
gabrieltetar	1:7e925468f9d9	1715
gabrieltetar	1:7e925468f9d9	1716
gabrieltetar	1:7e925468f9d9	1717
gabrieltetar	1:7e925468f9d9	1718
gabrieltetar	1:7e925468f9d9	1719	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1720	/* FUNCTION NAME: canProcessRx */
gabrieltetar	1:7e925468f9d9	1721	/* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
gabrieltetar	1:7e925468f9d9	1722	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1723	void canProcessRx(void)
gabrieltetar	1:7e925468f9d9	1724	{
gabrieltetar	1:7e925468f9d9	1725	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
gabrieltetar	1:7e925468f9d9	1726	char message[10]="toto";
gabrieltetar	1:7e925468f9d9	1727	char message1[10]="toto";
gabrieltetar	1:7e925468f9d9	1728	char message2[10]="toto";
gabrieltetar	1:7e925468f9d9	1729	char message3[10]="toto";
gabrieltetar	1:7e925468f9d9	1730	char message4[10]="toto";
gabrieltetar	1:7e925468f9d9	1731	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
gabrieltetar	1:7e925468f9d9	1732
gabrieltetar	1:7e925468f9d9	1733	if(FIFO_occupation<0)
gabrieltetar	1:7e925468f9d9	1734	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1735
gabrieltetar	1:7e925468f9d9	1736	if(FIFO_max_occupation<FIFO_occupation) {
gabrieltetar	1:7e925468f9d9	1737	FIFO_max_occupation=FIFO_occupation;
gabrieltetar	1:7e925468f9d9	1738	//SendRawId(
gabrieltetar	1:7e925468f9d9	1739	}
gabrieltetar	1:7e925468f9d9	1740
gabrieltetar	1:7e925468f9d9	1741	if(FIFO_occupation!=0) {
gabrieltetar	1:7e925468f9d9	1742	int identifiant=msgRxBuffer[FIFO_lecture].id;
gabrieltetar	1:7e925468f9d9	1743
gabrieltetar	1:7e925468f9d9	1744	if (waitingId == identifiant) waitingId = 0;
gabrieltetar	1:7e925468f9d9	1745	switch(identifiant) {
gabrieltetar	1:7e925468f9d9	1746
gabrieltetar	1:7e925468f9d9	1747	case ALIVE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1748	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1749
gabrieltetar	1:7e925468f9d9	1750	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1751	lcd.FillRect(0,400,400,150);
gabrieltetar	1:7e925468f9d9	1752	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1753	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1754	lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1755	}
gabrieltetar	1:7e925468f9d9	1756	break;
gabrieltetar	1:7e925468f9d9	1757
gabrieltetar	1:7e925468f9d9	1758	case ALIVE_BALISE:
gabrieltetar	1:7e925468f9d9	1759	if (etat == ATT) {
gabrieltetar	1:7e925468f9d9	1760
gabrieltetar	1:7e925468f9d9	1761	lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1762	lcd.FillRect(0,600,400,150); //carte AX12
gabrieltetar	1:7e925468f9d9	1763	lcd.SetTextColor(LCD_COLOR_BLACK);
gabrieltetar	1:7e925468f9d9	1764	lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
gabrieltetar	1:7e925468f9d9	1765	lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1766	}
gabrieltetar	1:7e925468f9d9	1767	break;
gabrieltetar	1:7e925468f9d9	1768
gabrieltetar	1:7e925468f9d9	1769	case RESET_IHM:
gabrieltetar	1:7e925468f9d9	1770	etat = CHOIX;
gabrieltetar	1:7e925468f9d9	1771	break;
gabrieltetar	1:7e925468f9d9	1772
gabrieltetar	1:7e925468f9d9	1773	case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
gabrieltetar	1:7e925468f9d9	1774	case GLOBAL_JACK:
gabrieltetar	1:7e925468f9d9	1775	if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
gabrieltetar	1:7e925468f9d9	1776	gameEtat = ETAT_GAME_START;
gabrieltetar	1:7e925468f9d9	1777	SendRawId(ACKNOWLEDGE_JACK);
gabrieltetar	1:7e925468f9d9	1778	}
gabrieltetar	1:7e925468f9d9	1779	break;
gabrieltetar	1:7e925468f9d9	1780
gabrieltetar	1:7e925468f9d9	1781	case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1782	case ALIVE_ACTIONNEURS_ARRIERE:
gabrieltetar	1:7e925468f9d9	1783	case ALIVE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1784	case ECRAN_ALL_CHECK:
gabrieltetar	1:7e925468f9d9	1785	if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1786	waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
gabrieltetar	1:7e925468f9d9	1787	}
gabrieltetar	1:7e925468f9d9	1788	flag=1;
gabrieltetar	1:7e925468f9d9	1789	break;
gabrieltetar	1:7e925468f9d9	1790
gabrieltetar	1:7e925468f9d9	1791	case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
gabrieltetar	1:7e925468f9d9	1792	{
gabrieltetar	1:7e925468f9d9	1793
gabrieltetar	1:7e925468f9d9	1794	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1795	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1796	if(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR)
gabrieltetar	1:7e925468f9d9	1797	{
gabrieltetar	1:7e925468f9d9	1798	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1799	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1800	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1801	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1802	} else {
gabrieltetar	1:7e925468f9d9	1803	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1804	timeoutWarningWaitEnd.reset();
gabrieltetar	1:7e925468f9d9	1805	timeoutWarningWaitEnd.start();
gabrieltetar	1:7e925468f9d9	1806	//gameEtat = ETAT_WARING_END_BALISE_WAIT;
gabrieltetar	1:7e925468f9d9	1807	}
gabrieltetar	1:7e925468f9d9	1808	}
gabrieltetar	1:7e925468f9d9	1809	/*
gabrieltetar	1:7e925468f9d9	1810	if(flagNonRepriseErrorMot) {
gabrieltetar	1:7e925468f9d9	1811	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1812	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1813	flagNonRepriseErrorMot = 0;
gabrieltetar	1:7e925468f9d9	1814	} else {
gabrieltetar	1:7e925468f9d9	1815	flagNonRepriseErrorMot = 1;
gabrieltetar	1:7e925468f9d9	1816	gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1817	}*/
gabrieltetar	1:7e925468f9d9	1818	} break;
gabrieltetar	1:7e925468f9d9	1819
gabrieltetar	1:7e925468f9d9	1820	/////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1821	case ACKNOWLEDGE_HERKULEX:
gabrieltetar	1:7e925468f9d9	1822	case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans ACK_FIN_ACTION mais conserve l'ident initial
gabrieltetar	1:7e925468f9d9	1823
gabrieltetar	1:7e925468f9d9	1824	case ACKNOWLEDGE_TELEMETRE:
gabrieltetar	1:7e925468f9d9	1825	/////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
gabrieltetar	1:7e925468f9d9	1826	case ACKNOWLEDGE_MOTEUR:
gabrieltetar	1:7e925468f9d9	1827	case INSTRUCTION_END_BALISE:
gabrieltetar	1:7e925468f9d9	1828	case ACK_FIN_ACTION:
gabrieltetar	1:7e925468f9d9	1829	case INSTRUCTION_END_MOTEUR:
gabrieltetar	1:7e925468f9d9	1830	unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8);
gabrieltetar	1:7e925468f9d9	1831	memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2);
gabrieltetar	1:7e925468f9d9	1832	/*
gabrieltetar	1:7e925468f9d9	1833	//on desactive la balise dans les rotations XYT
gabrieltetar	1:7e925468f9d9	1834	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_XYT==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1835	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_XYT_ROTATE==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1836
gabrieltetar	1:7e925468f9d9	1837	//on desactive la balise dans les rotations
gabrieltetar	1:7e925468f9d9	1838	if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1;
gabrieltetar	1:7e925468f9d9	1839	if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0;
gabrieltetar	1:7e925468f9d9	1840	*/
gabrieltetar	1:7e925468f9d9	1841
gabrieltetar	1:7e925468f9d9	1842	// SendMsgCan(0x666,&ingnorBalise,1);
gabrieltetar	1:7e925468f9d9	1843
gabrieltetar	1:7e925468f9d9	1844	if( waitingAckFrom == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID ) {
gabrieltetar	1:7e925468f9d9	1845	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1846	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1847	}
gabrieltetar	1:7e925468f9d9	1848	if( waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID_FIN ) {
gabrieltetar	1:7e925468f9d9	1849	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1850	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1851	}
gabrieltetar	1:7e925468f9d9	1852
gabrieltetar	1:7e925468f9d9	1853	/*
gabrieltetar	1:7e925468f9d9	1854	if((waitingAckFrom == msgRxBuffer[FIFO_lecture].id) &&
gabrieltetar	1:7e925468f9d9	1855	((unsigned short)msgRxBuffer[FIFO_lecture].data[0] \| (((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID) )
gabrieltetar	1:7e925468f9d9	1856	{
gabrieltetar	1:7e925468f9d9	1857	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1858	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1859	}
gabrieltetar	1:7e925468f9d9	1860	if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]
gabrieltetar	1:7e925468f9d9	1861	\|(((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN))
gabrieltetar	1:7e925468f9d9	1862	{
gabrieltetar	1:7e925468f9d9	1863	waitingAckFrom_FIN = 0;
gabrieltetar	1:7e925468f9d9	1864	waitingAckID_FIN = 0;
gabrieltetar	1:7e925468f9d9	1865	}
gabrieltetar	1:7e925468f9d9	1866	*/
gabrieltetar	1:7e925468f9d9	1867	break;
gabrieltetar	1:7e925468f9d9	1868	case ODOMETRIE_BIG_POSITION:
gabrieltetar	1:7e925468f9d9	1869	case ODOMETRIE_SMALL_POSITION:
gabrieltetar	1:7e925468f9d9	1870
gabrieltetar	1:7e925468f9d9	1871	x_robot=msgRxBuffer[FIFO_lecture].data[0]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
gabrieltetar	1:7e925468f9d9	1872	y_robot=msgRxBuffer[FIFO_lecture].data[2]\|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
gabrieltetar	1:7e925468f9d9	1873	theta_robot=msgRxBuffer[FIFO_lecture].data[4]\|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
gabrieltetar	1:7e925468f9d9	1874	break;
gabrieltetar	1:7e925468f9d9	1875
gabrieltetar	1:7e925468f9d9	1876	case ACK_ACTION:
gabrieltetar	1:7e925468f9d9	1877	if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
gabrieltetar	1:7e925468f9d9	1878	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1879	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1880	}
gabrieltetar	1:7e925468f9d9	1881	break;
gabrieltetar	1:7e925468f9d9	1882
gabrieltetar	1:7e925468f9d9	1883	case BALISE_DANGER :
gabrieltetar	1:7e925468f9d9	1884	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1885	balise_danger();
gabrieltetar	1:7e925468f9d9	1886	break;
gabrieltetar	1:7e925468f9d9	1887
gabrieltetar	1:7e925468f9d9	1888	case BALISE_STOP:
gabrieltetar	1:7e925468f9d9	1889	SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
gabrieltetar	1:7e925468f9d9	1890	balise_stop(FIFO_lecture);
gabrieltetar	1:7e925468f9d9	1891	break;
gabrieltetar	1:7e925468f9d9	1892
gabrieltetar	1:7e925468f9d9	1893	case BALISE_END_DANGER:
gabrieltetar	1:7e925468f9d9	1894	SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
gabrieltetar	1:7e925468f9d9	1895	balise_end_danger(&instruction,&dodgeq,&gameEtat,target_x_robot,target_y_robot,target_theta_robot, theta_robot,x_robot,y_robot);
gabrieltetar	1:7e925468f9d9	1896	break;
gabrieltetar	1:7e925468f9d9	1897
gabrieltetar	1:7e925468f9d9	1898	case RECEPTION_DATA:
gabrieltetar	1:7e925468f9d9	1899	telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
gabrieltetar	1:7e925468f9d9	1900	telemetreDistance= (float)telemetreDistance100.0f35.5f+50.0f;
gabrieltetar	1:7e925468f9d9	1901	waitingAckFrom = 0;
gabrieltetar	1:7e925468f9d9	1902	waitingAckID = 0;
gabrieltetar	1:7e925468f9d9	1903	break;
gabrieltetar	1:7e925468f9d9	1904
gabrieltetar	1:7e925468f9d9	1905	case RECEPTION_RECALAGE:
gabrieltetar	1:7e925468f9d9	1906	wait_us(150);
gabrieltetar	1:7e925468f9d9	1907	flagReceptionTelemetres = 1;
gabrieltetar	1:7e925468f9d9	1908	// telemetreDistance_avant_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]); //on récupère la distance traité par l'autre micro
gabrieltetar	1:7e925468f9d9	1909	memcpy(&telemetreDistance_avant_droite,msgRxBuffer[FIFO_lecture].data,2);
gabrieltetar	1:7e925468f9d9	1910	telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
gabrieltetar	1:7e925468f9d9	1911	telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
gabrieltetar	1:7e925468f9d9	1912	telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
gabrieltetar	1:7e925468f9d9	1913
gabrieltetar	1:7e925468f9d9	1914
gabrieltetar	1:7e925468f9d9	1915	if(ModeDemo==1) {
gabrieltetar	1:7e925468f9d9	1916	sprintf(message,"%04dmm L:%d",telemetreDistance_avant_droite,DT_AVD_interrupt);
gabrieltetar	1:7e925468f9d9	1917	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1918	lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"LASER AVD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1919	lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1920
gabrieltetar	1:7e925468f9d9	1921	sprintf(message1,"%04dmm L:%d",telemetreDistance_avant_gauche,DT_AVG_interrupt);
gabrieltetar	1:7e925468f9d9	1922	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1923	lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER AVG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1924	lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message1, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1925
gabrieltetar	1:7e925468f9d9	1926
gabrieltetar	1:7e925468f9d9	1927	sprintf(message4,"%04d",theta_robot);
gabrieltetar	1:7e925468f9d9	1928	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1929	lcd.DisplayStringAt(0, LINE(13),(unsigned char *)"THETA: ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1930	lcd.DisplayStringAt(200, LINE(13),(unsigned char *)message4, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1931
gabrieltetar	1:7e925468f9d9	1932
gabrieltetar	1:7e925468f9d9	1933	sprintf(message2,"%04dmm L:%d",telemetreDistance_arriere_gauche,DT_ARG_interrupt);
gabrieltetar	1:7e925468f9d9	1934	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1935	lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER ARG : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1936	lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message2, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1937
gabrieltetar	1:7e925468f9d9	1938	sprintf(message3,"%04dmm L:%d",telemetreDistance_arriere_droite,DT_ARD_interrupt);
gabrieltetar	1:7e925468f9d9	1939	lcd.SetBackColor(LCD_COLOR_WHITE);
gabrieltetar	1:7e925468f9d9	1940	lcd.DisplayStringAt(0, LINE(18),(unsigned char *)"LASER ARD : ",LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1941	lcd.DisplayStringAt(200, LINE(18),(unsigned char *)message3, LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1942	}
gabrieltetar	1:7e925468f9d9	1943	break;
gabrieltetar	1:7e925468f9d9	1944	case RECEPTION_TELEMETRE_LOGIQUE:
gabrieltetar	1:7e925468f9d9	1945
gabrieltetar	1:7e925468f9d9	1946	DT_AVD_interrupt=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1947	DT_AVG_interrupt=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1948	DT_ARG_interrupt=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1949	DT_ARD_interrupt=msgRxBuffer[FIFO_lecture].data[3];
gabrieltetar	1:7e925468f9d9	1950
gabrieltetar	1:7e925468f9d9	1951	break;
gabrieltetar	1:7e925468f9d9	1952	case RECEPTION_COULEUR:
gabrieltetar	1:7e925468f9d9	1953	if (blocage_balise==0) {
gabrieltetar	1:7e925468f9d9	1954	couleur1=msgRxBuffer[FIFO_lecture].data[0];
gabrieltetar	1:7e925468f9d9	1955	couleur2=msgRxBuffer[FIFO_lecture].data[1];
gabrieltetar	1:7e925468f9d9	1956	couleur3=msgRxBuffer[FIFO_lecture].data[2];
gabrieltetar	1:7e925468f9d9	1957
gabrieltetar	1:7e925468f9d9	1958	/lcd.DisplayStringAt(0,LINE(16),(unsigned char )couleur1+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1959	lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE);
gabrieltetar	1:7e925468f9d9	1960	lcd.DisplayStringAt(0,LINE(16+2),(unsigned char )couleur3+'0',LEFT_MODE);/
gabrieltetar	1:7e925468f9d9	1961	}
gabrieltetar	1:7e925468f9d9	1962
gabrieltetar	1:7e925468f9d9	1963	break;
gabrieltetar	10:1964bb91b925	1964	default:
gabrieltetar	10:1964bb91b925	1965	break;
gabrieltetar	1:7e925468f9d9	1966	/*
gabrieltetar	1:7e925468f9d9	1967	case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc
gabrieltetar	1:7e925468f9d9	1968	actual_instruction = instruction.nextLineError;
gabrieltetar	1:7e925468f9d9	1969	gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
gabrieltetar	1:7e925468f9d9	1970	// waitingAckID_FIN=0;
gabrieltetar	1:7e925468f9d9	1971	// waitingAckFrom_FIN=0;
gabrieltetar	1:7e925468f9d9	1972	SendRawId(0x40);
gabrieltetar	1:7e925468f9d9	1973	break;*/
gabrieltetar	1:7e925468f9d9	1974	}
gabrieltetar	1:7e925468f9d9	1975	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
gabrieltetar	1:7e925468f9d9	1976	}
gabrieltetar	1:7e925468f9d9	1977	}
gabrieltetar	1:7e925468f9d9	1978
gabrieltetar	1:7e925468f9d9	1979
gabrieltetar	1:7e925468f9d9	1980
gabrieltetar	1:7e925468f9d9	1981
gabrieltetar	1:7e925468f9d9	1982
gabrieltetar	1:7e925468f9d9	1983	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1984	/* FUNCTION NAME: Bouton_Strat */
gabrieltetar	1:7e925468f9d9	1985	/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
gabrieltetar	1:7e925468f9d9	1986	/****************************************************************************************/
gabrieltetar	1:7e925468f9d9	1987	signed char Bouton_Strat (void)
gabrieltetar	1:7e925468f9d9	1988	{
gabrieltetar	1:7e925468f9d9	1989	Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
gabrieltetar	1:7e925468f9d9	1990	Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
gabrieltetar	1:7e925468f9d9	1991	Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
gabrieltetar	1:7e925468f9d9	1992	Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
gabrieltetar	1:7e925468f9d9	1993	Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
gabrieltetar	1:7e925468f9d9	1994	Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
gabrieltetar	1:7e925468f9d9	1995	Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
gabrieltetar	1:7e925468f9d9	1996	Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
gabrieltetar	1:7e925468f9d9	1997	Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
gabrieltetar	1:7e925468f9d9	1998	Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
gabrieltetar	1:7e925468f9d9	1999	Button RETOUR (0, 680, 400, 110, "--Precedent--");
gabrieltetar	1:7e925468f9d9	2000	//Definition des boutons
gabrieltetar	1:7e925468f9d9	2001
gabrieltetar	1:7e925468f9d9	2002	Ack_strat = 0;
gabrieltetar	1:7e925468f9d9	2003	Strat = 0;
gabrieltetar	1:7e925468f9d9	2004	STRAT_1.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2005	STRAT_2.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2006	STRAT_3.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2007	STRAT_4.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2008	STRAT_5.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2009	STRAT_6.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2010	STRAT_7.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2011	STRAT_8.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2012	STRAT_9.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2013	STRAT_10.Draw(0xFFF0F0F0, 0);
gabrieltetar	1:7e925468f9d9	2014	RETOUR.Draw(0xFFFF0000, 0);
gabrieltetar	1:7e925468f9d9	2015
gabrieltetar	1:7e925468f9d9	2016	while(Ack_strat == 0) {
gabrieltetar	1:7e925468f9d9	2017	canProcessRx();
gabrieltetar	1:7e925468f9d9	2018	CANMessage msgTx=CANMessage();
gabrieltetar	1:7e925468f9d9	2019	//msgTx.id=ECRAN_CHOICE_STRAT;
gabrieltetar	1:7e925468f9d9	2020	if (RETOUR.Touched())
gabrieltetar	1:7e925468f9d9	2021	return -1;
gabrieltetar	1:7e925468f9d9	2022	while(RETOUR.Touched());
gabrieltetar	1:7e925468f9d9	2023	//////////////////////////////STRATEGIE N°1
gabrieltetar	1:7e925468f9d9	2024	if (STRAT_1.Touched()) {
gabrieltetar	1:7e925468f9d9	2025	Strat = 0;
gabrieltetar	1:7e925468f9d9	2026	//msgTx.data[0] = 0x1;
gabrieltetar	1:7e925468f9d9	2027	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2028	while(STRAT_1.Touched());
gabrieltetar	1:7e925468f9d9	2029	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2030	}
gabrieltetar	1:7e925468f9d9	2031	/////////////////////////////STRATEGIE N°2
gabrieltetar	1:7e925468f9d9	2032	if (STRAT_2.Touched()) {
gabrieltetar	1:7e925468f9d9	2033	Strat = 1;
gabrieltetar	1:7e925468f9d9	2034	//msgTx.data[0] = 0x2;
gabrieltetar	1:7e925468f9d9	2035	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2036	while(STRAT_2.Touched());
gabrieltetar	1:7e925468f9d9	2037	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2038	}
gabrieltetar	1:7e925468f9d9	2039	//////////////////////////////STRATEGIE N°3
gabrieltetar	1:7e925468f9d9	2040	if (STRAT_3.Touched()) {
gabrieltetar	1:7e925468f9d9	2041	Strat = 2;
gabrieltetar	1:7e925468f9d9	2042	//msgTx.data[0] = 0x3;
gabrieltetar	1:7e925468f9d9	2043	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2044	while(STRAT_3.Touched());
gabrieltetar	1:7e925468f9d9	2045	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2046	}
gabrieltetar	1:7e925468f9d9	2047	/////////////////////////////STRATEGIE N°4
gabrieltetar	1:7e925468f9d9	2048	if (STRAT_4.Touched()) {
gabrieltetar	1:7e925468f9d9	2049	Strat = 3;
gabrieltetar	1:7e925468f9d9	2050	//msgTx.data[0] = 0x4;
gabrieltetar	1:7e925468f9d9	2051	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2052	while(STRAT_4.Touched());
gabrieltetar	1:7e925468f9d9	2053	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2054	}
gabrieltetar	1:7e925468f9d9	2055	///////////////////////////////STRATEGIE N°5
gabrieltetar	1:7e925468f9d9	2056	if (STRAT_5.Touched()) {
gabrieltetar	1:7e925468f9d9	2057	Strat = 4;
gabrieltetar	1:7e925468f9d9	2058	//msgTx.data[0] = 0x5;
gabrieltetar	1:7e925468f9d9	2059	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2060	while(STRAT_5.Touched());
gabrieltetar	1:7e925468f9d9	2061	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2062	}
gabrieltetar	1:7e925468f9d9	2063	////////////////////////////////STRATEGIE N°6
gabrieltetar	1:7e925468f9d9	2064	if (STRAT_6.Touched()) {
gabrieltetar	1:7e925468f9d9	2065	Strat = 5;
gabrieltetar	1:7e925468f9d9	2066	//msgTx.data[0] = 0x6;
gabrieltetar	1:7e925468f9d9	2067	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2068	while(STRAT_6.Touched());
gabrieltetar	1:7e925468f9d9	2069	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2070	}
gabrieltetar	1:7e925468f9d9	2071	/////////////////////////////////STRATEGIE N°7
gabrieltetar	1:7e925468f9d9	2072	if (STRAT_7.Touched()) {
gabrieltetar	1:7e925468f9d9	2073	Strat = 6;
gabrieltetar	1:7e925468f9d9	2074	//msgTx.data[0] = 0x7;
gabrieltetar	1:7e925468f9d9	2075	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2076	while(STRAT_7.Touched());
gabrieltetar	1:7e925468f9d9	2077	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2078	}
gabrieltetar	1:7e925468f9d9	2079	/////////////////////////////////STRATEGIE N°8
gabrieltetar	1:7e925468f9d9	2080	if (STRAT_8.Touched()) {
gabrieltetar	1:7e925468f9d9	2081	Strat = 7;
gabrieltetar	1:7e925468f9d9	2082	//msgTx.data[0] = 0x8;
gabrieltetar	1:7e925468f9d9	2083	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2084	while(STRAT_8.Touched());
gabrieltetar	1:7e925468f9d9	2085	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2086	}
gabrieltetar	1:7e925468f9d9	2087	/////////////////////////////////STRATEGIE N°9
gabrieltetar	1:7e925468f9d9	2088	if (STRAT_9.Touched()) {
gabrieltetar	1:7e925468f9d9	2089	Strat = 8;
gabrieltetar	1:7e925468f9d9	2090	//msgTx.data[0] = 0x9;
gabrieltetar	1:7e925468f9d9	2091	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2092	while(STRAT_9.Touched());
gabrieltetar	1:7e925468f9d9	2093	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2094	}
gabrieltetar	1:7e925468f9d9	2095	///////////////////////////////////STRATEGIE N°10
gabrieltetar	1:7e925468f9d9	2096	if (STRAT_10.Touched()) {
gabrieltetar	1:7e925468f9d9	2097	Strat = 9;
gabrieltetar	1:7e925468f9d9	2098	//msgTx.data[0] = 0xA;
gabrieltetar	1:7e925468f9d9	2099	//can2.write(msgTx);
gabrieltetar	1:7e925468f9d9	2100	while(STRAT_10.Touched());
gabrieltetar	1:7e925468f9d9	2101	Ack_strat =1;
gabrieltetar	1:7e925468f9d9	2102	}
gabrieltetar	1:7e925468f9d9	2103
gabrieltetar	1:7e925468f9d9	2104	}
gabrieltetar	1:7e925468f9d9	2105	return Strat;
gabrieltetar	1:7e925468f9d9	2106
gabrieltetar	1:7e925468f9d9	2107	}
gabrieltetar	1:7e925468f9d9	2108
gabrieltetar	1:7e925468f9d9	2109	void affichage_compteur (int nombre)
gabrieltetar	1:7e925468f9d9	2110	{
gabrieltetar	1:7e925468f9d9	2111	int dizaine=0,unite=0,centaine=0;
gabrieltetar	1:7e925468f9d9	2112	centaine = nombre/100;
gabrieltetar	1:7e925468f9d9	2113	dizaine = nombre/10;
gabrieltetar	1:7e925468f9d9	2114	unite = nombre-(10*dizaine);
gabrieltetar	1:7e925468f9d9	2115	print_segment(unite,-50);
gabrieltetar	1:7e925468f9d9	2116	print_segment(dizaine,100);
gabrieltetar	1:7e925468f9d9	2117	if(centaine!=0) {
gabrieltetar	1:7e925468f9d9	2118	print_segment(centaine,350);
gabrieltetar	1:7e925468f9d9	2119	}
gabrieltetar	1:7e925468f9d9	2120
gabrieltetar	1:7e925468f9d9	2121	}
gabrieltetar	1:7e925468f9d9	2122
gabrieltetar	1:7e925468f9d9	2123
gabrieltetar	1:7e925468f9d9	2124	//**print_segment*
gabrieltetar	1:7e925468f9d9	2125	//Dessine en 7 segment le nombre en parametre
gabrieltetar	1:7e925468f9d9	2126	// A
gabrieltetar	1:7e925468f9d9	2127	// =====
gabrieltetar	1:7e925468f9d9	2128	// \| \|
gabrieltetar	1:7e925468f9d9	2129	// B \| G \| E
gabrieltetar	1:7e925468f9d9	2130	// \|=====\|
gabrieltetar	1:7e925468f9d9	2131	// C \| \| F
gabrieltetar	1:7e925468f9d9	2132	// \| \|
gabrieltetar	1:7e925468f9d9	2133	// =====
gabrieltetar	1:7e925468f9d9	2134	// D
gabrieltetar	1:7e925468f9d9	2135	/*
gabrieltetar	1:7e925468f9d9	2136	position pour le chiffre des unites
gabrieltetar	1:7e925468f9d9	2137	lcd.FillRect(460,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2138	lcd.FillRect(435,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2139	lcd.FillRect(435,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2140	lcd.FillRect(460,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2141	lcd.FillRect(580,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2142	lcd.FillRect(580,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2143	lcd.FillRect(460,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2144
gabrieltetar	1:7e925468f9d9	2145	position pour le chiffre des dizaines
gabrieltetar	1:7e925468f9d9	2146	lcd.FillRect(260,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2147	lcd.FillRect(235,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2148	lcd.FillRect(235,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2149	lcd.FillRect(260,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2150	lcd.FillRect(380,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2151	lcd.FillRect(380,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2152	lcd.FillRect(260,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2153	*/
gabrieltetar	1:7e925468f9d9	2154
gabrieltetar	1:7e925468f9d9	2155	void print_segment(int nombre, int decalage)
gabrieltetar	1:7e925468f9d9	2156	{
gabrieltetar	1:7e925468f9d9	2157
gabrieltetar	1:7e925468f9d9	2158	switch(nombre) {
gabrieltetar	1:7e925468f9d9	2159	case 0:
gabrieltetar	1:7e925468f9d9	2160	lcd.FillRect(240-decalage,75,120,25);
gabrieltetar	1:7e925468f9d9	2161	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2162	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2163	lcd.FillRect(360-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2164	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2165	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2166	break;
gabrieltetar	1:7e925468f9d9	2167
gabrieltetar	1:7e925468f9d9	2168	case 1:
gabrieltetar	1:7e925468f9d9	2169	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2170	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2171	break;
gabrieltetar	1:7e925468f9d9	2172
gabrieltetar	1:7e925468f9d9	2173	case 2:
gabrieltetar	1:7e925468f9d9	2174	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2175	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2176	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2177	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2178	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2179	break;
gabrieltetar	1:7e925468f9d9	2180
gabrieltetar	1:7e925468f9d9	2181	case 3:
gabrieltetar	1:7e925468f9d9	2182	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2183	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2184	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2185	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2186	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2187	break;
gabrieltetar	1:7e925468f9d9	2188
gabrieltetar	1:7e925468f9d9	2189	case 4:
gabrieltetar	1:7e925468f9d9	2190	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2191	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2192	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2193	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2194	break;
gabrieltetar	1:7e925468f9d9	2195
gabrieltetar	1:7e925468f9d9	2196	case 5:
gabrieltetar	1:7e925468f9d9	2197	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2198	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2199	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2200	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2201	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2202	break;
gabrieltetar	1:7e925468f9d9	2203
gabrieltetar	1:7e925468f9d9	2204	case 6:
gabrieltetar	1:7e925468f9d9	2205	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2206	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2207	lcd.FillRect(215-decalage,245,25,120);// C
gabrieltetar	1:7e925468f9d9	2208	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2209	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2210	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2211	break;
gabrieltetar	1:7e925468f9d9	2212
gabrieltetar	1:7e925468f9d9	2213	case 7:
gabrieltetar	1:7e925468f9d9	2214	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2215	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2216	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2217	break;
gabrieltetar	1:7e925468f9d9	2218
gabrieltetar	1:7e925468f9d9	2219	case 8:
gabrieltetar	1:7e925468f9d9	2220	lcd.FillRect(240-decalage,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2221	lcd.FillRect(215-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2222	lcd.FillRect(215-decalage,245,25,120);
gabrieltetar	1:7e925468f9d9	2223	lcd.FillRect(360-decalage,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2224	lcd.FillRect(360-decalage,100,25,120);
gabrieltetar	1:7e925468f9d9	2225	lcd.FillRect(240-decalage,365,120,25);
gabrieltetar	1:7e925468f9d9	2226	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2227	break;
gabrieltetar	1:7e925468f9d9	2228
gabrieltetar	1:7e925468f9d9	2229	case 9:
gabrieltetar	1:7e925468f9d9	2230	lcd.FillRect(240-decalage,75,120,25);// A
gabrieltetar	1:7e925468f9d9	2231	lcd.FillRect(215-decalage,100,25,120);// B
gabrieltetar	1:7e925468f9d9	2232	lcd.FillRect(240-decalage,365,120,25);// D
gabrieltetar	1:7e925468f9d9	2233	lcd.FillRect(360-decalage,100,25,120);// E
gabrieltetar	1:7e925468f9d9	2234	lcd.FillRect(360-decalage,245,25,120);// F
gabrieltetar	1:7e925468f9d9	2235	lcd.FillRect(240-decalage,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2236	break;
gabrieltetar	1:7e925468f9d9	2237	}
gabrieltetar	1:7e925468f9d9	2238	}
gabrieltetar	1:7e925468f9d9	2239
gabrieltetar	1:7e925468f9d9	2240	void effacer_segment(long couleur)
gabrieltetar	1:7e925468f9d9	2241	{
gabrieltetar	1:7e925468f9d9	2242	lcd.SetTextColor(couleur);
gabrieltetar	1:7e925468f9d9	2243	lcd.FillRect(240-200,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2244	lcd.FillRect(215-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2245	lcd.FillRect(215-200,245,25,120);
gabrieltetar	1:7e925468f9d9	2246	lcd.FillRect(360-200,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2247	lcd.FillRect(360-200,100,25,120);
gabrieltetar	1:7e925468f9d9	2248	lcd.FillRect(240-200,365,120,25);
gabrieltetar	1:7e925468f9d9	2249	lcd.FillRect(240-200,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2250
gabrieltetar	1:7e925468f9d9	2251	lcd.FillRect(240,75,120,25); // A
gabrieltetar	1:7e925468f9d9	2252	lcd.FillRect(215,100,25,120);
gabrieltetar	1:7e925468f9d9	2253	lcd.FillRect(215,245,25,120);
gabrieltetar	1:7e925468f9d9	2254	lcd.FillRect(360,245,25,120);//...
gabrieltetar	1:7e925468f9d9	2255	lcd.FillRect(360,100,25,120);
gabrieltetar	1:7e925468f9d9	2256	lcd.FillRect(240,365,120,25);
gabrieltetar	1:7e925468f9d9	2257	lcd.FillRect(240,220,120,25);// G
gabrieltetar	1:7e925468f9d9	2258	}
gabrieltetar	1:7e925468f9d9	2259
gabrieltetar	1:7e925468f9d9	2260	short recalageAngulaireCapteur(void)
gabrieltetar	1:7e925468f9d9	2261	{
gabrieltetar	1:7e925468f9d9	2262	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2263	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2264	unsigned short angleAvant = 0;
gabrieltetar	1:7e925468f9d9	2265	unsigned short angleArriere = 0;
gabrieltetar	1:7e925468f9d9	2266	unsigned short orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2267
gabrieltetar	1:7e925468f9d9	2268	unsigned short position_avant_gauche=0;
gabrieltetar	1:7e925468f9d9	2269	unsigned short position_avant_droite=0;
gabrieltetar	1:7e925468f9d9	2270	unsigned short position_arriere_gauche=0;
gabrieltetar	1:7e925468f9d9	2271	unsigned short position_arriere_droite=0;
gabrieltetar	1:7e925468f9d9	2272
gabrieltetar	1:7e925468f9d9	2273	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2274	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2275	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2276
gabrieltetar	1:7e925468f9d9	2277
gabrieltetar	1:7e925468f9d9	2278
gabrieltetar	1:7e925468f9d9	2279	if(theta_robot >= 450 && theta_robot <= 1350)
gabrieltetar	1:7e925468f9d9	2280	orientationArrondie = 90;
gabrieltetar	1:7e925468f9d9	2281	else if(theta_robot <= -450 && theta_robot >= -1350)
gabrieltetar	1:7e925468f9d9	2282	orientationArrondie = 270;
gabrieltetar	1:7e925468f9d9	2283	else if(theta_robot <= 450 && theta_robot >= -450)
gabrieltetar	1:7e925468f9d9	2284	orientationArrondie = 0;
gabrieltetar	1:7e925468f9d9	2285	else if(theta_robot >= 1350 && theta_robot <= -1350)
gabrieltetar	1:7e925468f9d9	2286	orientationArrondie = 180;
gabrieltetar	1:7e925468f9d9	2287
gabrieltetar	1:7e925468f9d9	2288	// Calcul de position pour faire la vérification de cohérence
gabrieltetar	1:7e925468f9d9	2289	if(orientationArrondie == 90 \|\| orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2290	position_avant_gauche = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2291	position_avant_droite = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2292	position_arriere_gauche = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2293	position_arriere_droite = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2294
gabrieltetar	1:7e925468f9d9	2295	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2296	position_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2297	position_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2298	position_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2299	position_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2300	}
gabrieltetar	1:7e925468f9d9	2301
gabrieltetar	1:7e925468f9d9	2302
gabrieltetar	1:7e925468f9d9	2303	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2304	if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2305	if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2306	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2307	angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double)ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2308	else
gabrieltetar	1:7e925468f9d9	2309	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2310
gabrieltetar	1:7e925468f9d9	2311	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2312	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2313	}
gabrieltetar	1:7e925468f9d9	2314	}
gabrieltetar	1:7e925468f9d9	2315	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2316	if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2317	if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2318	if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche)
gabrieltetar	1:7e925468f9d9	2319	angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2320	else
gabrieltetar	1:7e925468f9d9	2321	angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2322
gabrieltetar	1:7e925468f9d9	2323	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2324	moyennageTelemetre += angleArriere;
gabrieltetar	1:7e925468f9d9	2325	}
gabrieltetar	1:7e925468f9d9	2326	}
gabrieltetar	1:7e925468f9d9	2327	}
gabrieltetar	1:7e925468f9d9	2328
gabrieltetar	1:7e925468f9d9	2329	if(orientationArrondie == 90 \|\| orientationArrondie == 270) { // Si il est en axe Y
gabrieltetar	1:7e925468f9d9	2330	if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2331	if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2332	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2333	angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2334	else
gabrieltetar	1:7e925468f9d9	2335	angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2336
gabrieltetar	1:7e925468f9d9	2337	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2338	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2339	}
gabrieltetar	1:7e925468f9d9	2340	}
gabrieltetar	1:7e925468f9d9	2341	} else if(orientationArrondie == 0 \|\| orientationArrondie == 180) { // Si il est en axe X
gabrieltetar	1:7e925468f9d9	2342	if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes
gabrieltetar	1:7e925468f9d9	2343	if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2344	if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2345	angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI;
gabrieltetar	1:7e925468f9d9	2346	else
gabrieltetar	1:7e925468f9d9	2347	angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI;
gabrieltetar	1:7e925468f9d9	2348
gabrieltetar	1:7e925468f9d9	2349	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2350	moyennageTelemetre += angleAvant;
gabrieltetar	1:7e925468f9d9	2351	}
gabrieltetar	1:7e925468f9d9	2352	}
gabrieltetar	1:7e925468f9d9	2353	}
gabrieltetar	1:7e925468f9d9	2354
gabrieltetar	1:7e925468f9d9	2355	angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2356
gabrieltetar	1:7e925468f9d9	2357	if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) {
gabrieltetar	1:7e925468f9d9	2358	if(orientationArrondie == 0) {
gabrieltetar	1:7e925468f9d9	2359	angleRecalage -= 900;
gabrieltetar	1:7e925468f9d9	2360
gabrieltetar	1:7e925468f9d9	2361	/*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche)
gabrieltetar	1:7e925468f9d9	2362	distanceRecalage = *);
gabrieltetar	1:7e925468f9d9	2363	else
gabrieltetar	1:7e925468f9d9	2364	distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/
gabrieltetar	1:7e925468f9d9	2365	} else if(orientationArrondie == 90) {
gabrieltetar	1:7e925468f9d9	2366	angleRecalage += 0;
gabrieltetar	1:7e925468f9d9	2367	} else if(orientationArrondie == 180) {
gabrieltetar	1:7e925468f9d9	2368	angleRecalage += 900;
gabrieltetar	1:7e925468f9d9	2369	} else if(orientationArrondie == 270) {
gabrieltetar	1:7e925468f9d9	2370	angleRecalage += 1800;
gabrieltetar	1:7e925468f9d9	2371	}
gabrieltetar	1:7e925468f9d9	2372	}
gabrieltetar	1:7e925468f9d9	2373
gabrieltetar	1:7e925468f9d9	2374	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot;
gabrieltetar	1:7e925468f9d9	2375	}
gabrieltetar	1:7e925468f9d9	2376
gabrieltetar	1:7e925468f9d9	2377	short recalageDistanceX(void)
gabrieltetar	1:7e925468f9d9	2378	{
gabrieltetar	1:7e925468f9d9	2379	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2380	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2381
gabrieltetar	1:7e925468f9d9	2382	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2383	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2384	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2385
gabrieltetar	1:7e925468f9d9	2386	telemetreDistance_avant_gauche = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2387	telemetreDistance_avant_droite = ((theta_robot < 900 && theta_robot > -900)?2000:0) + ((theta_robot < 900 && theta_robot > -900)?-1:1)*telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2388	telemetreDistance_arriere_gauche = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2389	telemetreDistance_arriere_droite = ((theta_robot < 900 && theta_robot > -900)?0:2000) + ((theta_robot < 900 && theta_robot > -900)?1:-1)*telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2390
gabrieltetar	1:7e925468f9d9	2391	if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2392	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2393	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2394	}
gabrieltetar	1:7e925468f9d9	2395	if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2396	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2397	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2398	}
gabrieltetar	1:7e925468f9d9	2399	if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2400	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2401	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2402	}
gabrieltetar	1:7e925468f9d9	2403	if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2404	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2405	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2406	}
gabrieltetar	1:7e925468f9d9	2407
gabrieltetar	1:7e925468f9d9	2408	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2409
gabrieltetar	1:7e925468f9d9	2410	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot);
gabrieltetar	1:7e925468f9d9	2411	}
gabrieltetar	1:7e925468f9d9	2412
gabrieltetar	1:7e925468f9d9	2413	short recalageDistanceY(void)
gabrieltetar	1:7e925468f9d9	2414	{
gabrieltetar	1:7e925468f9d9	2415	unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0;
gabrieltetar	1:7e925468f9d9	2416	unsigned int moyennageTelemetre = 0;
gabrieltetar	1:7e925468f9d9	2417
gabrieltetar	1:7e925468f9d9	2418	unsigned short tempo= telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2419	telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2420	telemetreDistance_arriere_droite=tempo;
gabrieltetar	1:7e925468f9d9	2421
gabrieltetar	1:7e925468f9d9	2422	telemetreDistance_avant_gauche = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2423	telemetreDistance_avant_droite = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?3000:0) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?-1:1)*telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2424	telemetreDistance_arriere_gauche = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2425	telemetreDistance_arriere_droite = (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?0:3000) + (((theta_robot < 1800 && theta_robot > 0) \|\| (theta_robot < -1800 && theta_robot > -3600))?1:-1)*telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2426
gabrieltetar	1:7e925468f9d9	2427	if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2428	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2429	moyennageTelemetre += telemetreDistance_avant_gauche;
gabrieltetar	1:7e925468f9d9	2430	}
gabrieltetar	1:7e925468f9d9	2431	if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2432	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2433	moyennageTelemetre += telemetreDistance_avant_droite;
gabrieltetar	1:7e925468f9d9	2434	}
gabrieltetar	1:7e925468f9d9	2435	if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2436	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2437	moyennageTelemetre += telemetreDistance_arriere_gauche;
gabrieltetar	1:7e925468f9d9	2438	}
gabrieltetar	1:7e925468f9d9	2439	if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1) {
gabrieltetar	1:7e925468f9d9	2440	nombresDeMesuresAuxTelemetresQuiSontCoherentes++;
gabrieltetar	1:7e925468f9d9	2441	moyennageTelemetre += telemetreDistance_arriere_droite;
gabrieltetar	1:7e925468f9d9	2442	}
gabrieltetar	1:7e925468f9d9	2443
gabrieltetar	1:7e925468f9d9	2444	moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes;
gabrieltetar	1:7e925468f9d9	2445
gabrieltetar	1:7e925468f9d9	2446	return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
gabrieltetar	1:7e925468f9d9	2447	}
gabrieltetar	1:7e925468f9d9	2448
gabrieltetar	14:6aa8aa1699ad	2449	/*************************************************************************************************/
gabrieltetar	14:6aa8aa1699ad	2450	/* FUNCTION NAME: doAction */
gabrieltetar	14:6aa8aa1699ad	2451	/* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */
gabrieltetar	14:6aa8aa1699ad	2452	/*************************************************************************************************/
gabrieltetar	14:6aa8aa1699ad	2453
gabrieltetar	14:6aa8aa1699ad	2454	unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
gabrieltetar	14:6aa8aa1699ad	2455	{
gabrieltetar	14:6aa8aa1699ad	2456	int retour = 1;
gabrieltetar	14:6aa8aa1699ad	2457	CANMessage msgTx=CANMessage();
gabrieltetar	14:6aa8aa1699ad	2458	msgTx.format=CANStandard;
gabrieltetar	14:6aa8aa1699ad	2459	msgTx.type=CANData;
gabrieltetar	14:6aa8aa1699ad	2460	switch(id)
gabrieltetar	14:6aa8aa1699ad	2461	{
gabrieltetar	14:6aa8aa1699ad	2462	case 109: //goldenium arriere
gabrieltetar	14:6aa8aa1699ad	2463	x=arg1;
gabrieltetar	14:6aa8aa1699ad	2464	y=arg2;
gabrieltetar	14:6aa8aa1699ad	2465	//Send2Short(GOLDENIUM_ARRIERE, x,y);
gabrieltetar	14:6aa8aa1699ad	2466	break;
gabrieltetar	14:6aa8aa1699ad	2467
gabrieltetar	14:6aa8aa1699ad	2468	/* case 116://relache une pompe
gabrieltetar	14:6aa8aa1699ad	2469	unsigned char arg_tempo;
gabrieltetar	14:6aa8aa1699ad	2470	if(InversStrat == 1) {
gabrieltetar	14:6aa8aa1699ad	2471	switch(arg1) {
gabrieltetar	14:6aa8aa1699ad	2472	case AV_DROIT:
gabrieltetar	14:6aa8aa1699ad	2473	arg_tempo = AV_GAUCHE;
gabrieltetar	14:6aa8aa1699ad	2474	break;
gabrieltetar	14:6aa8aa1699ad	2475	case AV_GAUCHE:
gabrieltetar	14:6aa8aa1699ad	2476	arg_tempo = AV_DROIT;
gabrieltetar	14:6aa8aa1699ad	2477	break;
gabrieltetar	14:6aa8aa1699ad	2478	case AR_DROIT:
gabrieltetar	14:6aa8aa1699ad	2479	arg_tempo = AR_GAUCHE;
gabrieltetar	14:6aa8aa1699ad	2480	break;
gabrieltetar	14:6aa8aa1699ad	2481	case AR_GAUCHE:
gabrieltetar	14:6aa8aa1699ad	2482	arg_tempo = AR_DROIT;
gabrieltetar	14:6aa8aa1699ad	2483	break;
gabrieltetar	14:6aa8aa1699ad	2484	default :
gabrieltetar	14:6aa8aa1699ad	2485	arg_tempo =(unsigned char)arg1;
gabrieltetar	14:6aa8aa1699ad	2486	break;
gabrieltetar	14:6aa8aa1699ad	2487	}
gabrieltetar	14:6aa8aa1699ad	2488
gabrieltetar	14:6aa8aa1699ad	2489	} else arg_tempo =(unsigned char)arg1;
gabrieltetar	14:6aa8aa1699ad	2490	SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
gabrieltetar	14:6aa8aa1699ad	2491	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2492	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2493	break;*/
gabrieltetar	14:6aa8aa1699ad	2494	case 120:
gabrieltetar	14:6aa8aa1699ad	2495	//SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
gabrieltetar	14:6aa8aa1699ad	2496	break;
gabrieltetar	14:6aa8aa1699ad	2497
gabrieltetar	14:6aa8aa1699ad	2498	case 121:
gabrieltetar	14:6aa8aa1699ad	2499	//SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
gabrieltetar	14:6aa8aa1699ad	2500	break;
gabrieltetar	14:6aa8aa1699ad	2501
gabrieltetar	14:6aa8aa1699ad	2502	case 150:
gabrieltetar	14:6aa8aa1699ad	2503	SCORE_PR+=arg1;
gabrieltetar	14:6aa8aa1699ad	2504	liaison_Tx.envoyer_short(0x30,SCORE_PR);
gabrieltetar	14:6aa8aa1699ad	2505	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2506	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2507	break;
gabrieltetar	14:6aa8aa1699ad	2508
gabrieltetar	14:6aa8aa1699ad	2509
gabrieltetar	14:6aa8aa1699ad	2510	case 200 :
gabrieltetar	14:6aa8aa1699ad	2511	SendRawId(DATA_TELEMETRE);
gabrieltetar	14:6aa8aa1699ad	2512	/*telemetreDistance = dataTelemetre();
gabrieltetar	14:6aa8aa1699ad	2513	wait_ms(1);
gabrieltetar	14:6aa8aa1699ad	2514	telemetreDistance = dataTelemetre();
gabrieltetar	14:6aa8aa1699ad	2515	telemetreDistance = telemetreDistance - 170;*/
gabrieltetar	14:6aa8aa1699ad	2516	break;
gabrieltetar	14:6aa8aa1699ad	2517
gabrieltetar	14:6aa8aa1699ad	2518	case 201 :
gabrieltetar	14:6aa8aa1699ad	2519	SendRawId(0x99);//
gabrieltetar	14:6aa8aa1699ad	2520	retour = 2;
gabrieltetar	14:6aa8aa1699ad	2521	break;
gabrieltetar	14:6aa8aa1699ad	2522
gabrieltetar	14:6aa8aa1699ad	2523
gabrieltetar	14:6aa8aa1699ad	2524	case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
gabrieltetar	14:6aa8aa1699ad	2525	isStopEnable =(unsigned char) arg1;
gabrieltetar	14:6aa8aa1699ad	2526	// SendMsgCan(0x5BC, &isStopEnable,1);
gabrieltetar	14:6aa8aa1699ad	2527	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2528	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2529	break;
gabrieltetar	14:6aa8aa1699ad	2530
gabrieltetar	14:6aa8aa1699ad	2531
gabrieltetar	14:6aa8aa1699ad	2532
gabrieltetar	14:6aa8aa1699ad	2533	case 20://Désactiver l'asservissement
gabrieltetar	14:6aa8aa1699ad	2534	setAsservissementEtat(0);
gabrieltetar	14:6aa8aa1699ad	2535	break;
gabrieltetar	14:6aa8aa1699ad	2536
gabrieltetar	14:6aa8aa1699ad	2537	case 21://Activer l'asservissement
gabrieltetar	14:6aa8aa1699ad	2538	setAsservissementEtat(1);
gabrieltetar	14:6aa8aa1699ad	2539	break;
gabrieltetar	14:6aa8aa1699ad	2540
gabrieltetar	14:6aa8aa1699ad	2541	case 22://Changer la vitesse du robot
gabrieltetar	14:6aa8aa1699ad	2542	SendSpeed(arg1);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar	14:6aa8aa1699ad	2543	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2544	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2545	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2546	break;
gabrieltetar	14:6aa8aa1699ad	2547	case 23:
gabrieltetar	14:6aa8aa1699ad	2548	SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2);
gabrieltetar	14:6aa8aa1699ad	2549	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2550	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2551	waitingAckID = 0;
gabrieltetar	14:6aa8aa1699ad	2552	break;
gabrieltetar	14:6aa8aa1699ad	2553
gabrieltetar	14:6aa8aa1699ad	2554
gabrieltetar	14:6aa8aa1699ad	2555	case 19: // CHANGER LA VITESSE + DECELERATION
gabrieltetar	14:6aa8aa1699ad	2556	//SendSpeedDecel(arg1,(unsigned short) arg2);
gabrieltetar	14:6aa8aa1699ad	2557	wait_us(200);
gabrieltetar	14:6aa8aa1699ad	2558	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2559	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2560	break;
maximilienlv	16:c6c765e8b982	2561
gabrieltetar	14:6aa8aa1699ad	2562	//pompe 1 à 6 ON
maximilienlv	16:c6c765e8b982	2563
maximilienlv	16:c6c765e8b982	2564	case 214://test bras competition (attraper)
maximilienlv	16:c6c765e8b982	2565	unsigned char argu_at_bras = arg1;
maximilienlv	16:c6c765e8b982	2566	SendMsgCan(BRAS_AT, &argu_at_bras,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2567	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2568	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2569	break;
maximilienlv	16:c6c765e8b982	2570
maximilienlv	16:c6c765e8b982	2571	case 215://test bras competition(relacher)
maximilienlv	16:c6c765e8b982	2572	unsigned char argu_re_bras = arg1;
maximilienlv	16:c6c765e8b982	2573	SendMsgCan(BRAS_RE, &argu_re_bras,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2574	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2575	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2576	break;
maximilienlv	16:c6c765e8b982	2577
maximilienlv	16:c6c765e8b982	2578	case 216://test ventouses competition (attraper)
maximilienlv	16:c6c765e8b982	2579	unsigned char argu_at_ventouse = arg1 - 1;
maximilienlv	16:c6c765e8b982	2580	SendMsgCan(VENT_AT, &argu_at_ventouse,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2581	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2582	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2583	break;
gabrieltetar	14:6aa8aa1699ad	2584
maximilienlv	16:c6c765e8b982	2585	case 217://test ventouses competition(relacher)
maximilienlv	16:c6c765e8b982	2586	unsigned char argu_re_ventouse = arg1 - 1;
maximilienlv	16:c6c765e8b982	2587	SendMsgCan(VENT_RE, &argu_re_ventouse,sizeof(arg1));
gabrieltetar	14:6aa8aa1699ad	2588	waitingAckFrom = 0;
gabrieltetar	14:6aa8aa1699ad	2589	waitingAckID =0;
gabrieltetar	14:6aa8aa1699ad	2590	break;
maximilienlv	16:c6c765e8b982	2591
maximilienlv	16:c6c765e8b982	2592	case 218://Action tempo
maximilienlv	16:c6c765e8b982	2593	SendRawId(ECUEIL_AVANT_AT);
maximilienlv	16:c6c765e8b982	2594	break;
maximilienlv	16:c6c765e8b982	2595
maximilienlv	16:c6c765e8b982	2596	case 219://Action tempo
maximilienlv	16:c6c765e8b982	2597	SendRawId(ECUEIL_ARRIERE_AT);
maximilienlv	16:c6c765e8b982	2598	break;
maximilienlv	16:c6c765e8b982	2599	case 220:
maximilienlv	16:c6c765e8b982	2600	unsigned char argu_repertoire = arg1;
maximilienlv	16:c6c765e8b982	2601	unsigned char argu_track = arg2;
maximilienlv	16:c6c765e8b982	2602	Debug_Audio(argu_repertoire, argu_track);
maximilienlv	16:c6c765e8b982	2603	waitingAckFrom = 0;
maximilienlv	16:c6c765e8b982	2604	waitingAckID =0;
maximilienlv	16:c6c765e8b982	2605	break;
gabrieltetar	14:6aa8aa1699ad	2606
gabrieltetar	14:6aa8aa1699ad	2607	default:
gabrieltetar	14:6aa8aa1699ad	2608	retour = 0;//L'action n'existe pas, il faut utiliser le CAN
maximilienlv	16:c6c765e8b982	2609	break;
gabrieltetar	14:6aa8aa1699ad	2610	}
gabrieltetar	14:6aa8aa1699ad	2611	return retour;//L'action est spécifique.
gabrieltetar	14:6aa8aa1699ad	2612
gabrieltetar	14:6aa8aa1699ad	2613	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	17 Jul 2021
Imports:	2
Forks:	0
Commits:	39
Dependents:	0
Dependencies:	6
Followers:	96

Strategie/Strategie.cpp@16:c6c765e8b982, 2020-03-12 (annotated)

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