![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
code de la carte IHM avant les bugs et avant le travail effectué avec Melchior
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Strategie/Strategie.cpp@27:ff70537a7619, 2020-07-08 (annotated)
- Committer:
- gabrieltetar
- Date:
- Wed Jul 08 11:24:24 2020 +0000
- Revision:
- 27:ff70537a7619
- Parent:
- 24:1a13c998c7ac
- Child:
- 28:7f2990747e09
ONIZUKA
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 | |
gabrieltetar | 1:7e925468f9d9 | 3 | |
gabrieltetar | 1:7e925468f9d9 | 4 | #define M_PI 3.14159265358979323846 |
gabrieltetar | 1:7e925468f9d9 | 5 | |
gabrieltetar | 21:d137ec53c3a9 | 6 | E_stratGameEtat gameEtat = ETAT_CHECK_CARTES; |
gabrieltetar | 21:d137ec53c3a9 | 7 | T_etat strat_etat_s = INIT; |
gabrieltetar | 1:7e925468f9d9 | 8 | |
gabrieltetar | 1:7e925468f9d9 | 9 | int waitingAckID_FIN; |
gabrieltetar | 1:7e925468f9d9 | 10 | int waitingAckFrom_FIN; |
gabrieltetar | 1:7e925468f9d9 | 11 | |
gabrieltetar | 1:7e925468f9d9 | 12 | Ticker ticker; |
gabrieltetar | 1:7e925468f9d9 | 13 | |
gabrieltetar | 1:7e925468f9d9 | 14 | |
gabrieltetar | 1:7e925468f9d9 | 15 | Ticker chrono; |
gabrieltetar | 1:7e925468f9d9 | 16 | Timeout AffTime; |
gabrieltetar | 1:7e925468f9d9 | 17 | Timer timer; |
gabrieltetar | 1:7e925468f9d9 | 18 | Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes |
gabrieltetar | 1:7e925468f9d9 | 19 | Timer gameTimer; |
gabrieltetar | 1:7e925468f9d9 | 20 | Timer debugetatTimer; |
gabrieltetar | 1:7e925468f9d9 | 21 | Timer timeoutWarning; |
gabrieltetar | 1:7e925468f9d9 | 22 | Timer timeoutWarningWaitEnd; |
gabrieltetar | 1:7e925468f9d9 | 23 | Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin |
gabrieltetar | 1:7e925468f9d9 | 24 | |
gabrieltetar | 1:7e925468f9d9 | 25 | unsigned char screenChecktry = 0; |
gabrieltetar | 1:7e925468f9d9 | 26 | 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 | 27 | |
gabrieltetar | 1:7e925468f9d9 | 28 | char counter = 0; |
gabrieltetar | 1:7e925468f9d9 | 29 | char check; |
gabrieltetar | 1:7e925468f9d9 | 30 | char Jack = 1; |
gabrieltetar | 1:7e925468f9d9 | 31 | short SCORE_GLOBAL=0; |
gabrieltetar | 1:7e925468f9d9 | 32 | short SCORE_GR=0; |
gabrieltetar | 1:7e925468f9d9 | 33 | short SCORE_PR=0; |
gabrieltetar | 14:6aa8aa1699ad | 34 | unsigned short distance_recalage; |
gabrieltetar | 14:6aa8aa1699ad | 35 | unsigned short distance_revenir; |
gabrieltetar | 1:7e925468f9d9 | 36 | |
gabrieltetar | 14:6aa8aa1699ad | 37 | unsigned short x; |
gabrieltetar | 14:6aa8aa1699ad | 38 | unsigned short y; |
gabrieltetar | 14:6aa8aa1699ad | 39 | unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises |
gabrieltetar | 24:1a13c998c7ac | 40 | unsigned short flag_check_carte = 0, flag_strat = 0, flag_timer; |
gabrieltetar | 1:7e925468f9d9 | 41 | int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0; |
gabrieltetar | 21:d137ec53c3a9 | 42 | |
gabrieltetar | 21:d137ec53c3a9 | 43 | |
gabrieltetar | 1:7e925468f9d9 | 44 | signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
gabrieltetar | 1:7e925468f9d9 | 45 | |
gabrieltetar | 1:7e925468f9d9 | 46 | signed short x_robot,y_robot,theta_robot;//La position du robot |
gabrieltetar | 1:7e925468f9d9 | 47 | signed short target_x_robot, target_y_robot, target_theta_robot; |
gabrieltetar | 1:7e925468f9d9 | 48 | E_InstructionType actionPrecedente; |
gabrieltetar | 1:7e925468f9d9 | 49 | //unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
gabrieltetar | 1:7e925468f9d9 | 50 | int flagSendCan=1; |
gabrieltetar | 1:7e925468f9d9 | 51 | unsigned char Cote = 0; //0 -> JAUNE | 1 -> VIOLET |
gabrieltetar | 1:7e925468f9d9 | 52 | unsigned short angleRecalage = 0; |
gabrieltetar | 1:7e925468f9d9 | 53 | unsigned char checkCurrent = 0; |
gabrieltetar | 1:7e925468f9d9 | 54 | unsigned char countAliveCard = 0; |
gabrieltetar | 1:7e925468f9d9 | 55 | unsigned char ligne=0; |
gabrieltetar | 1:7e925468f9d9 | 56 | int Fevitement=0; |
gabrieltetar | 1:7e925468f9d9 | 57 | int EvitEtat= 0; |
gabrieltetar | 1:7e925468f9d9 | 58 | int stop_evitement=0; |
gabrieltetar | 19:e70b9d4a319c | 59 | signed char nbStrat = 0; //N° de la strategie (1-10) |
gabrieltetar | 1:7e925468f9d9 | 60 | unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo |
gabrieltetar | 1:7e925468f9d9 | 61 | unsigned char countRobotNear = 0;//Le nombre de robot à proximité |
gabrieltetar | 1:7e925468f9d9 | 62 | unsigned char ingnorBaliseOnce = 0;//une fois détecté réinitialise |
gabrieltetar | 1:7e925468f9d9 | 63 | unsigned char ingnorBalise = 0;//0:balise ignore 1:on ecoute la balise |
gabrieltetar | 1:7e925468f9d9 | 64 | short direction; |
gabrieltetar | 1:7e925468f9d9 | 65 | |
gabrieltetar | 1:7e925468f9d9 | 66 | unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois |
gabrieltetar | 1:7e925468f9d9 | 67 | |
gabrieltetar | 1:7e925468f9d9 | 68 | struct S_Instruction instruction; |
gabrieltetar | 1:7e925468f9d9 | 69 | struct S_Dodge_queue dodgeq; |
gabrieltetar | 1:7e925468f9d9 | 70 | |
gabrieltetar | 1:7e925468f9d9 | 71 | char couleur1, couleur2, couleur3; |
gabrieltetar | 1:7e925468f9d9 | 72 | float cptf; |
gabrieltetar | 1:7e925468f9d9 | 73 | int cpt,cpt1; |
gabrieltetar | 1:7e925468f9d9 | 74 | |
gabrieltetar | 21:d137ec53c3a9 | 75 | |
gabrieltetar | 21:d137ec53c3a9 | 76 | |
gabrieltetar | 1:7e925468f9d9 | 77 | E_stratGameEtat memGameEtat= gameEtat; |
gabrieltetar | 1:7e925468f9d9 | 78 | E_stratGameEtat lastEtat = ETAT_CHECK_CARTES; |
gabrieltetar | 1:7e925468f9d9 | 79 | E_Stratposdebut etat_pos=RECALAGE_1; |
gabrieltetar | 1:7e925468f9d9 | 80 | |
gabrieltetar | 21:d137ec53c3a9 | 81 | void SendRawId (unsigned short id); |
gabrieltetar | 21:d137ec53c3a9 | 82 | void can2Rx_ISR(void); |
gabrieltetar | 7:44eec996a76e | 83 | |
gabrieltetar | 1:7e925468f9d9 | 84 | signed char blocage_balise; |
gabrieltetar | 1:7e925468f9d9 | 85 | void print_segment(int nombre, int decalage); |
gabrieltetar | 1:7e925468f9d9 | 86 | void affichage_compteur (int nombre); |
gabrieltetar | 1:7e925468f9d9 | 87 | void effacer_segment(long couleur); |
gabrieltetar | 14:6aa8aa1699ad | 88 | unsigned char doAction(unsigned char id, unsigned short arg1, short arg2); |
gabrieltetar | 1:7e925468f9d9 | 89 | unsigned short telemetreDistance=0; |
gabrieltetar | 1:7e925468f9d9 | 90 | unsigned short telemetreDistance_avant_gauche=0; |
gabrieltetar | 1:7e925468f9d9 | 91 | unsigned short telemetreDistance_avant_droite=0; |
gabrieltetar | 1:7e925468f9d9 | 92 | unsigned short telemetreDistance_arriere_gauche=0; |
gabrieltetar | 1:7e925468f9d9 | 93 | unsigned short telemetreDistance_arriere_droite=0; |
gabrieltetar | 1:7e925468f9d9 | 94 | |
gabrieltetar | 1:7e925468f9d9 | 95 | unsigned char DT_AVD_interrupt=0; |
gabrieltetar | 1:7e925468f9d9 | 96 | unsigned char DT_AVG_interrupt=0; |
gabrieltetar | 1:7e925468f9d9 | 97 | unsigned char DT_ARD_interrupt=0; |
gabrieltetar | 1:7e925468f9d9 | 98 | unsigned char DT_ARG_interrupt=0; |
gabrieltetar | 1:7e925468f9d9 | 99 | |
gabrieltetar | 1:7e925468f9d9 | 100 | |
gabrieltetar | 1:7e925468f9d9 | 101 | |
gabrieltetar | 1:7e925468f9d9 | 102 | unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE}; |
gabrieltetar | 1:7e925468f9d9 | 103 | unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE}; |
gabrieltetar | 1:7e925468f9d9 | 104 | InterruptIn jack(PG_11); // entrée numerique en interruption pour le jack |
gabrieltetar | 1:7e925468f9d9 | 105 | |
gabrieltetar | 1:7e925468f9d9 | 106 | |
gabrieltetar | 1:7e925468f9d9 | 107 | |
gabrieltetar | 1:7e925468f9d9 | 108 | |
gabrieltetar | 1:7e925468f9d9 | 109 | |
gabrieltetar | 1:7e925468f9d9 | 110 | |
gabrieltetar | 1:7e925468f9d9 | 111 | /****************************************************************************************/ |
gabrieltetar | 1:7e925468f9d9 | 112 | /* FUNCTION NAME: chronometre_ISR */ |
gabrieltetar | 1:7e925468f9d9 | 113 | /* DESCRIPTION : Interruption à la fin des 90s du match */ |
gabrieltetar | 1:7e925468f9d9 | 114 | /****************************************************************************************/ |
gabrieltetar | 1:7e925468f9d9 | 115 | void chronometre_ISR (void) |
gabrieltetar | 1:7e925468f9d9 | 116 | { |
gabrieltetar | 1:7e925468f9d9 | 117 | SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs |
gabrieltetar | 1:7e925468f9d9 | 118 | SendRawId(GLOBAL_GAME_END);//Indication fin de match |
gabrieltetar | 21:d137ec53c3a9 | 119 | strat_etat_s=FIN; |
gabrieltetar | 1:7e925468f9d9 | 120 | gameTimer.stop();//Arret du timer |
gabrieltetar | 1:7e925468f9d9 | 121 | |
gabrieltetar | 1:7e925468f9d9 | 122 | while(1);//On bloque la programme dans l'interruption |
gabrieltetar | 1:7e925468f9d9 | 123 | } |
gabrieltetar | 1:7e925468f9d9 | 124 | |
gabrieltetar | 1:7e925468f9d9 | 125 | |
gabrieltetar | 1:7e925468f9d9 | 126 | |
gabrieltetar | 1:7e925468f9d9 | 127 | /****************************************************************************************/ |
gabrieltetar | 1:7e925468f9d9 | 128 | /* FUNCTION NAME: jack_ISR */ |
gabrieltetar | 1:7e925468f9d9 | 129 | /* DESCRIPTION : Interruption en changement d'état sur le Jack */ |
gabrieltetar | 1:7e925468f9d9 | 130 | /****************************************************************************************/ |
gabrieltetar | 1:7e925468f9d9 | 131 | void jack_ISR (void) |
gabrieltetar | 1:7e925468f9d9 | 132 | { |
gabrieltetar | 1:7e925468f9d9 | 133 | if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) { |
gabrieltetar | 1:7e925468f9d9 | 134 | gameEtat = ETAT_GAME_START;//On débute le match |
gabrieltetar | 21:d137ec53c3a9 | 135 | //strat_etat_s=COMPTEUR; |
gabrieltetar | 1:7e925468f9d9 | 136 | blocage_balise=1; |
gabrieltetar | 1:7e925468f9d9 | 137 | } |
gabrieltetar | 1:7e925468f9d9 | 138 | } |
gabrieltetar | 1:7e925468f9d9 | 139 | |
gabrieltetar | 1:7e925468f9d9 | 140 | |
gabrieltetar | 1:7e925468f9d9 | 141 | |
gabrieltetar | 1:7e925468f9d9 | 142 | /****************************************************************************************/ |
gabrieltetar | 19:e70b9d4a319c | 143 | /* FUNCTION NAME: Strategie */ |
gabrieltetar | 1:7e925468f9d9 | 144 | /* DESCRIPTION : Automate de gestion de la stratégie du robot */ |
gabrieltetar | 1:7e925468f9d9 | 145 | /****************************************************************************************/ |
gabrieltetar | 19:e70b9d4a319c | 146 | void Strategie(void) |
gabrieltetar | 1:7e925468f9d9 | 147 | { |
gabrieltetar | 1:7e925468f9d9 | 148 | static unsigned char AX12_enchainement = 0; |
gabrieltetar | 1:7e925468f9d9 | 149 | static unsigned char MV_enchainement = 0; |
gabrieltetar | 1:7e925468f9d9 | 150 | signed char localData1 = 0; |
gabrieltetar | 1:7e925468f9d9 | 151 | signed short localData2 = 0; |
gabrieltetar | 1:7e925468f9d9 | 152 | unsigned short localData3 = 0; |
gabrieltetar | 1:7e925468f9d9 | 153 | //signed short localData4 = 0; |
gabrieltetar | 1:7e925468f9d9 | 154 | unsigned char localData5 = 0; |
gabrieltetar | 1:7e925468f9d9 | 155 | |
gabrieltetar | 1:7e925468f9d9 | 156 | |
gabrieltetar | 1:7e925468f9d9 | 157 | if(gameTimer.read_ms() >= 99000) {//Fin du match (On autorise 2s pour déposer des éléments |
gabrieltetar | 1:7e925468f9d9 | 158 | gameTimer.stop(); |
gabrieltetar | 1:7e925468f9d9 | 159 | gameTimer.reset(); |
gabrieltetar | 1:7e925468f9d9 | 160 | gameEtat = ETAT_END;//Fin du temps |
gabrieltetar | 21:d137ec53c3a9 | 161 | strat_etat_s=FIN; |
gabrieltetar | 1:7e925468f9d9 | 162 | } |
gabrieltetar | 1:7e925468f9d9 | 163 | |
gabrieltetar | 1:7e925468f9d9 | 164 | if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) { |
gabrieltetar | 1:7e925468f9d9 | 165 | lastEtat = gameEtat; |
gabrieltetar | 1:7e925468f9d9 | 166 | debugetatTimer.reset(); |
gabrieltetar | 1:7e925468f9d9 | 167 | sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction); |
gabrieltetar | 1:7e925468f9d9 | 168 | } |
gabrieltetar | 1:7e925468f9d9 | 169 | |
gabrieltetar | 1:7e925468f9d9 | 170 | |
gabrieltetar | 1:7e925468f9d9 | 171 | |
gabrieltetar | 1:7e925468f9d9 | 172 | switch(gameEtat) { |
gabrieltetar | 1:7e925468f9d9 | 173 | |
gabrieltetar | 1:7e925468f9d9 | 174 | case ETAT_CHECK_CARTES: |
gabrieltetar | 1:7e925468f9d9 | 175 | /* |
gabrieltetar | 1:7e925468f9d9 | 176 | Il faut faire une boucle pour verifier toutes les cartes les une apres les autres |
gabrieltetar | 1:7e925468f9d9 | 177 | */ |
gabrieltetar | 1:7e925468f9d9 | 178 | waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM |
gabrieltetar | 1:7e925468f9d9 | 179 | SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence |
gabrieltetar | 1:7e925468f9d9 | 180 | |
gabrieltetar | 1:7e925468f9d9 | 181 | screenChecktry++;//On incrèment le conteur de tentative de 1 |
gabrieltetar | 1:7e925468f9d9 | 182 | cartesCheker.reset();//On reset le timeOut |
gabrieltetar | 1:7e925468f9d9 | 183 | cartesCheker.start();//On lance le timer pour le timeout |
gabrieltetar | 1:7e925468f9d9 | 184 | gameEtat = ETAT_CHECK_CARTES_WAIT_ACK; |
gabrieltetar | 1:7e925468f9d9 | 185 | break; |
gabrieltetar | 1:7e925468f9d9 | 186 | |
gabrieltetar | 1:7e925468f9d9 | 187 | case ETAT_CHECK_CARTES_WAIT_ACK: |
gabrieltetar | 1:7e925468f9d9 | 188 | /* |
gabrieltetar | 1:7e925468f9d9 | 189 | On attend l'ack de la carte en cours de vérification |
gabrieltetar | 1:7e925468f9d9 | 190 | */ |
gabrieltetar | 1:7e925468f9d9 | 191 | //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom); |
gabrieltetar | 1:7e925468f9d9 | 192 | if(waitingAckFrom == 0) {//C'est bon la carte est en ligne |
gabrieltetar | 1:7e925468f9d9 | 193 | cartesCheker.stop(); |
gabrieltetar | 1:7e925468f9d9 | 194 | screenChecktry = 0; |
gabrieltetar | 1:7e925468f9d9 | 195 | countAliveCard++; |
gabrieltetar | 1:7e925468f9d9 | 196 | checkCurrent++; |
gabrieltetar | 1:7e925468f9d9 | 197 | if(checkCurrent >= NOMBRE_CARTES) { |
gabrieltetar | 1:7e925468f9d9 | 198 | printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard)); |
gabrieltetar | 1:7e925468f9d9 | 199 | if(countAliveCard >= NOMBRE_CARTES) { |
gabrieltetar | 1:7e925468f9d9 | 200 | gameEtat = ETAT_CONFIG; |
gabrieltetar | 1:7e925468f9d9 | 201 | SendRawId(ECRAN_ALL_CHECK); |
gabrieltetar | 24:1a13c998c7ac | 202 | flag_check_carte=1; |
gabrieltetar | 1:7e925468f9d9 | 203 | |
gabrieltetar | 1:7e925468f9d9 | 204 | //tactile_printf("Selection couleur et strategie"); |
gabrieltetar | 1:7e925468f9d9 | 205 | } else { |
gabrieltetar | 1:7e925468f9d9 | 206 | gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement |
gabrieltetar | 1:7e925468f9d9 | 207 | waitingAckFrom = ECRAN_ALL_CHECK; |
gabrieltetar | 1:7e925468f9d9 | 208 | } |
gabrieltetar | 1:7e925468f9d9 | 209 | } else |
gabrieltetar | 1:7e925468f9d9 | 210 | gameEtat = ETAT_CHECK_CARTES; |
gabrieltetar | 1:7e925468f9d9 | 211 | } else if(cartesCheker.read_ms () > 100) { |
gabrieltetar | 1:7e925468f9d9 | 212 | cartesCheker.stop(); |
gabrieltetar | 1:7e925468f9d9 | 213 | if(screenChecktry >=3) { |
gabrieltetar | 1:7e925468f9d9 | 214 | //printf("missing card %d\n",id_check[checkCurrent]); |
gabrieltetar | 1:7e925468f9d9 | 215 | screenChecktry = 0; |
gabrieltetar | 1:7e925468f9d9 | 216 | checkCurrent++; |
gabrieltetar | 1:7e925468f9d9 | 217 | |
gabrieltetar | 1:7e925468f9d9 | 218 | if(checkCurrent >= NOMBRE_CARTES) { |
gabrieltetar | 1:7e925468f9d9 | 219 | if(countAliveCard == NOMBRE_CARTES) { |
gabrieltetar | 1:7e925468f9d9 | 220 | gameEtat = ETAT_CONFIG; |
gabrieltetar | 24:1a13c998c7ac | 221 | flag_check_carte=1; |
gabrieltetar | 1:7e925468f9d9 | 222 | } else { |
gabrieltetar | 1:7e925468f9d9 | 223 | gameEtat = ETAT_WAIT_FORCE; |
gabrieltetar | 1:7e925468f9d9 | 224 | waitingAckFrom = ECRAN_ALL_CHECK; |
gabrieltetar | 1:7e925468f9d9 | 225 | } |
gabrieltetar | 1:7e925468f9d9 | 226 | } else |
gabrieltetar | 1:7e925468f9d9 | 227 | gameEtat = ETAT_CHECK_CARTES; |
gabrieltetar | 1:7e925468f9d9 | 228 | |
gabrieltetar | 1:7e925468f9d9 | 229 | } else |
gabrieltetar | 1:7e925468f9d9 | 230 | gameEtat = ETAT_CHECK_CARTES; |
gabrieltetar | 1:7e925468f9d9 | 231 | |
gabrieltetar | 1:7e925468f9d9 | 232 | } |
gabrieltetar | 1:7e925468f9d9 | 233 | break; |
gabrieltetar | 1:7e925468f9d9 | 234 | case ETAT_WAIT_FORCE: |
gabrieltetar | 1:7e925468f9d9 | 235 | /* |
gabrieltetar | 1:7e925468f9d9 | 236 | Attente du forçage de la part de la carte IHM |
gabrieltetar | 1:7e925468f9d9 | 237 | */ |
gabrieltetar | 1:7e925468f9d9 | 238 | if(waitingAckFrom == 0) { |
gabrieltetar | 1:7e925468f9d9 | 239 | gameEtat = ETAT_CONFIG; |
gabrieltetar | 1:7e925468f9d9 | 240 | } |
gabrieltetar | 1:7e925468f9d9 | 241 | break; |
gabrieltetar | 1:7e925468f9d9 | 242 | case ETAT_CONFIG: |
gabrieltetar | 1:7e925468f9d9 | 243 | /* |
gabrieltetar | 1:7e925468f9d9 | 244 | Attente de l'odre de choix de mode, |
gabrieltetar | 1:7e925468f9d9 | 245 | Il est possible de modifier la couleur et l'id de la stratégie |
gabrieltetar | 1:7e925468f9d9 | 246 | Il est aussi possible d'envoyer les ordres de debug |
gabrieltetar | 1:7e925468f9d9 | 247 | */ |
gabrieltetar | 1:7e925468f9d9 | 248 | modeTelemetre = 0; |
gabrieltetar | 1:7e925468f9d9 | 249 | break; |
gabrieltetar | 1:7e925468f9d9 | 250 | case ETAT_GAME_INIT: |
gabrieltetar | 1:7e925468f9d9 | 251 | //On charge la liste des instructions |
gabrieltetar | 1:7e925468f9d9 | 252 | |
gabrieltetar | 19:e70b9d4a319c | 253 | loadAllInstruction(nbStrat);//Mise en cache de toute les instructions |
gabrieltetar | 1:7e925468f9d9 | 254 | led3=1; |
gabrieltetar | 1:7e925468f9d9 | 255 | |
gabrieltetar | 1:7e925468f9d9 | 256 | SendRawId(GLOBAL_START); |
gabrieltetar | 1:7e925468f9d9 | 257 | |
gabrieltetar | 1:7e925468f9d9 | 258 | gameEtat = ETAT_GAME_WAIT_FOR_JACK; |
gabrieltetar | 10:1964bb91b925 | 259 | Debug_Audio(3,7); |
gabrieltetar | 21:d137ec53c3a9 | 260 | if (strat_etat_s == TEST_MOTEUR|| strat_etat_s ==TEST_VENTOUSE || strat_etat_s == TEST_COULEUR || strat_etat_s ==TEST_SERVO_BRAS) { |
gabrieltetar | 1:7e925468f9d9 | 261 | SendRawId(DEBUG_FAKE_JAKE); |
gabrieltetar | 1:7e925468f9d9 | 262 | } else { |
gabrieltetar | 21:d137ec53c3a9 | 263 | strat_etat_s = AFF_WAIT_JACK; |
gabrieltetar | 1:7e925468f9d9 | 264 | } |
gabrieltetar | 1:7e925468f9d9 | 265 | //tactile_printf("Attente du JACK."); |
gabrieltetar | 1:7e925468f9d9 | 266 | setAsservissementEtat(1);//On réactive l'asservissement |
gabrieltetar | 1:7e925468f9d9 | 267 | jack.mode(PullDown); // désactivation de la résistance interne du jack |
gabrieltetar | 1:7e925468f9d9 | 268 | jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack |
gabrieltetar | 1:7e925468f9d9 | 269 | |
gabrieltetar | 1:7e925468f9d9 | 270 | localData2 = POSITION_DEBUT_T; |
gabrieltetar | 1:7e925468f9d9 | 271 | localData3 = POSITION_DEBUT_Y; |
gabrieltetar | 1:7e925468f9d9 | 272 | if(InversStrat == 1) { |
gabrieltetar | 1:7e925468f9d9 | 273 | localData2 = -localData2;//Inversion theta |
gabrieltetar | 1:7e925468f9d9 | 274 | localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y |
gabrieltetar | 1:7e925468f9d9 | 275 | } |
gabrieltetar | 1:7e925468f9d9 | 276 | SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,1800,localData2); |
gabrieltetar | 1:7e925468f9d9 | 277 | |
gabrieltetar | 1:7e925468f9d9 | 278 | instruction = strat_instructions[actual_instruction]; |
gabrieltetar | 1:7e925468f9d9 | 279 | //On effectue le traitement de l'instruction |
gabrieltetar | 1:7e925468f9d9 | 280 | |
gabrieltetar | 1:7e925468f9d9 | 281 | break; |
gabrieltetar | 1:7e925468f9d9 | 282 | case ETAT_GAME_WAIT_FOR_JACK: |
gabrieltetar | 1:7e925468f9d9 | 283 | if(instruction.order==POSITION_DEBUT) { |
gabrieltetar | 1:7e925468f9d9 | 284 | 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 | 285 | case RECALAGE_1: |
gabrieltetar | 1:7e925468f9d9 | 286 | SendRawId(RECALAGE_START); |
gabrieltetar | 1:7e925468f9d9 | 287 | waitingAckID = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 288 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 289 | 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 | 290 | while(waitingAckID !=0 && waitingAckFrom !=0) |
gabrieltetar | 1:7e925468f9d9 | 291 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 292 | waitingAckID_FIN=ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 293 | waitingAckFrom_FIN= INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 294 | while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0) |
gabrieltetar | 1:7e925468f9d9 | 295 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 296 | etat_pos=RECULER_1; |
gabrieltetar | 1:7e925468f9d9 | 297 | break; |
gabrieltetar | 1:7e925468f9d9 | 298 | |
gabrieltetar | 1:7e925468f9d9 | 299 | case RECULER_1: |
gabrieltetar | 1:7e925468f9d9 | 300 | waitingAckID = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 301 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 302 | GoStraight(-100, 0, 0, 0);//-450 |
gabrieltetar | 1:7e925468f9d9 | 303 | while(waitingAckID !=0 && waitingAckFrom !=0) |
gabrieltetar | 1:7e925468f9d9 | 304 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 305 | waitingAckID_FIN=ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 306 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 307 | while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0) |
gabrieltetar | 1:7e925468f9d9 | 308 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 309 | etat_pos=TOURNER; |
gabrieltetar | 1:7e925468f9d9 | 310 | break; |
gabrieltetar | 1:7e925468f9d9 | 311 | |
gabrieltetar | 1:7e925468f9d9 | 312 | case TOURNER: |
gabrieltetar | 1:7e925468f9d9 | 313 | waitingAckID = ASSERVISSEMENT_ROTATION; |
gabrieltetar | 1:7e925468f9d9 | 314 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 315 | if(Cote==0) { |
gabrieltetar | 1:7e925468f9d9 | 316 | localData2 = 900; |
gabrieltetar | 1:7e925468f9d9 | 317 | } else { |
gabrieltetar | 1:7e925468f9d9 | 318 | localData2=-900; |
gabrieltetar | 1:7e925468f9d9 | 319 | } |
gabrieltetar | 1:7e925468f9d9 | 320 | Rotate(localData2); |
gabrieltetar | 1:7e925468f9d9 | 321 | while(waitingAckID !=0 && waitingAckFrom !=0) |
gabrieltetar | 1:7e925468f9d9 | 322 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 323 | waitingAckID_FIN=ASSERVISSEMENT_ROTATION; |
gabrieltetar | 1:7e925468f9d9 | 324 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 325 | while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0) |
gabrieltetar | 1:7e925468f9d9 | 326 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 327 | etat_pos=RECALAGE_2; |
gabrieltetar | 1:7e925468f9d9 | 328 | break; |
gabrieltetar | 1:7e925468f9d9 | 329 | |
gabrieltetar | 1:7e925468f9d9 | 330 | case RECALAGE_2: |
gabrieltetar | 1:7e925468f9d9 | 331 | waitingAckID = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 332 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 333 | if(Cote==1) { |
gabrieltetar | 1:7e925468f9d9 | 334 | localData3=3000-(MOITIEE_ROBOT); |
gabrieltetar | 1:7e925468f9d9 | 335 | } else { |
gabrieltetar | 1:7e925468f9d9 | 336 | localData3=MOITIEE_ROBOT; |
gabrieltetar | 1:7e925468f9d9 | 337 | } |
gabrieltetar | 1:7e925468f9d9 | 338 | GoStraight(3000, 2,localData3, 0); //on se recale contre le mur donc il faut donner la valeur du centre du robot |
gabrieltetar | 1:7e925468f9d9 | 339 | while(waitingAckID !=0 && waitingAckFrom !=0) |
gabrieltetar | 1:7e925468f9d9 | 340 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 341 | waitingAckID_FIN=ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 342 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 343 | while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0) |
gabrieltetar | 1:7e925468f9d9 | 344 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 345 | etat_pos=RECULER_2; |
gabrieltetar | 1:7e925468f9d9 | 346 | break; |
gabrieltetar | 1:7e925468f9d9 | 347 | |
gabrieltetar | 1:7e925468f9d9 | 348 | case RECULER_2: |
gabrieltetar | 1:7e925468f9d9 | 349 | waitingAckID = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 350 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 351 | GoStraight(-100, 0, 0, 0); |
gabrieltetar | 1:7e925468f9d9 | 352 | while(waitingAckID !=0 && waitingAckFrom !=0) |
gabrieltetar | 1:7e925468f9d9 | 353 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 354 | waitingAckID_FIN=ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 355 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 356 | while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0) |
gabrieltetar | 1:7e925468f9d9 | 357 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 358 | etat_pos=GOTOPOS; |
gabrieltetar | 1:7e925468f9d9 | 359 | break; |
gabrieltetar | 1:7e925468f9d9 | 360 | |
gabrieltetar | 1:7e925468f9d9 | 361 | case GOTOPOS: |
gabrieltetar | 1:7e925468f9d9 | 362 | localData1 = -1; |
gabrieltetar | 1:7e925468f9d9 | 363 | |
gabrieltetar | 1:7e925468f9d9 | 364 | if(InversStrat == 1 && ingnorInversionOnce == 0) { |
gabrieltetar | 1:7e925468f9d9 | 365 | localData2 = -instruction.arg3; |
gabrieltetar | 1:7e925468f9d9 | 366 | localData3 = 3000 - instruction.arg2;//Inversion du Y |
gabrieltetar | 1:7e925468f9d9 | 367 | } else { |
gabrieltetar | 1:7e925468f9d9 | 368 | localData3 = instruction.arg2; |
gabrieltetar | 1:7e925468f9d9 | 369 | localData2 = instruction.arg3; |
gabrieltetar | 1:7e925468f9d9 | 370 | } |
gabrieltetar | 1:7e925468f9d9 | 371 | |
gabrieltetar | 1:7e925468f9d9 | 372 | GoToPosition(instruction.arg1,localData3,localData2,localData1); |
gabrieltetar | 1:7e925468f9d9 | 373 | waitingAckID = ASSERVISSEMENT_XYT; |
gabrieltetar | 1:7e925468f9d9 | 374 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 375 | |
gabrieltetar | 1:7e925468f9d9 | 376 | while(waitingAckID !=0 && waitingAckFrom !=0) |
gabrieltetar | 1:7e925468f9d9 | 377 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 378 | waitingAckID_FIN=ASSERVISSEMENT_XYT; |
gabrieltetar | 1:7e925468f9d9 | 379 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 380 | while(waitingAckID_FIN!=0 && waitingAckFrom_FIN !=0) |
gabrieltetar | 1:7e925468f9d9 | 381 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 382 | etat_pos=FIN_POS; |
gabrieltetar | 1:7e925468f9d9 | 383 | break; |
gabrieltetar | 1:7e925468f9d9 | 384 | case FIN_POS: |
gabrieltetar | 1:7e925468f9d9 | 385 | actual_instruction = instruction.nextLineOK; |
gabrieltetar | 1:7e925468f9d9 | 386 | break; |
gabrieltetar | 1:7e925468f9d9 | 387 | } |
gabrieltetar | 1:7e925468f9d9 | 388 | } |
gabrieltetar | 1:7e925468f9d9 | 389 | |
gabrieltetar | 1:7e925468f9d9 | 390 | |
gabrieltetar | 1:7e925468f9d9 | 391 | break; |
gabrieltetar | 1:7e925468f9d9 | 392 | case ETAT_GAME_START: |
gabrieltetar | 10:1964bb91b925 | 393 | Debug_Audio(3,3); |
gabrieltetar | 1:7e925468f9d9 | 394 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 395 | |
gabrieltetar | 1:7e925468f9d9 | 396 | if (ModeDemo == 0) { |
gabrieltetar | 1:7e925468f9d9 | 397 | chronoEnd.attach(&chronometre_ISR,100);//On lance le chrono de 90s |
gabrieltetar | 1:7e925468f9d9 | 398 | gameTimer.start(); |
gabrieltetar | 1:7e925468f9d9 | 399 | } |
gabrieltetar | 1:7e925468f9d9 | 400 | gameTimer.reset(); |
gabrieltetar | 1:7e925468f9d9 | 401 | jack.fall(NULL);//On désactive l'interruption du jack |
gabrieltetar | 1:7e925468f9d9 | 402 | //SendRawId(GLOBAL_START); |
gabrieltetar | 1:7e925468f9d9 | 403 | Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV |
gabrieltetar | 1:7e925468f9d9 | 404 | //tactile_printf("Start");//Pas vraiment utile mais bon |
gabrieltetar | 1:7e925468f9d9 | 405 | break; |
gabrieltetar | 1:7e925468f9d9 | 406 | case ETAT_GAME_LOAD_NEXT_INSTRUCTION: |
gabrieltetar | 1:7e925468f9d9 | 407 | flagNonRepriseErrorMot = 0; |
gabrieltetar | 1:7e925468f9d9 | 408 | /* |
gabrieltetar | 1:7e925468f9d9 | 409 | Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction |
gabrieltetar | 1:7e925468f9d9 | 410 | */ |
gabrieltetar | 1:7e925468f9d9 | 411 | //printf("load next instruction\n"); |
gabrieltetar | 1:7e925468f9d9 | 412 | if(dodgeq.nb > 0){//dodge q |
gabrieltetar | 1:7e925468f9d9 | 413 | instruction.order=dodgeq.inst[dodgeq.nb-1].order; |
gabrieltetar | 1:7e925468f9d9 | 414 | instruction.arg1=dodgeq.inst[dodgeq.nb-1].arg1; |
gabrieltetar | 1:7e925468f9d9 | 415 | instruction.arg2=dodgeq.inst[dodgeq.nb-1].arg2; |
gabrieltetar | 1:7e925468f9d9 | 416 | instruction.arg3=dodgeq.inst[dodgeq.nb-1].arg3; |
gabrieltetar | 1:7e925468f9d9 | 417 | gameEtat=ETAT_GAME_PROCESS_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 418 | dodgeq.nb--; |
gabrieltetar | 1:7e925468f9d9 | 419 | }//end dodge q |
gabrieltetar | 1:7e925468f9d9 | 420 | else{// no dodge q |
gabrieltetar | 1:7e925468f9d9 | 421 | if(actual_instruction >= nb_instructions || actual_instruction == 255) { |
gabrieltetar | 1:7e925468f9d9 | 422 | gameEtat = ETAT_END; |
gabrieltetar | 1:7e925468f9d9 | 423 | //Il n'y a plus d'instruction, fin du jeu |
gabrieltetar | 1:7e925468f9d9 | 424 | } else { |
gabrieltetar | 1:7e925468f9d9 | 425 | instruction = strat_instructions[actual_instruction]; |
gabrieltetar | 1:7e925468f9d9 | 426 | //On effectue le traitement de l'instruction |
gabrieltetar | 1:7e925468f9d9 | 427 | gameEtat = ETAT_GAME_PROCESS_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 428 | } |
gabrieltetar | 1:7e925468f9d9 | 429 | }//end no dodge q |
gabrieltetar | 1:7e925468f9d9 | 430 | screenChecktry = 0; |
gabrieltetar | 1:7e925468f9d9 | 431 | ingnorInversionOnce = 0; |
gabrieltetar | 1:7e925468f9d9 | 432 | break; |
gabrieltetar | 1:7e925468f9d9 | 433 | case ETAT_GAME_PROCESS_INSTRUCTION: |
gabrieltetar | 1:7e925468f9d9 | 434 | /* |
gabrieltetar | 1:7e925468f9d9 | 435 | Traitement de l'instruction, envoie de la trame CAN |
gabrieltetar | 1:7e925468f9d9 | 436 | */ |
gabrieltetar | 1:7e925468f9d9 | 437 | //debug_Instruction(instruction); |
gabrieltetar | 19:e70b9d4a319c | 438 | |
gabrieltetar | 1:7e925468f9d9 | 439 | actionPrecedente = instruction.order; |
gabrieltetar | 1:7e925468f9d9 | 440 | switch(instruction.order) { |
gabrieltetar | 1:7e925468f9d9 | 441 | case MV_COURBURE://C'est un rayon de courbure |
gabrieltetar | 10:1964bb91b925 | 442 | Debug_Audio(3,6); |
gabrieltetar | 1:7e925468f9d9 | 443 | float alpha=0, theta=0; |
gabrieltetar | 1:7e925468f9d9 | 444 | unsigned short alph=0; |
gabrieltetar | 1:7e925468f9d9 | 445 | actionPrecedente = MV_COURBURE; |
gabrieltetar | 1:7e925468f9d9 | 446 | waitingAckID = ASSERVISSEMENT_COURBURE; |
gabrieltetar | 1:7e925468f9d9 | 447 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 448 | if(instruction.nextActionType == ENCHAINEMENT) { |
gabrieltetar | 1:7e925468f9d9 | 449 | MV_enchainement++; |
gabrieltetar | 1:7e925468f9d9 | 450 | localData5 = 1; |
gabrieltetar | 1:7e925468f9d9 | 451 | } else { |
gabrieltetar | 1:7e925468f9d9 | 452 | if(MV_enchainement > 0) { |
gabrieltetar | 1:7e925468f9d9 | 453 | localData5 = 2; |
gabrieltetar | 1:7e925468f9d9 | 454 | MV_enchainement = 0; |
gabrieltetar | 1:7e925468f9d9 | 455 | } else { |
gabrieltetar | 1:7e925468f9d9 | 456 | localData5 = 0; |
gabrieltetar | 1:7e925468f9d9 | 457 | } |
gabrieltetar | 1:7e925468f9d9 | 458 | } |
gabrieltetar | 1:7e925468f9d9 | 459 | if(InversStrat == 1 && ingnorInversionOnce == 0) { |
gabrieltetar | 1:7e925468f9d9 | 460 | if(instruction.direction == LEFT) instruction.direction = RIGHT; |
gabrieltetar | 1:7e925468f9d9 | 461 | else instruction.direction = LEFT; |
gabrieltetar | 1:7e925468f9d9 | 462 | } |
gabrieltetar | 1:7e925468f9d9 | 463 | |
gabrieltetar | 1:7e925468f9d9 | 464 | localData1 = ((instruction.direction == LEFT)?1:-1); |
gabrieltetar | 1:7e925468f9d9 | 465 | localData2 = instruction.arg3; |
gabrieltetar | 1:7e925468f9d9 | 466 | /*if(InversStrat == 1 && ingnorInversionOnce == 0) { |
gabrieltetar | 1:7e925468f9d9 | 467 | localData1 = -localData1;//Inversion de la direction |
gabrieltetar | 1:7e925468f9d9 | 468 | }*/ |
gabrieltetar | 1:7e925468f9d9 | 469 | |
gabrieltetar | 1:7e925468f9d9 | 470 | BendRadius(instruction.arg1, localData2, localData1, localData5); |
gabrieltetar | 1:7e925468f9d9 | 471 | if(localData2>0) { |
gabrieltetar | 1:7e925468f9d9 | 472 | direction=1; |
gabrieltetar | 1:7e925468f9d9 | 473 | } else { |
gabrieltetar | 1:7e925468f9d9 | 474 | direction=-1; |
gabrieltetar | 1:7e925468f9d9 | 475 | } |
gabrieltetar | 1:7e925468f9d9 | 476 | if(localData2>0)alph=localData2; |
gabrieltetar | 1:7e925468f9d9 | 477 | else alph=-localData2; |
gabrieltetar | 1:7e925468f9d9 | 478 | alpha = localData2*M_PI/1800.0f; |
gabrieltetar | 1:7e925468f9d9 | 479 | theta = theta_robot*M_PI/1800.0f; |
gabrieltetar | 1:7e925468f9d9 | 480 | |
gabrieltetar | 1:7e925468f9d9 | 481 | if(instruction.direction == LEFT) { //-------------LEFT |
gabrieltetar | 1:7e925468f9d9 | 482 | if(alph<450){ // 1 XYT |
gabrieltetar | 1:7e925468f9d9 | 483 | dodgeq.inst[0].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 484 | dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 485 | dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 486 | dodgeq.inst[0].arg3 = theta_robot + alph;// T |
gabrieltetar | 1:7e925468f9d9 | 487 | } |
gabrieltetar | 1:7e925468f9d9 | 488 | else if(alph<900){ |
gabrieltetar | 1:7e925468f9d9 | 489 | for(int c=0;c<2;c++){ // 2 points de passages |
gabrieltetar | 1:7e925468f9d9 | 490 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 491 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 492 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 493 | dodgeq.inst[c].arg3 = theta_robot + alph;// T |
gabrieltetar | 1:7e925468f9d9 | 494 | alpha-=alpha/2.0f; |
gabrieltetar | 1:7e925468f9d9 | 495 | alph-=alph/2; |
gabrieltetar | 1:7e925468f9d9 | 496 | } |
gabrieltetar | 1:7e925468f9d9 | 497 | } |
gabrieltetar | 1:7e925468f9d9 | 498 | else if(alph<1350){ |
gabrieltetar | 1:7e925468f9d9 | 499 | for(int c=0;c<3;c++){ // 3 points de passages |
gabrieltetar | 1:7e925468f9d9 | 500 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 501 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 502 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 503 | dodgeq.inst[c].arg3 = theta_robot + alph;// T |
gabrieltetar | 1:7e925468f9d9 | 504 | alpha-=alpha/3.0f; |
gabrieltetar | 1:7e925468f9d9 | 505 | alph-=alph/3; |
gabrieltetar | 1:7e925468f9d9 | 506 | } |
gabrieltetar | 1:7e925468f9d9 | 507 | } |
gabrieltetar | 1:7e925468f9d9 | 508 | else if(alph<1800){ |
gabrieltetar | 1:7e925468f9d9 | 509 | for(int c=0;c<4;c++){ // 4 points de passages |
gabrieltetar | 1:7e925468f9d9 | 510 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 511 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 512 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 513 | dodgeq.inst[c].arg3 = theta_robot + alph;// T |
gabrieltetar | 1:7e925468f9d9 | 514 | alpha-=alpha/4.0f; |
gabrieltetar | 1:7e925468f9d9 | 515 | alph-=alph/4; |
gabrieltetar | 1:7e925468f9d9 | 516 | } |
gabrieltetar | 1:7e925468f9d9 | 517 | } |
gabrieltetar | 1:7e925468f9d9 | 518 | else if(alph<2250){ |
gabrieltetar | 1:7e925468f9d9 | 519 | for(int c=0;c<5;c++){ // 5 points de passages |
gabrieltetar | 1:7e925468f9d9 | 520 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 521 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 522 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 523 | dodgeq.inst[c].arg3 = theta_robot + alph;// T |
gabrieltetar | 1:7e925468f9d9 | 524 | alpha-=alpha/5.0f; |
gabrieltetar | 1:7e925468f9d9 | 525 | alph-=alph/5; |
gabrieltetar | 1:7e925468f9d9 | 526 | } |
gabrieltetar | 1:7e925468f9d9 | 527 | } |
gabrieltetar | 1:7e925468f9d9 | 528 | else { |
gabrieltetar | 1:7e925468f9d9 | 529 | for(int c=0;c<6;c++){ // 6 points de passages |
gabrieltetar | 1:7e925468f9d9 | 530 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 531 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha+theta)-sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 532 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(theta)-cos(alpha+theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 533 | dodgeq.inst[c].arg3 = theta_robot + alph;// T |
gabrieltetar | 1:7e925468f9d9 | 534 | alpha-=alpha/6.0f; |
gabrieltetar | 1:7e925468f9d9 | 535 | alph-=alph/6; |
gabrieltetar | 1:7e925468f9d9 | 536 | } |
gabrieltetar | 1:7e925468f9d9 | 537 | } |
gabrieltetar | 1:7e925468f9d9 | 538 | } else { //-----------------------------------------RIGHT |
gabrieltetar | 1:7e925468f9d9 | 539 | if(alph<450){ // 1 XYT |
gabrieltetar | 1:7e925468f9d9 | 540 | dodgeq.inst[0].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 541 | dodgeq.inst[0].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 542 | dodgeq.inst[0].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 543 | dodgeq.inst[0].arg3 = theta_robot - alph;// T |
gabrieltetar | 1:7e925468f9d9 | 544 | } |
gabrieltetar | 1:7e925468f9d9 | 545 | else if(alph<900){ |
gabrieltetar | 1:7e925468f9d9 | 546 | for(int c=0;c<2;c++){ // 2 points de passages |
gabrieltetar | 1:7e925468f9d9 | 547 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 548 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 549 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 550 | dodgeq.inst[c].arg3 = theta_robot - alph;// T |
gabrieltetar | 1:7e925468f9d9 | 551 | alpha-=alpha/2.0f; |
gabrieltetar | 1:7e925468f9d9 | 552 | } |
gabrieltetar | 1:7e925468f9d9 | 553 | } |
gabrieltetar | 1:7e925468f9d9 | 554 | else if(alph<1350){ |
gabrieltetar | 1:7e925468f9d9 | 555 | for(int c=0;c<3;c++){ // 3 points de passages |
gabrieltetar | 1:7e925468f9d9 | 556 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 557 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 558 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 559 | dodgeq.inst[c].arg3 = theta_robot - alph;// T |
gabrieltetar | 1:7e925468f9d9 | 560 | alpha-=alpha/3.0f; |
gabrieltetar | 1:7e925468f9d9 | 561 | } |
gabrieltetar | 1:7e925468f9d9 | 562 | } |
gabrieltetar | 1:7e925468f9d9 | 563 | else if(alph<1800){ |
gabrieltetar | 1:7e925468f9d9 | 564 | for(int c=0;c<4;c++){ // 4 points de passages |
gabrieltetar | 1:7e925468f9d9 | 565 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 566 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 567 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 568 | dodgeq.inst[c].arg3 = theta_robot - alph;// T |
gabrieltetar | 1:7e925468f9d9 | 569 | alpha-=alpha/4.0f; |
gabrieltetar | 1:7e925468f9d9 | 570 | } |
gabrieltetar | 1:7e925468f9d9 | 571 | } |
gabrieltetar | 1:7e925468f9d9 | 572 | else if(alph<2250){ |
gabrieltetar | 1:7e925468f9d9 | 573 | for(int c=0;c<5;c++){ // 5 points de passages |
gabrieltetar | 1:7e925468f9d9 | 574 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 575 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 576 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 577 | dodgeq.inst[c].arg3 = theta_robot - alph;// T |
gabrieltetar | 1:7e925468f9d9 | 578 | alpha-=alpha/5.0f; |
gabrieltetar | 1:7e925468f9d9 | 579 | } |
gabrieltetar | 1:7e925468f9d9 | 580 | } |
gabrieltetar | 1:7e925468f9d9 | 581 | else { |
gabrieltetar | 1:7e925468f9d9 | 582 | for(int c=0;c<6;c++){ // 6 points de passages |
gabrieltetar | 1:7e925468f9d9 | 583 | dodgeq.inst[c].order = MV_XYT; |
gabrieltetar | 1:7e925468f9d9 | 584 | dodgeq.inst[c].arg1 = x_robot + instruction.arg1*(sin(alpha-theta)+sin(theta));// X |
gabrieltetar | 1:7e925468f9d9 | 585 | dodgeq.inst[c].arg2 = y_robot + instruction.arg1*(cos(alpha-theta)-cos(theta));// Y |
gabrieltetar | 1:7e925468f9d9 | 586 | dodgeq.inst[c].arg3 = theta_robot - alph;// T |
gabrieltetar | 1:7e925468f9d9 | 587 | alpha-=alpha/6.0f; |
gabrieltetar | 1:7e925468f9d9 | 588 | } |
gabrieltetar | 1:7e925468f9d9 | 589 | } |
gabrieltetar | 1:7e925468f9d9 | 590 | } |
gabrieltetar | 1:7e925468f9d9 | 591 | break; |
gabrieltetar | 1:7e925468f9d9 | 592 | |
gabrieltetar | 1:7e925468f9d9 | 593 | |
gabrieltetar | 1:7e925468f9d9 | 594 | |
gabrieltetar | 1:7e925468f9d9 | 595 | case MV_LINE://Ligne droite |
gabrieltetar | 10:1964bb91b925 | 596 | Debug_Audio(3,8); |
gabrieltetar | 1:7e925468f9d9 | 597 | waitingAckID = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 598 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 599 | if(instruction.nextActionType == ENCHAINEMENT) { |
gabrieltetar | 1:7e925468f9d9 | 600 | MV_enchainement++; |
gabrieltetar | 1:7e925468f9d9 | 601 | localData5 = 1; |
gabrieltetar | 1:7e925468f9d9 | 602 | } else { |
gabrieltetar | 1:7e925468f9d9 | 603 | if(MV_enchainement > 0) {//Utilisé en cas d'enchainement, |
gabrieltetar | 1:7e925468f9d9 | 604 | localData5 = 2; |
gabrieltetar | 1:7e925468f9d9 | 605 | MV_enchainement = 0; |
gabrieltetar | 1:7e925468f9d9 | 606 | } else { |
gabrieltetar | 1:7e925468f9d9 | 607 | localData5 = 0; |
gabrieltetar | 1:7e925468f9d9 | 608 | } |
gabrieltetar | 1:7e925468f9d9 | 609 | } |
gabrieltetar | 1:7e925468f9d9 | 610 | localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1); |
gabrieltetar | 1:7e925468f9d9 | 611 | GoStraight(localData2, 0, 0, localData5); |
gabrieltetar | 1:7e925468f9d9 | 612 | |
gabrieltetar | 1:7e925468f9d9 | 613 | target_x_robot = x_robot + localData2*cos((double)theta_robot*M_PI/1800); |
gabrieltetar | 1:7e925468f9d9 | 614 | target_y_robot = y_robot + localData2*sin((double)theta_robot*M_PI/1800); |
gabrieltetar | 1:7e925468f9d9 | 615 | target_theta_robot = theta_robot; |
gabrieltetar | 1:7e925468f9d9 | 616 | |
gabrieltetar | 1:7e925468f9d9 | 617 | break; |
gabrieltetar | 1:7e925468f9d9 | 618 | case MV_TURN: //Rotation sur place |
gabrieltetar | 10:1964bb91b925 | 619 | Debug_Audio(3,9); |
gabrieltetar | 1:7e925468f9d9 | 620 | target_x_robot = x_robot; |
gabrieltetar | 1:7e925468f9d9 | 621 | target_y_robot = y_robot; |
gabrieltetar | 1:7e925468f9d9 | 622 | target_theta_robot = theta_robot + localData2; |
gabrieltetar | 1:7e925468f9d9 | 623 | localData2 = instruction.arg3; |
gabrieltetar | 1:7e925468f9d9 | 624 | |
gabrieltetar | 1:7e925468f9d9 | 625 | if(InversStrat == 1 && ingnorInversionOnce == 0) { |
gabrieltetar | 1:7e925468f9d9 | 626 | localData2 = -localData2; |
gabrieltetar | 1:7e925468f9d9 | 627 | } |
gabrieltetar | 1:7e925468f9d9 | 628 | |
gabrieltetar | 1:7e925468f9d9 | 629 | |
gabrieltetar | 1:7e925468f9d9 | 630 | if(instruction.direction == ABSOLUTE) { |
gabrieltetar | 1:7e925468f9d9 | 631 | //C'est un rotation absolu, il faut la convertir en relative |
gabrieltetar | 1:7e925468f9d9 | 632 | |
gabrieltetar | 1:7e925468f9d9 | 633 | localData2 = (localData2 - theta_robot)%3600; |
gabrieltetar | 1:7e925468f9d9 | 634 | if(localData2 > 1800) localData2 = localData2-3600; |
gabrieltetar | 1:7e925468f9d9 | 635 | |
gabrieltetar | 1:7e925468f9d9 | 636 | else if(localData2 <-1800) localData2 = localData2+3600; |
gabrieltetar | 1:7e925468f9d9 | 637 | } |
gabrieltetar | 1:7e925468f9d9 | 638 | |
gabrieltetar | 1:7e925468f9d9 | 639 | |
gabrieltetar | 1:7e925468f9d9 | 640 | waitingAckID = ASSERVISSEMENT_ROTATION; |
gabrieltetar | 1:7e925468f9d9 | 641 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 642 | Rotate(localData2); |
gabrieltetar | 1:7e925468f9d9 | 643 | |
gabrieltetar | 1:7e925468f9d9 | 644 | break; |
gabrieltetar | 1:7e925468f9d9 | 645 | case MV_XYT: |
gabrieltetar | 10:1964bb91b925 | 646 | Debug_Audio(3,10); |
gabrieltetar | 1:7e925468f9d9 | 647 | if(instruction.direction == BACKWARD) { |
gabrieltetar | 1:7e925468f9d9 | 648 | localData1 = -1; |
gabrieltetar | 1:7e925468f9d9 | 649 | } else { |
gabrieltetar | 1:7e925468f9d9 | 650 | localData1 = 1; |
gabrieltetar | 1:7e925468f9d9 | 651 | } |
gabrieltetar | 1:7e925468f9d9 | 652 | |
gabrieltetar | 1:7e925468f9d9 | 653 | if(InversStrat == 1 && ingnorInversionOnce == 0) { |
gabrieltetar | 1:7e925468f9d9 | 654 | localData2 = -instruction.arg3; |
gabrieltetar | 1:7e925468f9d9 | 655 | localData3 = 3000 - instruction.arg2;//Inversion du Y |
gabrieltetar | 1:7e925468f9d9 | 656 | } else { |
gabrieltetar | 1:7e925468f9d9 | 657 | localData3 = instruction.arg2; |
gabrieltetar | 1:7e925468f9d9 | 658 | localData2 = instruction.arg3; |
gabrieltetar | 1:7e925468f9d9 | 659 | } |
gabrieltetar | 1:7e925468f9d9 | 660 | |
gabrieltetar | 1:7e925468f9d9 | 661 | GoToPosition(instruction.arg1,localData3,localData2,localData1); |
gabrieltetar | 1:7e925468f9d9 | 662 | waitingAckID = ASSERVISSEMENT_XYT; |
gabrieltetar | 1:7e925468f9d9 | 663 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 664 | |
gabrieltetar | 1:7e925468f9d9 | 665 | target_x_robot = instruction.arg1; |
gabrieltetar | 1:7e925468f9d9 | 666 | target_y_robot = localData3; |
gabrieltetar | 1:7e925468f9d9 | 667 | target_theta_robot = localData2; |
gabrieltetar | 1:7e925468f9d9 | 668 | |
gabrieltetar | 1:7e925468f9d9 | 669 | break; |
gabrieltetar | 1:7e925468f9d9 | 670 | case MV_RECALAGE: |
gabrieltetar | 1:7e925468f9d9 | 671 | if(instruction.nextActionType == MECANIQUE) { |
gabrieltetar | 1:7e925468f9d9 | 672 | instruction.nextActionType = WAIT; |
gabrieltetar | 1:7e925468f9d9 | 673 | |
gabrieltetar | 1:7e925468f9d9 | 674 | waitingAckID = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 675 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 676 | |
gabrieltetar | 1:7e925468f9d9 | 677 | 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 | 678 | |
gabrieltetar | 1:7e925468f9d9 | 679 | if(instruction.precision == RECALAGE_Y) { |
gabrieltetar | 1:7e925468f9d9 | 680 | localData5 = 2; |
gabrieltetar | 1:7e925468f9d9 | 681 | if(InversStrat == 1 && ingnorInversionOnce == 0) { |
gabrieltetar | 1:7e925468f9d9 | 682 | localData3 = 3000 - instruction.arg1;//Inversion du Y |
gabrieltetar | 1:7e925468f9d9 | 683 | } else { |
gabrieltetar | 1:7e925468f9d9 | 684 | localData3 = instruction.arg1; |
gabrieltetar | 1:7e925468f9d9 | 685 | } |
gabrieltetar | 1:7e925468f9d9 | 686 | } else { |
gabrieltetar | 1:7e925468f9d9 | 687 | localData5 = 1; |
gabrieltetar | 1:7e925468f9d9 | 688 | localData3 = instruction.arg1; |
gabrieltetar | 1:7e925468f9d9 | 689 | } |
gabrieltetar | 1:7e925468f9d9 | 690 | GoStraight(localData2, localData5, localData3, 0); |
gabrieltetar | 1:7e925468f9d9 | 691 | } else { //CAPTEUR |
gabrieltetar | 1:7e925468f9d9 | 692 | SendRawId(DATA_RECALAGE); |
gabrieltetar | 1:7e925468f9d9 | 693 | waitingAckID = RECEPTION_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 694 | waitingAckFrom = ACKNOWLEDGE_TELEMETRE; |
gabrieltetar | 1:7e925468f9d9 | 695 | |
gabrieltetar | 1:7e925468f9d9 | 696 | // On attend que les variables soient actualisé |
gabrieltetar | 1:7e925468f9d9 | 697 | while(!(waitingAckID == 0 && waitingAckFrom == 0)) |
gabrieltetar | 1:7e925468f9d9 | 698 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 699 | while(!(waitingAckID_FIN==0 && waitingAckFrom_FIN==0)) |
gabrieltetar | 1:7e925468f9d9 | 700 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 701 | |
gabrieltetar | 1:7e925468f9d9 | 702 | 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 | 703 | SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, recalageDistanceY(), theta_robot); |
gabrieltetar | 1:7e925468f9d9 | 704 | } else if(instruction.precision == RECALAGE_X) { |
gabrieltetar | 1:7e925468f9d9 | 705 | SetOdometrie(ODOMETRIE_SMALL_POSITION, recalageDistanceX(), y_robot, theta_robot); |
gabrieltetar | 1:7e925468f9d9 | 706 | } else if(instruction.precision == RECALAGE_T) { |
gabrieltetar | 1:7e925468f9d9 | 707 | SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, recalageAngulaireCapteur() ); |
gabrieltetar | 1:7e925468f9d9 | 708 | } |
gabrieltetar | 1:7e925468f9d9 | 709 | } |
gabrieltetar | 1:7e925468f9d9 | 710 | break; |
gabrieltetar | 1:7e925468f9d9 | 711 | |
gabrieltetar | 1:7e925468f9d9 | 712 | case ACTION: |
gabrieltetar | 1:7e925468f9d9 | 713 | |
gabrieltetar | 1:7e925468f9d9 | 714 | waitingAckID_FIN = 0; |
gabrieltetar | 1:7e925468f9d9 | 715 | waitingAckFrom_FIN = 0; |
gabrieltetar | 1:7e925468f9d9 | 716 | int tempo = 0; |
gabrieltetar | 1:7e925468f9d9 | 717 | waitingAckID= ACK_ACTION; //On veut un ack de type action |
gabrieltetar | 1:7e925468f9d9 | 718 | waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex |
gabrieltetar | 14:6aa8aa1699ad | 719 | tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3); |
gabrieltetar | 1:7e925468f9d9 | 720 | // unsigned char test=(unsigned char) tempo; |
gabrieltetar | 1:7e925468f9d9 | 721 | // SendMsgCan(0x5BD, &test,1); |
gabrieltetar | 1:7e925468f9d9 | 722 | if(tempo == 1) { |
gabrieltetar | 1:7e925468f9d9 | 723 | //L'action est spécifique |
gabrieltetar | 1:7e925468f9d9 | 724 | if((waitingAckFrom == 0 && waitingAckID == 0) && instruction.nextActionType == ENCHAINEMENT) { |
gabrieltetar | 1:7e925468f9d9 | 725 | actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 726 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 727 | } else { |
gabrieltetar | 1:7e925468f9d9 | 728 | gameEtat = ETAT_GAME_WAIT_ACK; |
gabrieltetar | 1:7e925468f9d9 | 729 | } |
gabrieltetar | 1:7e925468f9d9 | 730 | return; |
gabrieltetar | 1:7e925468f9d9 | 731 | } else if (tempo == 2) { |
gabrieltetar | 1:7e925468f9d9 | 732 | // on est dans le cas de l'avance selon le telemetre |
gabrieltetar | 1:7e925468f9d9 | 733 | waitingAckID = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 734 | waitingAckFrom = ACKNOWLEDGE_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 735 | |
gabrieltetar | 1:7e925468f9d9 | 736 | localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1); |
gabrieltetar | 1:7e925468f9d9 | 737 | GoStraight(telemetreDistance, 0, 0, 0); |
gabrieltetar | 1:7e925468f9d9 | 738 | // on reset la distance du telemetre à 0 |
gabrieltetar | 1:7e925468f9d9 | 739 | telemetreDistance = 5000; |
gabrieltetar | 1:7e925468f9d9 | 740 | } else { |
gabrieltetar | 1:7e925468f9d9 | 741 | //C'est un AX12 qu'il faut bouger |
gabrieltetar | 1:7e925468f9d9 | 742 | //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2); |
gabrieltetar | 1:7e925468f9d9 | 743 | //AX12_enchainement++; |
gabrieltetar | 1:7e925468f9d9 | 744 | |
gabrieltetar | 1:7e925468f9d9 | 745 | } |
gabrieltetar | 1:7e925468f9d9 | 746 | break; |
gabrieltetar | 1:7e925468f9d9 | 747 | default: |
gabrieltetar | 1:7e925468f9d9 | 748 | //Instruction inconnue, on l'ignore |
gabrieltetar | 1:7e925468f9d9 | 749 | break; |
gabrieltetar | 1:7e925468f9d9 | 750 | } |
gabrieltetar | 1:7e925468f9d9 | 751 | |
gabrieltetar | 1:7e925468f9d9 | 752 | if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) { |
gabrieltetar | 1:7e925468f9d9 | 753 | gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge |
gabrieltetar | 1:7e925468f9d9 | 754 | screenChecktry++;//On incrèment le conteur de tentative de 1 |
gabrieltetar | 1:7e925468f9d9 | 755 | cartesCheker.reset();//On reset le timeOut |
gabrieltetar | 1:7e925468f9d9 | 756 | cartesCheker.start(); |
gabrieltetar | 1:7e925468f9d9 | 757 | if(AX12_enchainement > 0) { |
gabrieltetar | 1:7e925468f9d9 | 758 | //AX12_processChange();//Il faut lancer le déplacement des AX12 |
gabrieltetar | 1:7e925468f9d9 | 759 | //AX12_enchainement = 0; |
gabrieltetar | 1:7e925468f9d9 | 760 | } |
gabrieltetar | 1:7e925468f9d9 | 761 | } else { //C'est un enchainement |
gabrieltetar | 1:7e925468f9d9 | 762 | if(instruction.order == MV_LINE) { |
gabrieltetar | 1:7e925468f9d9 | 763 | gameEtat = ETAT_GAME_WAIT_ACK; |
gabrieltetar | 1:7e925468f9d9 | 764 | } else { |
gabrieltetar | 1:7e925468f9d9 | 765 | actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 766 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 767 | } |
gabrieltetar | 1:7e925468f9d9 | 768 | } |
gabrieltetar | 1:7e925468f9d9 | 769 | |
gabrieltetar | 1:7e925468f9d9 | 770 | break; |
gabrieltetar | 1:7e925468f9d9 | 771 | case ETAT_GAME_WAIT_ACK: |
gabrieltetar | 1:7e925468f9d9 | 772 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 773 | //SendSpeed(200);//--------------------------------------------------MODE RALENTI !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! |
gabrieltetar | 1:7e925468f9d9 | 774 | if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue |
gabrieltetar | 1:7e925468f9d9 | 775 | //if(true) { |
gabrieltetar | 1:7e925468f9d9 | 776 | cartesCheker.stop(); |
gabrieltetar | 1:7e925468f9d9 | 777 | if(instruction.nextActionType == JUMP) { |
gabrieltetar | 1:7e925468f9d9 | 778 | if(instruction.jumpAction == JUMP_POSITION) { |
gabrieltetar | 1:7e925468f9d9 | 779 | gameEtat = ETAT_GAME_JUMP_POSITION; |
gabrieltetar | 1:7e925468f9d9 | 780 | } else { //Pour eviter les erreurs, on dit que c'est par défaut un jump time |
gabrieltetar | 1:7e925468f9d9 | 781 | gameEtat = ETAT_GAME_JUMP_TIME; |
gabrieltetar | 1:7e925468f9d9 | 782 | cartesCheker.reset();//On reset le timeOut |
gabrieltetar | 1:7e925468f9d9 | 783 | cartesCheker.start(); |
gabrieltetar | 1:7e925468f9d9 | 784 | } |
gabrieltetar | 1:7e925468f9d9 | 785 | } else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions |
gabrieltetar | 1:7e925468f9d9 | 786 | /*wait_ms(200); |
gabrieltetar | 1:7e925468f9d9 | 787 | #ifdef ROBOT_BIG |
gabrieltetar | 1:7e925468f9d9 | 788 | SetOdometrie(ODOMETRIE_BIG_POSITION, x_robot, y_robot, theta_robot); |
gabrieltetar | 1:7e925468f9d9 | 789 | #else |
gabrieltetar | 1:7e925468f9d9 | 790 | SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, y_robot, theta_robot); |
gabrieltetar | 1:7e925468f9d9 | 791 | #endif |
gabrieltetar | 1:7e925468f9d9 | 792 | wait_ms(200);*/ |
gabrieltetar | 1:7e925468f9d9 | 793 | |
gabrieltetar | 1:7e925468f9d9 | 794 | gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 795 | switch(instruction.order) { |
gabrieltetar | 1:7e925468f9d9 | 796 | case MV_BEZIER: |
gabrieltetar | 1:7e925468f9d9 | 797 | waitingAckID_FIN = ASSERVISSEMENT_BEZIER; |
gabrieltetar | 1:7e925468f9d9 | 798 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 799 | break; |
gabrieltetar | 1:7e925468f9d9 | 800 | case MV_COURBURE: |
gabrieltetar | 1:7e925468f9d9 | 801 | waitingAckID_FIN = ASSERVISSEMENT_COURBURE; |
gabrieltetar | 1:7e925468f9d9 | 802 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 803 | break; |
gabrieltetar | 1:7e925468f9d9 | 804 | case MV_LINE: |
gabrieltetar | 1:7e925468f9d9 | 805 | waitingAckID_FIN = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 806 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 807 | break; |
gabrieltetar | 1:7e925468f9d9 | 808 | case MV_TURN: |
gabrieltetar | 1:7e925468f9d9 | 809 | waitingAckID_FIN = ASSERVISSEMENT_ROTATION; |
gabrieltetar | 1:7e925468f9d9 | 810 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 811 | break; |
gabrieltetar | 1:7e925468f9d9 | 812 | case MV_XYT: |
gabrieltetar | 1:7e925468f9d9 | 813 | waitingAckID_FIN = ASSERVISSEMENT_XYT; |
gabrieltetar | 1:7e925468f9d9 | 814 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 815 | break; |
gabrieltetar | 1:7e925468f9d9 | 816 | case MV_RECALAGE: |
gabrieltetar | 1:7e925468f9d9 | 817 | waitingAckID_FIN = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 818 | waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 819 | break; |
gabrieltetar | 1:7e925468f9d9 | 820 | case ACTION: |
gabrieltetar | 1:7e925468f9d9 | 821 | |
gabrieltetar | 1:7e925468f9d9 | 822 | if (modeTelemetre == 0) { |
gabrieltetar | 1:7e925468f9d9 | 823 | if (telemetreDistance == 0) { |
gabrieltetar | 1:7e925468f9d9 | 824 | waitingAckID_FIN = ACK_FIN_ACTION;// ack de type action |
gabrieltetar | 1:7e925468f9d9 | 825 | waitingAckFrom_FIN = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs |
gabrieltetar | 1:7e925468f9d9 | 826 | } else if(telemetreDistance == 5000) { |
gabrieltetar | 1:7e925468f9d9 | 827 | // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre |
gabrieltetar | 1:7e925468f9d9 | 828 | //waitingAckID_FIN = ASSERVISSEMENT_RECALAGE; |
gabrieltetar | 1:7e925468f9d9 | 829 | //waitingAckFrom_FIN = INSTRUCTION_END_MOTEUR; |
gabrieltetar | 1:7e925468f9d9 | 830 | telemetreDistance = 0; |
gabrieltetar | 1:7e925468f9d9 | 831 | } |
gabrieltetar | 1:7e925468f9d9 | 832 | } else { // si on attend la reponse du telemetre |
gabrieltetar | 1:7e925468f9d9 | 833 | //modeTelemetre = 1; |
gabrieltetar | 1:7e925468f9d9 | 834 | waitingAckID_FIN = OBJET_SUR_TABLE; |
gabrieltetar | 1:7e925468f9d9 | 835 | waitingAckFrom_FIN = 0; |
gabrieltetar | 1:7e925468f9d9 | 836 | } |
gabrieltetar | 1:7e925468f9d9 | 837 | break; |
gabrieltetar | 1:7e925468f9d9 | 838 | default: |
gabrieltetar | 1:7e925468f9d9 | 839 | break; |
gabrieltetar | 1:7e925468f9d9 | 840 | } |
gabrieltetar | 1:7e925468f9d9 | 841 | } else { |
gabrieltetar | 1:7e925468f9d9 | 842 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 843 | actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 844 | } |
gabrieltetar | 1:7e925468f9d9 | 845 | } else if(cartesCheker.read_ms () > 1000) { |
gabrieltetar | 1:7e925468f9d9 | 846 | cartesCheker.stop(); |
gabrieltetar | 1:7e925468f9d9 | 847 | if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur |
gabrieltetar | 1:7e925468f9d9 | 848 | actual_instruction = instruction.nextLineError; |
gabrieltetar | 1:7e925468f9d9 | 849 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 850 | } else { |
gabrieltetar | 21:d137ec53c3a9 | 851 | gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'strat_etat_s d'envois de l'instruction |
gabrieltetar | 1:7e925468f9d9 | 852 | } |
gabrieltetar | 1:7e925468f9d9 | 853 | } |
gabrieltetar | 1:7e925468f9d9 | 854 | break; |
gabrieltetar | 1:7e925468f9d9 | 855 | |
gabrieltetar | 1:7e925468f9d9 | 856 | case ETAT_GAME_JUMP_TIME: |
gabrieltetar | 1:7e925468f9d9 | 857 | if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) { |
gabrieltetar | 1:7e925468f9d9 | 858 | cartesCheker.stop();//On arrete le timer |
gabrieltetar | 1:7e925468f9d9 | 859 | actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 860 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 861 | } |
gabrieltetar | 1:7e925468f9d9 | 862 | break; |
gabrieltetar | 1:7e925468f9d9 | 863 | |
gabrieltetar | 1:7e925468f9d9 | 864 | case ETAT_GAME_JUMP_CONFIG: |
gabrieltetar | 1:7e925468f9d9 | 865 | signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées |
gabrieltetar | 1:7e925468f9d9 | 866 | // 1 si l'instruction est plus grande que la position du robot |
gabrieltetar | 1:7e925468f9d9 | 867 | // -1 si l'instruction est plus petite que la position du robot |
gabrieltetar | 1:7e925468f9d9 | 868 | // 0 si l'instruction et position du robot sont proche de moins de 1cm |
gabrieltetar | 1:7e925468f9d9 | 869 | if (abs(x_robot-instruction.JumpTimeOrX)<10) { |
gabrieltetar | 1:7e925468f9d9 | 870 | depasX = 0; |
gabrieltetar | 1:7e925468f9d9 | 871 | } else if(x_robot > instruction.JumpTimeOrX) { |
gabrieltetar | 1:7e925468f9d9 | 872 | depasX = -1; |
gabrieltetar | 1:7e925468f9d9 | 873 | } |
gabrieltetar | 1:7e925468f9d9 | 874 | |
gabrieltetar | 1:7e925468f9d9 | 875 | if(abs(y_robot-instruction.JumpY)<10) { |
gabrieltetar | 1:7e925468f9d9 | 876 | depasY = 0; |
gabrieltetar | 1:7e925468f9d9 | 877 | } else if(y_robot > instruction.JumpY) { |
gabrieltetar | 1:7e925468f9d9 | 878 | depasY = -1; |
gabrieltetar | 1:7e925468f9d9 | 879 | } |
gabrieltetar | 1:7e925468f9d9 | 880 | |
gabrieltetar | 1:7e925468f9d9 | 881 | gameEtat = ETAT_GAME_JUMP_POSITION; |
gabrieltetar | 1:7e925468f9d9 | 882 | break; |
gabrieltetar | 1:7e925468f9d9 | 883 | case ETAT_GAME_JUMP_POSITION: |
gabrieltetar | 1:7e925468f9d9 | 884 | bool Xok = false, Yok = false; |
gabrieltetar | 1:7e925468f9d9 | 885 | |
gabrieltetar | 1:7e925468f9d9 | 886 | if (depasX == 0) { |
gabrieltetar | 1:7e925468f9d9 | 887 | Xok = true; |
gabrieltetar | 1:7e925468f9d9 | 888 | } else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5) { |
gabrieltetar | 1:7e925468f9d9 | 889 | Xok = true; |
gabrieltetar | 1:7e925468f9d9 | 890 | } |
gabrieltetar | 1:7e925468f9d9 | 891 | |
gabrieltetar | 1:7e925468f9d9 | 892 | if (depasY == 0) { |
gabrieltetar | 1:7e925468f9d9 | 893 | Yok = true; |
gabrieltetar | 1:7e925468f9d9 | 894 | } else if ((instruction.JumpY - y_robot)*depasY < -5) { |
gabrieltetar | 1:7e925468f9d9 | 895 | Yok = true; |
gabrieltetar | 1:7e925468f9d9 | 896 | } |
gabrieltetar | 1:7e925468f9d9 | 897 | |
gabrieltetar | 1:7e925468f9d9 | 898 | // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 899 | if (Xok && Yok) { |
gabrieltetar | 1:7e925468f9d9 | 900 | actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 901 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 902 | } |
gabrieltetar | 1:7e925468f9d9 | 903 | |
gabrieltetar | 1:7e925468f9d9 | 904 | break; |
gabrieltetar | 1:7e925468f9d9 | 905 | case ETAT_GAME_WAIT_END_INSTRUCTION: |
gabrieltetar | 1:7e925468f9d9 | 906 | canProcessRx(); |
gabrieltetar | 1:7e925468f9d9 | 907 | if(waitingAckID_FIN == 0 && waitingAckFrom_FIN ==0) {//On attend que la carte nous indique que l'instruction est terminée |
gabrieltetar | 1:7e925468f9d9 | 908 | actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 909 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante |
gabrieltetar | 1:7e925468f9d9 | 910 | } |
gabrieltetar | 1:7e925468f9d9 | 911 | |
gabrieltetar | 1:7e925468f9d9 | 912 | break; |
gabrieltetar | 1:7e925468f9d9 | 913 | |
gabrieltetar | 1:7e925468f9d9 | 914 | case ETAT_END: |
gabrieltetar | 10:1964bb91b925 | 915 | Debug_Audio(3,4); |
gabrieltetar | 1:7e925468f9d9 | 916 | if (ModeDemo) { |
gabrieltetar | 1:7e925468f9d9 | 917 | gameEtat = ETAT_CHECK_CARTE_SCREEN; |
gabrieltetar | 1:7e925468f9d9 | 918 | ModeDemo = 1; |
gabrieltetar | 1:7e925468f9d9 | 919 | } else { |
gabrieltetar | 1:7e925468f9d9 | 920 | gameEtat = ETAT_END_LOOP; |
gabrieltetar | 1:7e925468f9d9 | 921 | } |
gabrieltetar | 1:7e925468f9d9 | 922 | break; |
gabrieltetar | 1:7e925468f9d9 | 923 | case ETAT_END_LOOP: |
gabrieltetar | 1:7e925468f9d9 | 924 | //Rien, on tourne en rond |
gabrieltetar | 1:7e925468f9d9 | 925 | |
gabrieltetar | 1:7e925468f9d9 | 926 | break; |
gabrieltetar | 1:7e925468f9d9 | 927 | default: |
gabrieltetar | 1:7e925468f9d9 | 928 | |
gabrieltetar | 1:7e925468f9d9 | 929 | break; |
gabrieltetar | 1:7e925468f9d9 | 930 | } |
gabrieltetar | 1:7e925468f9d9 | 931 | } |
gabrieltetar | 1:7e925468f9d9 | 932 | |
gabrieltetar | 1:7e925468f9d9 | 933 | |
gabrieltetar | 1:7e925468f9d9 | 934 | |
gabrieltetar | 1:7e925468f9d9 | 935 | |
gabrieltetar | 1:7e925468f9d9 | 936 | |
gabrieltetar | 1:7e925468f9d9 | 937 | /****************************************************************************************/ |
gabrieltetar | 1:7e925468f9d9 | 938 | /* FUNCTION NAME: canProcessRx */ |
gabrieltetar | 1:7e925468f9d9 | 939 | /* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/ |
gabrieltetar | 1:7e925468f9d9 | 940 | /****************************************************************************************/ |
gabrieltetar | 1:7e925468f9d9 | 941 | void canProcessRx(void) |
gabrieltetar | 1:7e925468f9d9 | 942 | { |
gabrieltetar | 1:7e925468f9d9 | 943 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
gabrieltetar | 1:7e925468f9d9 | 944 | char message[10]="toto"; |
gabrieltetar | 1:7e925468f9d9 | 945 | char message1[10]="toto"; |
gabrieltetar | 1:7e925468f9d9 | 946 | char message2[10]="toto"; |
gabrieltetar | 1:7e925468f9d9 | 947 | char message3[10]="toto"; |
gabrieltetar | 1:7e925468f9d9 | 948 | char message4[10]="toto"; |
gabrieltetar | 1:7e925468f9d9 | 949 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
gabrieltetar | 1:7e925468f9d9 | 950 | |
gabrieltetar | 1:7e925468f9d9 | 951 | if(FIFO_occupation<0) |
gabrieltetar | 1:7e925468f9d9 | 952 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
gabrieltetar | 1:7e925468f9d9 | 953 | |
gabrieltetar | 1:7e925468f9d9 | 954 | if(FIFO_max_occupation<FIFO_occupation) { |
gabrieltetar | 1:7e925468f9d9 | 955 | FIFO_max_occupation=FIFO_occupation; |
gabrieltetar | 1:7e925468f9d9 | 956 | //SendRawId( |
gabrieltetar | 1:7e925468f9d9 | 957 | } |
gabrieltetar | 1:7e925468f9d9 | 958 | |
gabrieltetar | 1:7e925468f9d9 | 959 | if(FIFO_occupation!=0) { |
gabrieltetar | 1:7e925468f9d9 | 960 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
gabrieltetar | 1:7e925468f9d9 | 961 | |
gabrieltetar | 1:7e925468f9d9 | 962 | if (waitingId == identifiant) waitingId = 0; |
gabrieltetar | 1:7e925468f9d9 | 963 | switch(identifiant) { |
gabrieltetar | 1:7e925468f9d9 | 964 | |
gabrieltetar | 1:7e925468f9d9 | 965 | case ALIVE_MOTEUR: |
gabrieltetar | 24:1a13c998c7ac | 966 | if (strat_etat_s == ATT) { |
gabrieltetar | 27:ff70537a7619 | 967 | DrawCheck(30,30,50,350,1); |
gabrieltetar | 24:1a13c998c7ac | 968 | } |
gabrieltetar | 1:7e925468f9d9 | 969 | break; |
gabrieltetar | 1:7e925468f9d9 | 970 | |
gabrieltetar | 1:7e925468f9d9 | 971 | case ALIVE_BALISE: |
gabrieltetar | 24:1a13c998c7ac | 972 | if (strat_etat_s == ATT) { |
gabrieltetar | 27:ff70537a7619 | 973 | DrawCheck(30,30,50,400,1); |
gabrieltetar | 24:1a13c998c7ac | 974 | } |
gabrieltetar | 1:7e925468f9d9 | 975 | break; |
gabrieltetar | 1:7e925468f9d9 | 976 | |
gabrieltetar | 1:7e925468f9d9 | 977 | case RESET_IHM: |
gabrieltetar | 21:d137ec53c3a9 | 978 | strat_etat_s = CHOIX; |
gabrieltetar | 1:7e925468f9d9 | 979 | break; |
gabrieltetar | 1:7e925468f9d9 | 980 | |
gabrieltetar | 1:7e925468f9d9 | 981 | case DEBUG_FAKE_JAKE://Permet de lancer le match à distance |
gabrieltetar | 1:7e925468f9d9 | 982 | case GLOBAL_JACK: |
gabrieltetar | 1:7e925468f9d9 | 983 | if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) { |
gabrieltetar | 1:7e925468f9d9 | 984 | gameEtat = ETAT_GAME_START; |
gabrieltetar | 1:7e925468f9d9 | 985 | SendRawId(ACKNOWLEDGE_JACK); |
gabrieltetar | 1:7e925468f9d9 | 986 | } |
gabrieltetar | 1:7e925468f9d9 | 987 | break; |
gabrieltetar | 1:7e925468f9d9 | 988 | |
gabrieltetar | 1:7e925468f9d9 | 989 | case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial |
gabrieltetar | 1:7e925468f9d9 | 990 | case ALIVE_ACTIONNEURS_ARRIERE: |
gabrieltetar | 1:7e925468f9d9 | 991 | case ALIVE_HERKULEX: |
gabrieltetar | 1:7e925468f9d9 | 992 | case ECRAN_ALL_CHECK: |
gabrieltetar | 1:7e925468f9d9 | 993 | if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) { |
gabrieltetar | 1:7e925468f9d9 | 994 | waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne |
gabrieltetar | 1:7e925468f9d9 | 995 | } |
gabrieltetar | 24:1a13c998c7ac | 996 | flag_check_carte=1; |
gabrieltetar | 1:7e925468f9d9 | 997 | break; |
gabrieltetar | 1:7e925468f9d9 | 998 | |
gabrieltetar | 1:7e925468f9d9 | 999 | case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement |
gabrieltetar | 1:7e925468f9d9 | 1000 | { |
gabrieltetar | 1:7e925468f9d9 | 1001 | |
gabrieltetar | 1:7e925468f9d9 | 1002 | unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] | ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8); |
gabrieltetar | 1:7e925468f9d9 | 1003 | memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2); |
gabrieltetar | 1:7e925468f9d9 | 1004 | if(recieveAckID == waitingAckID_FIN && waitingAckFrom_FIN == INSTRUCTION_END_MOTEUR) |
gabrieltetar | 1:7e925468f9d9 | 1005 | { |
gabrieltetar | 1:7e925468f9d9 | 1006 | if(flagNonRepriseErrorMot) { |
gabrieltetar | 1:7e925468f9d9 | 1007 | actual_instruction = instruction.nextLineError; |
gabrieltetar | 1:7e925468f9d9 | 1008 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 1009 | flagNonRepriseErrorMot = 0; |
gabrieltetar | 1:7e925468f9d9 | 1010 | } else { |
gabrieltetar | 1:7e925468f9d9 | 1011 | flagNonRepriseErrorMot = 1; |
gabrieltetar | 1:7e925468f9d9 | 1012 | timeoutWarningWaitEnd.reset(); |
gabrieltetar | 1:7e925468f9d9 | 1013 | timeoutWarningWaitEnd.start(); |
gabrieltetar | 1:7e925468f9d9 | 1014 | //gameEtat = ETAT_WARING_END_BALISE_WAIT; |
gabrieltetar | 1:7e925468f9d9 | 1015 | } |
gabrieltetar | 1:7e925468f9d9 | 1016 | } |
gabrieltetar | 1:7e925468f9d9 | 1017 | /* |
gabrieltetar | 1:7e925468f9d9 | 1018 | if(flagNonRepriseErrorMot) { |
gabrieltetar | 1:7e925468f9d9 | 1019 | actual_instruction = instruction.nextLineError; |
gabrieltetar | 1:7e925468f9d9 | 1020 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 1021 | flagNonRepriseErrorMot = 0; |
gabrieltetar | 1:7e925468f9d9 | 1022 | } else { |
gabrieltetar | 1:7e925468f9d9 | 1023 | flagNonRepriseErrorMot = 1; |
gabrieltetar | 1:7e925468f9d9 | 1024 | gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 1025 | }*/ |
gabrieltetar | 1:7e925468f9d9 | 1026 | } break; |
gabrieltetar | 1:7e925468f9d9 | 1027 | |
gabrieltetar | 1:7e925468f9d9 | 1028 | /////////////////////////////////////Acknowledges de Reception de la demande d'action//////////////////////////////////////// |
gabrieltetar | 1:7e925468f9d9 | 1029 | case ACKNOWLEDGE_HERKULEX: |
gabrieltetar | 1:7e925468f9d9 | 1030 | case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans ACK_FIN_ACTION mais conserve l'ident initial |
gabrieltetar | 1:7e925468f9d9 | 1031 | |
gabrieltetar | 1:7e925468f9d9 | 1032 | case ACKNOWLEDGE_TELEMETRE: |
gabrieltetar | 1:7e925468f9d9 | 1033 | /////////////////////////////////////////////Acknowledges de la fin d'action///////////////////////////////////////////////// |
gabrieltetar | 1:7e925468f9d9 | 1034 | case ACKNOWLEDGE_MOTEUR: |
gabrieltetar | 1:7e925468f9d9 | 1035 | case INSTRUCTION_END_BALISE: |
gabrieltetar | 1:7e925468f9d9 | 1036 | case ACK_FIN_ACTION: |
gabrieltetar | 1:7e925468f9d9 | 1037 | case INSTRUCTION_END_MOTEUR: |
gabrieltetar | 1:7e925468f9d9 | 1038 | unsigned short recieveAckID;// = (unsigned short)msgRxBuffer[FIFO_lecture].data[0] | ( ((unsigned short)msgRxBuffer[FIFO_lecture].data[1]) <<8); |
gabrieltetar | 1:7e925468f9d9 | 1039 | memcpy(&recieveAckID, msgRxBuffer[FIFO_lecture].data, 2); |
gabrieltetar | 1:7e925468f9d9 | 1040 | /* |
gabrieltetar | 1:7e925468f9d9 | 1041 | //on desactive la balise dans les rotations XYT |
gabrieltetar | 1:7e925468f9d9 | 1042 | if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_XYT==recieveAckID)ingnorBalise=1; |
gabrieltetar | 1:7e925468f9d9 | 1043 | if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_XYT_ROTATE==recieveAckID)ingnorBalise=0; |
gabrieltetar | 1:7e925468f9d9 | 1044 | |
gabrieltetar | 1:7e925468f9d9 | 1045 | //on desactive la balise dans les rotations |
gabrieltetar | 1:7e925468f9d9 | 1046 | if(msgRxBuffer[FIFO_lecture].id==ACKNOWLEDGE_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=1; |
gabrieltetar | 1:7e925468f9d9 | 1047 | if(msgRxBuffer[FIFO_lecture].id==INSTRUCTION_END_MOTEUR && ASSERVISSEMENT_ROTATION==recieveAckID)ingnorBalise=0; |
gabrieltetar | 1:7e925468f9d9 | 1048 | */ |
gabrieltetar | 1:7e925468f9d9 | 1049 | |
gabrieltetar | 1:7e925468f9d9 | 1050 | // SendMsgCan(0x666,&ingnorBalise,1); |
gabrieltetar | 1:7e925468f9d9 | 1051 | |
gabrieltetar | 1:7e925468f9d9 | 1052 | if( waitingAckFrom == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID ) { |
gabrieltetar | 1:7e925468f9d9 | 1053 | waitingAckFrom = 0; |
gabrieltetar | 1:7e925468f9d9 | 1054 | waitingAckID = 0; |
gabrieltetar | 1:7e925468f9d9 | 1055 | } |
gabrieltetar | 1:7e925468f9d9 | 1056 | if( waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && recieveAckID == waitingAckID_FIN ) { |
gabrieltetar | 1:7e925468f9d9 | 1057 | waitingAckFrom_FIN = 0; |
gabrieltetar | 1:7e925468f9d9 | 1058 | waitingAckID_FIN = 0; |
gabrieltetar | 1:7e925468f9d9 | 1059 | } |
gabrieltetar | 1:7e925468f9d9 | 1060 | |
gabrieltetar | 1:7e925468f9d9 | 1061 | /* |
gabrieltetar | 1:7e925468f9d9 | 1062 | if((waitingAckFrom == msgRxBuffer[FIFO_lecture].id) && |
gabrieltetar | 1:7e925468f9d9 | 1063 | ((unsigned short)msgRxBuffer[FIFO_lecture].data[0] | (((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID) ) |
gabrieltetar | 1:7e925468f9d9 | 1064 | { |
gabrieltetar | 1:7e925468f9d9 | 1065 | waitingAckFrom = 0; |
gabrieltetar | 1:7e925468f9d9 | 1066 | waitingAckID = 0; |
gabrieltetar | 1:7e925468f9d9 | 1067 | } |
gabrieltetar | 1:7e925468f9d9 | 1068 | if(waitingAckFrom_FIN == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0] |
gabrieltetar | 1:7e925468f9d9 | 1069 | |(((unsigned short)msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID_FIN)) |
gabrieltetar | 1:7e925468f9d9 | 1070 | { |
gabrieltetar | 1:7e925468f9d9 | 1071 | waitingAckFrom_FIN = 0; |
gabrieltetar | 1:7e925468f9d9 | 1072 | waitingAckID_FIN = 0; |
gabrieltetar | 1:7e925468f9d9 | 1073 | } |
gabrieltetar | 1:7e925468f9d9 | 1074 | */ |
gabrieltetar | 1:7e925468f9d9 | 1075 | break; |
gabrieltetar | 1:7e925468f9d9 | 1076 | case ODOMETRIE_BIG_POSITION: |
gabrieltetar | 24:1a13c998c7ac | 1077 | x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8); |
gabrieltetar | 24:1a13c998c7ac | 1078 | y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8); |
gabrieltetar | 24:1a13c998c7ac | 1079 | theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8); |
gabrieltetar | 24:1a13c998c7ac | 1080 | break; |
gabrieltetar | 1:7e925468f9d9 | 1081 | case ODOMETRIE_SMALL_POSITION: |
gabrieltetar | 1:7e925468f9d9 | 1082 | |
gabrieltetar | 1:7e925468f9d9 | 1083 | x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8); |
gabrieltetar | 1:7e925468f9d9 | 1084 | y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8); |
gabrieltetar | 1:7e925468f9d9 | 1085 | theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8); |
gabrieltetar | 1:7e925468f9d9 | 1086 | break; |
gabrieltetar | 1:7e925468f9d9 | 1087 | |
gabrieltetar | 1:7e925468f9d9 | 1088 | case ACK_ACTION: |
gabrieltetar | 1:7e925468f9d9 | 1089 | if(waitingAckID == msgRxBuffer[FIFO_lecture].id) { |
gabrieltetar | 1:7e925468f9d9 | 1090 | waitingAckFrom = 0; |
gabrieltetar | 1:7e925468f9d9 | 1091 | waitingAckID = 0; |
gabrieltetar | 1:7e925468f9d9 | 1092 | } |
gabrieltetar | 1:7e925468f9d9 | 1093 | break; |
gabrieltetar | 1:7e925468f9d9 | 1094 | |
gabrieltetar | 1:7e925468f9d9 | 1095 | case BALISE_DANGER : |
gabrieltetar | 1:7e925468f9d9 | 1096 | SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER); |
gabrieltetar | 1:7e925468f9d9 | 1097 | balise_danger(); |
gabrieltetar | 1:7e925468f9d9 | 1098 | break; |
gabrieltetar | 1:7e925468f9d9 | 1099 | |
gabrieltetar | 1:7e925468f9d9 | 1100 | case BALISE_STOP: |
gabrieltetar | 1:7e925468f9d9 | 1101 | SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP); |
gabrieltetar | 1:7e925468f9d9 | 1102 | balise_stop(FIFO_lecture); |
gabrieltetar | 1:7e925468f9d9 | 1103 | break; |
gabrieltetar | 1:7e925468f9d9 | 1104 | |
gabrieltetar | 1:7e925468f9d9 | 1105 | case BALISE_END_DANGER: |
gabrieltetar | 1:7e925468f9d9 | 1106 | SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER); |
gabrieltetar | 21:d137ec53c3a9 | 1107 | balise_end_danger(&instruction,&dodgeq,target_x_robot,target_y_robot,target_theta_robot, theta_robot,x_robot,y_robot); |
gabrieltetar | 1:7e925468f9d9 | 1108 | break; |
gabrieltetar | 1:7e925468f9d9 | 1109 | |
gabrieltetar | 1:7e925468f9d9 | 1110 | case RECEPTION_DATA: |
gabrieltetar | 1:7e925468f9d9 | 1111 | telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]); |
gabrieltetar | 1:7e925468f9d9 | 1112 | telemetreDistance= (float)telemetreDistance*100.0f*35.5f+50.0f; |
gabrieltetar | 1:7e925468f9d9 | 1113 | waitingAckFrom = 0; |
gabrieltetar | 1:7e925468f9d9 | 1114 | waitingAckID = 0; |
gabrieltetar | 1:7e925468f9d9 | 1115 | break; |
gabrieltetar | 1:7e925468f9d9 | 1116 | |
gabrieltetar | 1:7e925468f9d9 | 1117 | case RECEPTION_RECALAGE: |
gabrieltetar | 1:7e925468f9d9 | 1118 | wait_us(150); |
gabrieltetar | 1:7e925468f9d9 | 1119 | flagReceptionTelemetres = 1; |
gabrieltetar | 1:7e925468f9d9 | 1120 | // 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 | 1121 | memcpy(&telemetreDistance_avant_droite,msgRxBuffer[FIFO_lecture].data,2); |
gabrieltetar | 1:7e925468f9d9 | 1122 | telemetreDistance_avant_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]); |
gabrieltetar | 1:7e925468f9d9 | 1123 | telemetreDistance_arriere_gauche = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]); |
gabrieltetar | 1:7e925468f9d9 | 1124 | telemetreDistance_arriere_droite = char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]); |
gabrieltetar | 1:7e925468f9d9 | 1125 | |
gabrieltetar | 1:7e925468f9d9 | 1126 | |
gabrieltetar | 1:7e925468f9d9 | 1127 | if(ModeDemo==1) { |
gabrieltetar | 1:7e925468f9d9 | 1128 | sprintf(message,"%04dmm L:%d",telemetreDistance_avant_droite,DT_AVD_interrupt); |
gabrieltetar | 1:7e925468f9d9 | 1129 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 1:7e925468f9d9 | 1130 | lcd.DisplayStringAt(0, LINE(8),(unsigned char *)"LASER AVD : ",LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1131 | lcd.DisplayStringAt(200, LINE(8),(unsigned char *)message, LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1132 | |
gabrieltetar | 1:7e925468f9d9 | 1133 | sprintf(message1,"%04dmm L:%d",telemetreDistance_avant_gauche,DT_AVG_interrupt); |
gabrieltetar | 1:7e925468f9d9 | 1134 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 1:7e925468f9d9 | 1135 | lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER AVG : ",LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1136 | lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message1, LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1137 | |
gabrieltetar | 1:7e925468f9d9 | 1138 | |
gabrieltetar | 1:7e925468f9d9 | 1139 | sprintf(message4,"%04d",theta_robot); |
gabrieltetar | 1:7e925468f9d9 | 1140 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 1:7e925468f9d9 | 1141 | lcd.DisplayStringAt(0, LINE(13),(unsigned char *)"THETA: ",LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1142 | lcd.DisplayStringAt(200, LINE(13),(unsigned char *)message4, LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1143 | |
gabrieltetar | 1:7e925468f9d9 | 1144 | |
gabrieltetar | 1:7e925468f9d9 | 1145 | sprintf(message2,"%04dmm L:%d",telemetreDistance_arriere_gauche,DT_ARG_interrupt); |
gabrieltetar | 1:7e925468f9d9 | 1146 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 1:7e925468f9d9 | 1147 | lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER ARG : ",LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1148 | lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message2, LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1149 | |
gabrieltetar | 1:7e925468f9d9 | 1150 | sprintf(message3,"%04dmm L:%d",telemetreDistance_arriere_droite,DT_ARD_interrupt); |
gabrieltetar | 1:7e925468f9d9 | 1151 | lcd.SetBackColor(LCD_COLOR_WHITE); |
gabrieltetar | 1:7e925468f9d9 | 1152 | lcd.DisplayStringAt(0, LINE(18),(unsigned char *)"LASER ARD : ",LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1153 | lcd.DisplayStringAt(200, LINE(18),(unsigned char *)message3, LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1154 | } |
gabrieltetar | 1:7e925468f9d9 | 1155 | break; |
gabrieltetar | 1:7e925468f9d9 | 1156 | case RECEPTION_TELEMETRE_LOGIQUE: |
gabrieltetar | 1:7e925468f9d9 | 1157 | |
gabrieltetar | 1:7e925468f9d9 | 1158 | DT_AVD_interrupt=msgRxBuffer[FIFO_lecture].data[0]; |
gabrieltetar | 1:7e925468f9d9 | 1159 | DT_AVG_interrupt=msgRxBuffer[FIFO_lecture].data[1]; |
gabrieltetar | 1:7e925468f9d9 | 1160 | DT_ARG_interrupt=msgRxBuffer[FIFO_lecture].data[2]; |
gabrieltetar | 1:7e925468f9d9 | 1161 | DT_ARD_interrupt=msgRxBuffer[FIFO_lecture].data[3]; |
gabrieltetar | 1:7e925468f9d9 | 1162 | |
gabrieltetar | 1:7e925468f9d9 | 1163 | break; |
gabrieltetar | 1:7e925468f9d9 | 1164 | case RECEPTION_COULEUR: |
gabrieltetar | 1:7e925468f9d9 | 1165 | if (blocage_balise==0) { |
gabrieltetar | 1:7e925468f9d9 | 1166 | couleur1=msgRxBuffer[FIFO_lecture].data[0]; |
gabrieltetar | 1:7e925468f9d9 | 1167 | couleur2=msgRxBuffer[FIFO_lecture].data[1]; |
gabrieltetar | 1:7e925468f9d9 | 1168 | couleur3=msgRxBuffer[FIFO_lecture].data[2]; |
gabrieltetar | 1:7e925468f9d9 | 1169 | |
gabrieltetar | 1:7e925468f9d9 | 1170 | /*lcd.DisplayStringAt(0,LINE(16),(unsigned char *)couleur1+'0',LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1171 | lcd.DisplayStringAt(0,LINE(16+1),(unsigned char *)couleur2+'0',LEFT_MODE); |
gabrieltetar | 1:7e925468f9d9 | 1172 | lcd.DisplayStringAt(0,LINE(16+2),(unsigned char *)couleur3+'0',LEFT_MODE);*/ |
gabrieltetar | 1:7e925468f9d9 | 1173 | } |
gabrieltetar | 1:7e925468f9d9 | 1174 | |
gabrieltetar | 1:7e925468f9d9 | 1175 | break; |
gabrieltetar | 10:1964bb91b925 | 1176 | default: |
gabrieltetar | 10:1964bb91b925 | 1177 | break; |
gabrieltetar | 1:7e925468f9d9 | 1178 | /* |
gabrieltetar | 1:7e925468f9d9 | 1179 | case NO_BLOC: //il n'y a pas de bloc, on saute les étapes liées à l'attrape bloc |
gabrieltetar | 1:7e925468f9d9 | 1180 | actual_instruction = instruction.nextLineError; |
gabrieltetar | 1:7e925468f9d9 | 1181 | gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION; |
gabrieltetar | 1:7e925468f9d9 | 1182 | // waitingAckID_FIN=0; |
gabrieltetar | 1:7e925468f9d9 | 1183 | // waitingAckFrom_FIN=0; |
gabrieltetar | 1:7e925468f9d9 | 1184 | SendRawId(0x40); |
gabrieltetar | 1:7e925468f9d9 | 1185 | break;*/ |
gabrieltetar | 1:7e925468f9d9 | 1186 | } |
gabrieltetar | 1:7e925468f9d9 | 1187 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
gabrieltetar | 1:7e925468f9d9 | 1188 | } |
gabrieltetar | 1:7e925468f9d9 | 1189 | } |
gabrieltetar | 1:7e925468f9d9 | 1190 | |
gabrieltetar | 1:7e925468f9d9 | 1191 | |
gabrieltetar | 1:7e925468f9d9 | 1192 | |
gabrieltetar | 1:7e925468f9d9 | 1193 | |
gabrieltetar | 1:7e925468f9d9 | 1194 | |
gabrieltetar | 1:7e925468f9d9 | 1195 | |
gabrieltetar | 1:7e925468f9d9 | 1196 | |
gabrieltetar | 1:7e925468f9d9 | 1197 | void affichage_compteur (int nombre) |
gabrieltetar | 1:7e925468f9d9 | 1198 | { |
gabrieltetar | 1:7e925468f9d9 | 1199 | int dizaine=0,unite=0,centaine=0; |
gabrieltetar | 1:7e925468f9d9 | 1200 | centaine = nombre/100; |
gabrieltetar | 1:7e925468f9d9 | 1201 | dizaine = nombre/10; |
gabrieltetar | 1:7e925468f9d9 | 1202 | unite = nombre-(10*dizaine); |
gabrieltetar | 1:7e925468f9d9 | 1203 | print_segment(unite,-50); |
gabrieltetar | 1:7e925468f9d9 | 1204 | print_segment(dizaine,100); |
gabrieltetar | 1:7e925468f9d9 | 1205 | if(centaine!=0) { |
gabrieltetar | 1:7e925468f9d9 | 1206 | print_segment(centaine,350); |
gabrieltetar | 1:7e925468f9d9 | 1207 | } |
gabrieltetar | 1:7e925468f9d9 | 1208 | |
gabrieltetar | 1:7e925468f9d9 | 1209 | } |
gabrieltetar | 1:7e925468f9d9 | 1210 | |
gabrieltetar | 1:7e925468f9d9 | 1211 | |
gabrieltetar | 1:7e925468f9d9 | 1212 | //****print_segment*** |
gabrieltetar | 1:7e925468f9d9 | 1213 | //Dessine en 7 segment le nombre en parametre |
gabrieltetar | 1:7e925468f9d9 | 1214 | // A |
gabrieltetar | 1:7e925468f9d9 | 1215 | // ===== |
gabrieltetar | 1:7e925468f9d9 | 1216 | // | | |
gabrieltetar | 1:7e925468f9d9 | 1217 | // B | G | E |
gabrieltetar | 1:7e925468f9d9 | 1218 | // |=====| |
gabrieltetar | 1:7e925468f9d9 | 1219 | // C | | F |
gabrieltetar | 1:7e925468f9d9 | 1220 | // | | |
gabrieltetar | 1:7e925468f9d9 | 1221 | // ===== |
gabrieltetar | 1:7e925468f9d9 | 1222 | // D |
gabrieltetar | 1:7e925468f9d9 | 1223 | /* |
gabrieltetar | 1:7e925468f9d9 | 1224 | position pour le chiffre des unites |
gabrieltetar | 1:7e925468f9d9 | 1225 | lcd.FillRect(460,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1226 | lcd.FillRect(435,100,25,120);// B |
gabrieltetar | 1:7e925468f9d9 | 1227 | lcd.FillRect(435,245,25,120);// C |
gabrieltetar | 1:7e925468f9d9 | 1228 | lcd.FillRect(460,365,120,25);// D |
gabrieltetar | 1:7e925468f9d9 | 1229 | lcd.FillRect(580,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1230 | lcd.FillRect(580,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1231 | lcd.FillRect(460,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1232 | |
gabrieltetar | 1:7e925468f9d9 | 1233 | position pour le chiffre des dizaines |
gabrieltetar | 1:7e925468f9d9 | 1234 | lcd.FillRect(260,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1235 | lcd.FillRect(235,100,25,120);// B |
gabrieltetar | 1:7e925468f9d9 | 1236 | lcd.FillRect(235,245,25,120);// C |
gabrieltetar | 1:7e925468f9d9 | 1237 | lcd.FillRect(260,365,120,25);// D |
gabrieltetar | 1:7e925468f9d9 | 1238 | lcd.FillRect(380,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1239 | lcd.FillRect(380,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1240 | lcd.FillRect(260,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1241 | */ |
gabrieltetar | 1:7e925468f9d9 | 1242 | |
gabrieltetar | 1:7e925468f9d9 | 1243 | void print_segment(int nombre, int decalage) |
gabrieltetar | 1:7e925468f9d9 | 1244 | { |
gabrieltetar | 1:7e925468f9d9 | 1245 | |
gabrieltetar | 1:7e925468f9d9 | 1246 | switch(nombre) { |
gabrieltetar | 1:7e925468f9d9 | 1247 | case 0: |
gabrieltetar | 1:7e925468f9d9 | 1248 | lcd.FillRect(240-decalage,75,120,25); |
gabrieltetar | 1:7e925468f9d9 | 1249 | lcd.FillRect(215-decalage,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1250 | lcd.FillRect(215-decalage,245,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1251 | lcd.FillRect(360-decalage,245,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1252 | lcd.FillRect(360-decalage,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1253 | lcd.FillRect(240-decalage,365,120,25); |
gabrieltetar | 1:7e925468f9d9 | 1254 | break; |
gabrieltetar | 1:7e925468f9d9 | 1255 | |
gabrieltetar | 1:7e925468f9d9 | 1256 | case 1: |
gabrieltetar | 1:7e925468f9d9 | 1257 | lcd.FillRect(360-decalage,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1258 | lcd.FillRect(360-decalage,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1259 | break; |
gabrieltetar | 1:7e925468f9d9 | 1260 | |
gabrieltetar | 1:7e925468f9d9 | 1261 | case 2: |
gabrieltetar | 1:7e925468f9d9 | 1262 | lcd.FillRect(240-decalage,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1263 | lcd.FillRect(215-decalage,245,25,120);// C |
gabrieltetar | 1:7e925468f9d9 | 1264 | lcd.FillRect(240-decalage,365,120,25);// D |
gabrieltetar | 1:7e925468f9d9 | 1265 | lcd.FillRect(360-decalage,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1266 | lcd.FillRect(240-decalage,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1267 | break; |
gabrieltetar | 1:7e925468f9d9 | 1268 | |
gabrieltetar | 1:7e925468f9d9 | 1269 | case 3: |
gabrieltetar | 1:7e925468f9d9 | 1270 | lcd.FillRect(240-decalage,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1271 | lcd.FillRect(360-decalage,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1272 | lcd.FillRect(240-decalage,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1273 | lcd.FillRect(240-decalage,365,120,25);// D |
gabrieltetar | 1:7e925468f9d9 | 1274 | lcd.FillRect(360-decalage,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1275 | break; |
gabrieltetar | 1:7e925468f9d9 | 1276 | |
gabrieltetar | 1:7e925468f9d9 | 1277 | case 4: |
gabrieltetar | 1:7e925468f9d9 | 1278 | lcd.FillRect(215-decalage,100,25,120);// B |
gabrieltetar | 1:7e925468f9d9 | 1279 | lcd.FillRect(360-decalage,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1280 | lcd.FillRect(360-decalage,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1281 | lcd.FillRect(240-decalage,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1282 | break; |
gabrieltetar | 1:7e925468f9d9 | 1283 | |
gabrieltetar | 1:7e925468f9d9 | 1284 | case 5: |
gabrieltetar | 1:7e925468f9d9 | 1285 | lcd.FillRect(240-decalage,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1286 | lcd.FillRect(215-decalage,100,25,120);// B |
gabrieltetar | 1:7e925468f9d9 | 1287 | lcd.FillRect(240-decalage,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1288 | lcd.FillRect(240-decalage,365,120,25);// D |
gabrieltetar | 1:7e925468f9d9 | 1289 | lcd.FillRect(360-decalage,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1290 | break; |
gabrieltetar | 1:7e925468f9d9 | 1291 | |
gabrieltetar | 1:7e925468f9d9 | 1292 | case 6: |
gabrieltetar | 1:7e925468f9d9 | 1293 | lcd.FillRect(240-decalage,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1294 | lcd.FillRect(215-decalage,100,25,120);// B |
gabrieltetar | 1:7e925468f9d9 | 1295 | lcd.FillRect(215-decalage,245,25,120);// C |
gabrieltetar | 1:7e925468f9d9 | 1296 | lcd.FillRect(240-decalage,365,120,25);// D |
gabrieltetar | 1:7e925468f9d9 | 1297 | lcd.FillRect(360-decalage,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1298 | lcd.FillRect(240-decalage,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1299 | break; |
gabrieltetar | 1:7e925468f9d9 | 1300 | |
gabrieltetar | 1:7e925468f9d9 | 1301 | case 7: |
gabrieltetar | 1:7e925468f9d9 | 1302 | lcd.FillRect(240-decalage,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1303 | lcd.FillRect(360-decalage,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1304 | lcd.FillRect(360-decalage,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1305 | break; |
gabrieltetar | 1:7e925468f9d9 | 1306 | |
gabrieltetar | 1:7e925468f9d9 | 1307 | case 8: |
gabrieltetar | 1:7e925468f9d9 | 1308 | lcd.FillRect(240-decalage,75,120,25); // A |
gabrieltetar | 1:7e925468f9d9 | 1309 | lcd.FillRect(215-decalage,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1310 | lcd.FillRect(215-decalage,245,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1311 | lcd.FillRect(360-decalage,245,25,120);//... |
gabrieltetar | 1:7e925468f9d9 | 1312 | lcd.FillRect(360-decalage,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1313 | lcd.FillRect(240-decalage,365,120,25); |
gabrieltetar | 1:7e925468f9d9 | 1314 | lcd.FillRect(240-decalage,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1315 | break; |
gabrieltetar | 1:7e925468f9d9 | 1316 | |
gabrieltetar | 1:7e925468f9d9 | 1317 | case 9: |
gabrieltetar | 1:7e925468f9d9 | 1318 | lcd.FillRect(240-decalage,75,120,25);// A |
gabrieltetar | 1:7e925468f9d9 | 1319 | lcd.FillRect(215-decalage,100,25,120);// B |
gabrieltetar | 1:7e925468f9d9 | 1320 | lcd.FillRect(240-decalage,365,120,25);// D |
gabrieltetar | 1:7e925468f9d9 | 1321 | lcd.FillRect(360-decalage,100,25,120);// E |
gabrieltetar | 1:7e925468f9d9 | 1322 | lcd.FillRect(360-decalage,245,25,120);// F |
gabrieltetar | 1:7e925468f9d9 | 1323 | lcd.FillRect(240-decalage,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1324 | break; |
gabrieltetar | 1:7e925468f9d9 | 1325 | } |
gabrieltetar | 1:7e925468f9d9 | 1326 | } |
gabrieltetar | 1:7e925468f9d9 | 1327 | |
gabrieltetar | 1:7e925468f9d9 | 1328 | void effacer_segment(long couleur) |
gabrieltetar | 1:7e925468f9d9 | 1329 | { |
gabrieltetar | 1:7e925468f9d9 | 1330 | lcd.SetTextColor(couleur); |
gabrieltetar | 1:7e925468f9d9 | 1331 | lcd.FillRect(240-200,75,120,25); // A |
gabrieltetar | 1:7e925468f9d9 | 1332 | lcd.FillRect(215-200,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1333 | lcd.FillRect(215-200,245,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1334 | lcd.FillRect(360-200,245,25,120);//... |
gabrieltetar | 1:7e925468f9d9 | 1335 | lcd.FillRect(360-200,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1336 | lcd.FillRect(240-200,365,120,25); |
gabrieltetar | 1:7e925468f9d9 | 1337 | lcd.FillRect(240-200,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1338 | |
gabrieltetar | 1:7e925468f9d9 | 1339 | lcd.FillRect(240,75,120,25); // A |
gabrieltetar | 1:7e925468f9d9 | 1340 | lcd.FillRect(215,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1341 | lcd.FillRect(215,245,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1342 | lcd.FillRect(360,245,25,120);//... |
gabrieltetar | 1:7e925468f9d9 | 1343 | lcd.FillRect(360,100,25,120); |
gabrieltetar | 1:7e925468f9d9 | 1344 | lcd.FillRect(240,365,120,25); |
gabrieltetar | 1:7e925468f9d9 | 1345 | lcd.FillRect(240,220,120,25);// G |
gabrieltetar | 1:7e925468f9d9 | 1346 | } |
gabrieltetar | 1:7e925468f9d9 | 1347 | |
gabrieltetar | 1:7e925468f9d9 | 1348 | short recalageAngulaireCapteur(void) |
gabrieltetar | 1:7e925468f9d9 | 1349 | { |
gabrieltetar | 1:7e925468f9d9 | 1350 | unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0; |
gabrieltetar | 1:7e925468f9d9 | 1351 | unsigned int moyennageTelemetre = 0; |
gabrieltetar | 1:7e925468f9d9 | 1352 | unsigned short angleAvant = 0; |
gabrieltetar | 1:7e925468f9d9 | 1353 | unsigned short angleArriere = 0; |
gabrieltetar | 1:7e925468f9d9 | 1354 | unsigned short orientationArrondie = 0; |
gabrieltetar | 1:7e925468f9d9 | 1355 | |
gabrieltetar | 1:7e925468f9d9 | 1356 | unsigned short position_avant_gauche=0; |
gabrieltetar | 1:7e925468f9d9 | 1357 | unsigned short position_avant_droite=0; |
gabrieltetar | 1:7e925468f9d9 | 1358 | unsigned short position_arriere_gauche=0; |
gabrieltetar | 1:7e925468f9d9 | 1359 | unsigned short position_arriere_droite=0; |
gabrieltetar | 1:7e925468f9d9 | 1360 | |
gabrieltetar | 1:7e925468f9d9 | 1361 | unsigned short tempo= telemetreDistance_arriere_gauche; |
gabrieltetar | 1:7e925468f9d9 | 1362 | telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite; |
gabrieltetar | 1:7e925468f9d9 | 1363 | telemetreDistance_arriere_droite=tempo; |
gabrieltetar | 1:7e925468f9d9 | 1364 | |
gabrieltetar | 1:7e925468f9d9 | 1365 | |
gabrieltetar | 1:7e925468f9d9 | 1366 | |
gabrieltetar | 1:7e925468f9d9 | 1367 | if(theta_robot >= 450 && theta_robot <= 1350) |
gabrieltetar | 1:7e925468f9d9 | 1368 | orientationArrondie = 90; |
gabrieltetar | 1:7e925468f9d9 | 1369 | else if(theta_robot <= -450 && theta_robot >= -1350) |
gabrieltetar | 1:7e925468f9d9 | 1370 | orientationArrondie = 270; |
gabrieltetar | 1:7e925468f9d9 | 1371 | else if(theta_robot <= 450 && theta_robot >= -450) |
gabrieltetar | 1:7e925468f9d9 | 1372 | orientationArrondie = 0; |
gabrieltetar | 1:7e925468f9d9 | 1373 | else if(theta_robot >= 1350 && theta_robot <= -1350) |
gabrieltetar | 1:7e925468f9d9 | 1374 | orientationArrondie = 180; |
gabrieltetar | 1:7e925468f9d9 | 1375 | |
gabrieltetar | 1:7e925468f9d9 | 1376 | // Calcul de position pour faire la vérification de cohérence |
gabrieltetar | 1:7e925468f9d9 | 1377 | if(orientationArrondie == 90 || orientationArrondie == 270) { |
gabrieltetar | 1:7e925468f9d9 | 1378 | 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 | 1379 | 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 | 1380 | 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 | 1381 | 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 | 1382 | |
gabrieltetar | 1:7e925468f9d9 | 1383 | } else if(orientationArrondie == 0 || orientationArrondie == 180) { |
gabrieltetar | 1:7e925468f9d9 | 1384 | 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 | 1385 | 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 | 1386 | 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 | 1387 | 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 | 1388 | } |
gabrieltetar | 1:7e925468f9d9 | 1389 | |
gabrieltetar | 1:7e925468f9d9 | 1390 | |
gabrieltetar | 1:7e925468f9d9 | 1391 | if(orientationArrondie == 90 || orientationArrondie == 270) { // Si il est en axe Y |
gabrieltetar | 1:7e925468f9d9 | 1392 | if(position_arriere_droite >= y_robot-instruction.arg1 && position_arriere_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes |
gabrieltetar | 1:7e925468f9d9 | 1393 | if(position_arriere_gauche >= y_robot-instruction.arg1 && position_arriere_gauche <= y_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1394 | if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche) |
gabrieltetar | 1:7e925468f9d9 | 1395 | angleArriere =900+(1800 * atan2((double)(telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double)ESPACE_INTER_TELEMETRE ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1396 | else |
gabrieltetar | 1:7e925468f9d9 | 1397 | angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1398 | |
gabrieltetar | 1:7e925468f9d9 | 1399 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1400 | moyennageTelemetre += angleArriere; |
gabrieltetar | 1:7e925468f9d9 | 1401 | } |
gabrieltetar | 1:7e925468f9d9 | 1402 | } |
gabrieltetar | 1:7e925468f9d9 | 1403 | } else if(orientationArrondie == 0 || orientationArrondie == 180) { // Si il est en axe X |
gabrieltetar | 1:7e925468f9d9 | 1404 | if(position_arriere_droite >= x_robot-instruction.arg1 && position_arriere_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes |
gabrieltetar | 1:7e925468f9d9 | 1405 | if(position_arriere_gauche >= x_robot-instruction.arg1 && position_arriere_gauche <= x_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1406 | if(telemetreDistance_arriere_droite > telemetreDistance_arriere_gauche) |
gabrieltetar | 1:7e925468f9d9 | 1407 | angleArriere =900+(1800 * atan2( (double) (telemetreDistance_arriere_droite-telemetreDistance_arriere_gauche), (double) ESPACE_INTER_TELEMETRE ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1408 | else |
gabrieltetar | 1:7e925468f9d9 | 1409 | angleArriere =(1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_arriere_gauche-telemetreDistance_arriere_droite) ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1410 | |
gabrieltetar | 1:7e925468f9d9 | 1411 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1412 | moyennageTelemetre += angleArriere; |
gabrieltetar | 1:7e925468f9d9 | 1413 | } |
gabrieltetar | 1:7e925468f9d9 | 1414 | } |
gabrieltetar | 1:7e925468f9d9 | 1415 | } |
gabrieltetar | 1:7e925468f9d9 | 1416 | |
gabrieltetar | 1:7e925468f9d9 | 1417 | if(orientationArrondie == 90 || orientationArrondie == 270) { // Si il est en axe Y |
gabrieltetar | 1:7e925468f9d9 | 1418 | if(position_avant_droite >= y_robot-instruction.arg1 && position_avant_droite <= y_robot+instruction.arg1) { // Et que les mesures sont cohérentes |
gabrieltetar | 1:7e925468f9d9 | 1419 | if(position_avant_gauche >= y_robot-instruction.arg1 && position_avant_gauche <= y_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1420 | if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche) |
gabrieltetar | 1:7e925468f9d9 | 1421 | angleAvant = (1800 * atan2( (double) ESPACE_INTER_TELEMETRE,(double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1422 | else |
gabrieltetar | 1:7e925468f9d9 | 1423 | angleAvant = 900 + (1800 * atan2( (double)( telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1424 | |
gabrieltetar | 1:7e925468f9d9 | 1425 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1426 | moyennageTelemetre += angleAvant; |
gabrieltetar | 1:7e925468f9d9 | 1427 | } |
gabrieltetar | 1:7e925468f9d9 | 1428 | } |
gabrieltetar | 1:7e925468f9d9 | 1429 | } else if(orientationArrondie == 0 || orientationArrondie == 180) { // Si il est en axe X |
gabrieltetar | 1:7e925468f9d9 | 1430 | if(position_avant_droite >= x_robot-instruction.arg1 && position_avant_droite <= x_robot+instruction.arg1) { // Et que les mesures sont cohérentes |
gabrieltetar | 1:7e925468f9d9 | 1431 | if(position_avant_gauche >= x_robot-instruction.arg1 && position_avant_gauche <= x_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1432 | if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche) |
gabrieltetar | 1:7e925468f9d9 | 1433 | angleAvant = (1800 * atan2((double) ESPACE_INTER_TELEMETRE, (double) (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1434 | else |
gabrieltetar | 1:7e925468f9d9 | 1435 | angleAvant = 900 + (1800 * atan2( (double) (telemetreDistance_avant_gauche-telemetreDistance_avant_droite),(double) ESPACE_INTER_TELEMETRE ))/M_PI; |
gabrieltetar | 1:7e925468f9d9 | 1436 | |
gabrieltetar | 1:7e925468f9d9 | 1437 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1438 | moyennageTelemetre += angleAvant; |
gabrieltetar | 1:7e925468f9d9 | 1439 | } |
gabrieltetar | 1:7e925468f9d9 | 1440 | } |
gabrieltetar | 1:7e925468f9d9 | 1441 | } |
gabrieltetar | 1:7e925468f9d9 | 1442 | |
gabrieltetar | 1:7e925468f9d9 | 1443 | angleRecalage = moyennageTelemetre/nombresDeMesuresAuxTelemetresQuiSontCoherentes; |
gabrieltetar | 1:7e925468f9d9 | 1444 | |
gabrieltetar | 1:7e925468f9d9 | 1445 | if(nombresDeMesuresAuxTelemetresQuiSontCoherentes) { |
gabrieltetar | 1:7e925468f9d9 | 1446 | if(orientationArrondie == 0) { |
gabrieltetar | 1:7e925468f9d9 | 1447 | angleRecalage -= 900; |
gabrieltetar | 1:7e925468f9d9 | 1448 | |
gabrieltetar | 1:7e925468f9d9 | 1449 | /*if(telemetreDistance_avant_droite > telemetreDistance_avant_gauche) |
gabrieltetar | 1:7e925468f9d9 | 1450 | distanceRecalage = *); |
gabrieltetar | 1:7e925468f9d9 | 1451 | else |
gabrieltetar | 1:7e925468f9d9 | 1452 | distanceRecalage = 900 + (1800 * atan( (double)( (telemetreDistance_avant_droite-telemetreDistance_avant_gauche) / ESPACE_INTER_TELEMETRE )))/M_PI;*/ |
gabrieltetar | 1:7e925468f9d9 | 1453 | } else if(orientationArrondie == 90) { |
gabrieltetar | 1:7e925468f9d9 | 1454 | angleRecalage += 0; |
gabrieltetar | 1:7e925468f9d9 | 1455 | } else if(orientationArrondie == 180) { |
gabrieltetar | 1:7e925468f9d9 | 1456 | angleRecalage += 900; |
gabrieltetar | 1:7e925468f9d9 | 1457 | } else if(orientationArrondie == 270) { |
gabrieltetar | 1:7e925468f9d9 | 1458 | angleRecalage += 1800; |
gabrieltetar | 1:7e925468f9d9 | 1459 | } |
gabrieltetar | 1:7e925468f9d9 | 1460 | } |
gabrieltetar | 1:7e925468f9d9 | 1461 | |
gabrieltetar | 1:7e925468f9d9 | 1462 | return (nombresDeMesuresAuxTelemetresQuiSontCoherentes && (angleAvant-angleArriere<80 && angleAvant-angleArriere>-80)) ? angleRecalage : theta_robot; |
gabrieltetar | 1:7e925468f9d9 | 1463 | } |
gabrieltetar | 1:7e925468f9d9 | 1464 | |
gabrieltetar | 1:7e925468f9d9 | 1465 | short recalageDistanceX(void) |
gabrieltetar | 1:7e925468f9d9 | 1466 | { |
gabrieltetar | 1:7e925468f9d9 | 1467 | unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0; |
gabrieltetar | 1:7e925468f9d9 | 1468 | unsigned int moyennageTelemetre = 0; |
gabrieltetar | 1:7e925468f9d9 | 1469 | |
gabrieltetar | 1:7e925468f9d9 | 1470 | unsigned short tempo= telemetreDistance_arriere_gauche; |
gabrieltetar | 1:7e925468f9d9 | 1471 | telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite; |
gabrieltetar | 1:7e925468f9d9 | 1472 | telemetreDistance_arriere_droite=tempo; |
gabrieltetar | 1:7e925468f9d9 | 1473 | |
gabrieltetar | 1:7e925468f9d9 | 1474 | 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 | 1475 | 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 | 1476 | 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 | 1477 | 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 | 1478 | |
gabrieltetar | 1:7e925468f9d9 | 1479 | if(telemetreDistance_avant_gauche >= x_robot-instruction.arg1 && telemetreDistance_avant_gauche <= x_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1480 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1481 | moyennageTelemetre += telemetreDistance_avant_gauche; |
gabrieltetar | 1:7e925468f9d9 | 1482 | } |
gabrieltetar | 1:7e925468f9d9 | 1483 | if(telemetreDistance_avant_droite >= x_robot-instruction.arg1 && telemetreDistance_avant_droite <= x_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1484 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1485 | moyennageTelemetre += telemetreDistance_avant_droite; |
gabrieltetar | 1:7e925468f9d9 | 1486 | } |
gabrieltetar | 1:7e925468f9d9 | 1487 | if(telemetreDistance_arriere_gauche >= x_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= x_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1488 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1489 | moyennageTelemetre += telemetreDistance_arriere_gauche; |
gabrieltetar | 1:7e925468f9d9 | 1490 | } |
gabrieltetar | 1:7e925468f9d9 | 1491 | if(telemetreDistance_arriere_droite >= x_robot-instruction.arg1 && telemetreDistance_arriere_droite <= x_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1492 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1493 | moyennageTelemetre += telemetreDistance_arriere_droite; |
gabrieltetar | 1:7e925468f9d9 | 1494 | } |
gabrieltetar | 1:7e925468f9d9 | 1495 | |
gabrieltetar | 1:7e925468f9d9 | 1496 | moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes; |
gabrieltetar | 1:7e925468f9d9 | 1497 | |
gabrieltetar | 1:7e925468f9d9 | 1498 | return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : x_robot; //SetOdometrie(ODOMETRIE_SMALL_POSITION, moyennageTelemetre, y_robot, theta_robot); |
gabrieltetar | 1:7e925468f9d9 | 1499 | } |
gabrieltetar | 1:7e925468f9d9 | 1500 | |
gabrieltetar | 1:7e925468f9d9 | 1501 | short recalageDistanceY(void) |
gabrieltetar | 1:7e925468f9d9 | 1502 | { |
gabrieltetar | 1:7e925468f9d9 | 1503 | unsigned char nombresDeMesuresAuxTelemetresQuiSontCoherentes = 0; |
gabrieltetar | 1:7e925468f9d9 | 1504 | unsigned int moyennageTelemetre = 0; |
gabrieltetar | 1:7e925468f9d9 | 1505 | |
gabrieltetar | 1:7e925468f9d9 | 1506 | unsigned short tempo= telemetreDistance_arriere_gauche; |
gabrieltetar | 1:7e925468f9d9 | 1507 | telemetreDistance_arriere_gauche=telemetreDistance_arriere_droite; |
gabrieltetar | 1:7e925468f9d9 | 1508 | telemetreDistance_arriere_droite=tempo; |
gabrieltetar | 1:7e925468f9d9 | 1509 | |
gabrieltetar | 1:7e925468f9d9 | 1510 | 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 | 1511 | 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 | 1512 | 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 | 1513 | 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 | 1514 | |
gabrieltetar | 1:7e925468f9d9 | 1515 | if(telemetreDistance_avant_gauche >= y_robot-instruction.arg1 && telemetreDistance_avant_gauche <= y_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1516 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1517 | moyennageTelemetre += telemetreDistance_avant_gauche; |
gabrieltetar | 1:7e925468f9d9 | 1518 | } |
gabrieltetar | 1:7e925468f9d9 | 1519 | if(telemetreDistance_avant_droite >= y_robot-instruction.arg1 && telemetreDistance_avant_droite <= y_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1520 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1521 | moyennageTelemetre += telemetreDistance_avant_droite; |
gabrieltetar | 1:7e925468f9d9 | 1522 | } |
gabrieltetar | 1:7e925468f9d9 | 1523 | if(telemetreDistance_arriere_gauche >= y_robot-instruction.arg1 && telemetreDistance_arriere_gauche <= y_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1524 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1525 | moyennageTelemetre += telemetreDistance_arriere_gauche; |
gabrieltetar | 1:7e925468f9d9 | 1526 | } |
gabrieltetar | 1:7e925468f9d9 | 1527 | if(telemetreDistance_arriere_droite >= y_robot-instruction.arg1 && telemetreDistance_arriere_droite <= y_robot+instruction.arg1) { |
gabrieltetar | 1:7e925468f9d9 | 1528 | nombresDeMesuresAuxTelemetresQuiSontCoherentes++; |
gabrieltetar | 1:7e925468f9d9 | 1529 | moyennageTelemetre += telemetreDistance_arriere_droite; |
gabrieltetar | 1:7e925468f9d9 | 1530 | } |
gabrieltetar | 1:7e925468f9d9 | 1531 | |
gabrieltetar | 1:7e925468f9d9 | 1532 | moyennageTelemetre /= nombresDeMesuresAuxTelemetresQuiSontCoherentes; |
gabrieltetar | 1:7e925468f9d9 | 1533 | |
gabrieltetar | 1:7e925468f9d9 | 1534 | return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot); |
gabrieltetar | 1:7e925468f9d9 | 1535 | } |
gabrieltetar | 1:7e925468f9d9 | 1536 | |
gabrieltetar | 14:6aa8aa1699ad | 1537 | /*************************************************************************************************/ |
gabrieltetar | 14:6aa8aa1699ad | 1538 | /* FUNCTION NAME: doAction */ |
gabrieltetar | 14:6aa8aa1699ad | 1539 | /* DESCRIPTION : Effectuer une action specifique correspondant au numéro dans le fichier strat */ |
gabrieltetar | 14:6aa8aa1699ad | 1540 | /*************************************************************************************************/ |
gabrieltetar | 14:6aa8aa1699ad | 1541 | |
gabrieltetar | 14:6aa8aa1699ad | 1542 | unsigned char doAction(unsigned char id, unsigned short arg1, short arg2) |
gabrieltetar | 14:6aa8aa1699ad | 1543 | { |
gabrieltetar | 14:6aa8aa1699ad | 1544 | int retour = 1; |
gabrieltetar | 14:6aa8aa1699ad | 1545 | CANMessage msgTx=CANMessage(); |
gabrieltetar | 14:6aa8aa1699ad | 1546 | msgTx.format=CANStandard; |
gabrieltetar | 14:6aa8aa1699ad | 1547 | msgTx.type=CANData; |
gabrieltetar | 14:6aa8aa1699ad | 1548 | switch(id) |
maximilienlv | 17:1cf2043c5c01 | 1549 | { |
gabrieltetar | 14:6aa8aa1699ad | 1550 | case 120: |
gabrieltetar | 14:6aa8aa1699ad | 1551 | //SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE); |
gabrieltetar | 14:6aa8aa1699ad | 1552 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1553 | |
gabrieltetar | 14:6aa8aa1699ad | 1554 | case 121: |
gabrieltetar | 14:6aa8aa1699ad | 1555 | //SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE); |
gabrieltetar | 14:6aa8aa1699ad | 1556 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1557 | |
gabrieltetar | 14:6aa8aa1699ad | 1558 | case 150: |
gabrieltetar | 14:6aa8aa1699ad | 1559 | SCORE_PR+=arg1; |
gabrieltetar | 14:6aa8aa1699ad | 1560 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1561 | waitingAckID = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1562 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1563 | |
gabrieltetar | 14:6aa8aa1699ad | 1564 | case 200 : |
gabrieltetar | 14:6aa8aa1699ad | 1565 | SendRawId(DATA_TELEMETRE); |
gabrieltetar | 14:6aa8aa1699ad | 1566 | /*telemetreDistance = dataTelemetre(); |
gabrieltetar | 14:6aa8aa1699ad | 1567 | wait_ms(1); |
gabrieltetar | 14:6aa8aa1699ad | 1568 | telemetreDistance = dataTelemetre(); |
gabrieltetar | 14:6aa8aa1699ad | 1569 | telemetreDistance = telemetreDistance - 170;*/ |
gabrieltetar | 14:6aa8aa1699ad | 1570 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1571 | |
gabrieltetar | 14:6aa8aa1699ad | 1572 | case 201 : |
gabrieltetar | 14:6aa8aa1699ad | 1573 | SendRawId(0x99);// |
gabrieltetar | 14:6aa8aa1699ad | 1574 | retour = 2; |
gabrieltetar | 14:6aa8aa1699ad | 1575 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1576 | |
gabrieltetar | 14:6aa8aa1699ad | 1577 | |
gabrieltetar | 14:6aa8aa1699ad | 1578 | case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement |
gabrieltetar | 14:6aa8aa1699ad | 1579 | isStopEnable =(unsigned char) arg1; |
gabrieltetar | 14:6aa8aa1699ad | 1580 | // SendMsgCan(0x5BC, &isStopEnable,1); |
gabrieltetar | 14:6aa8aa1699ad | 1581 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1582 | waitingAckID =0; |
gabrieltetar | 14:6aa8aa1699ad | 1583 | break; |
maximilienlv | 20:2f0b1c48a35f | 1584 | |
maximilienlv | 20:2f0b1c48a35f | 1585 | case 19: // CHANGER LA VITESSE + DECELERATION |
maximilienlv | 20:2f0b1c48a35f | 1586 | //SendSpeedDecel(arg1,(unsigned short) arg2); |
maximilienlv | 20:2f0b1c48a35f | 1587 | wait_us(200); |
maximilienlv | 20:2f0b1c48a35f | 1588 | waitingAckFrom = 0; |
maximilienlv | 20:2f0b1c48a35f | 1589 | waitingAckID =0; |
maximilienlv | 20:2f0b1c48a35f | 1590 | break; |
maximilienlv | 20:2f0b1c48a35f | 1591 | |
gabrieltetar | 14:6aa8aa1699ad | 1592 | case 20://Désactiver l'asservissement |
gabrieltetar | 14:6aa8aa1699ad | 1593 | setAsservissementEtat(0); |
gabrieltetar | 14:6aa8aa1699ad | 1594 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1595 | |
gabrieltetar | 14:6aa8aa1699ad | 1596 | case 21://Activer l'asservissement |
gabrieltetar | 14:6aa8aa1699ad | 1597 | setAsservissementEtat(1); |
gabrieltetar | 14:6aa8aa1699ad | 1598 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1599 | |
gabrieltetar | 14:6aa8aa1699ad | 1600 | case 22://Changer la vitesse du robot |
gabrieltetar | 14:6aa8aa1699ad | 1601 | SendSpeed(arg1);//,(unsigned short)arg2, (unsigned short)arg2); |
gabrieltetar | 14:6aa8aa1699ad | 1602 | wait_us(200); |
gabrieltetar | 14:6aa8aa1699ad | 1603 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1604 | waitingAckID = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1605 | break; |
maximilienlv | 17:1cf2043c5c01 | 1606 | |
gabrieltetar | 14:6aa8aa1699ad | 1607 | case 23: |
gabrieltetar | 14:6aa8aa1699ad | 1608 | SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2); |
gabrieltetar | 14:6aa8aa1699ad | 1609 | wait_us(200); |
gabrieltetar | 14:6aa8aa1699ad | 1610 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1611 | waitingAckID = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1612 | break; |
maximilienlv | 20:2f0b1c48a35f | 1613 | |
maximilienlv | 20:2f0b1c48a35f | 1614 | case 151: |
maximilienlv | 20:2f0b1c48a35f | 1615 | unsigned char argu_at_1_bras = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1616 | SendMsgCan(BRAS_AT_1, &argu_at_1_bras,sizeof(arg1)); |
gabrieltetar | 14:6aa8aa1699ad | 1617 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1618 | waitingAckID =0; |
gabrieltetar | 14:6aa8aa1699ad | 1619 | break; |
maximilienlv | 16:c6c765e8b982 | 1620 | |
maximilienlv | 20:2f0b1c48a35f | 1621 | case 152: |
maximilienlv | 20:2f0b1c48a35f | 1622 | unsigned char argu_re_1_bras = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1623 | SendMsgCan(BRAS_RE_1, &argu_re_1_bras,sizeof(arg1)); |
maximilienlv | 20:2f0b1c48a35f | 1624 | waitingAckFrom = 0; |
maximilienlv | 20:2f0b1c48a35f | 1625 | waitingAckID =0; |
maximilienlv | 20:2f0b1c48a35f | 1626 | break; |
maximilienlv | 20:2f0b1c48a35f | 1627 | |
maximilienlv | 20:2f0b1c48a35f | 1628 | case 153: |
maximilienlv | 20:2f0b1c48a35f | 1629 | unsigned char argu_at_2_bras = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1630 | SendMsgCan(BRAS_AT_2, &argu_at_2_bras,sizeof(arg1)); |
gabrieltetar | 14:6aa8aa1699ad | 1631 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1632 | waitingAckID =0; |
gabrieltetar | 14:6aa8aa1699ad | 1633 | break; |
maximilienlv | 16:c6c765e8b982 | 1634 | |
maximilienlv | 20:2f0b1c48a35f | 1635 | case 154: |
maximilienlv | 20:2f0b1c48a35f | 1636 | unsigned char argu_re_2_bras = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1637 | SendMsgCan(BRAS_RE_2, &argu_re_2_bras,sizeof(arg1)); |
gabrieltetar | 14:6aa8aa1699ad | 1638 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1639 | waitingAckID =0; |
gabrieltetar | 14:6aa8aa1699ad | 1640 | break; |
maximilienlv | 20:2f0b1c48a35f | 1641 | |
maximilienlv | 20:2f0b1c48a35f | 1642 | case 155: |
maximilienlv | 20:2f0b1c48a35f | 1643 | unsigned char argu_at_3_bras = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1644 | SendMsgCan(BRAS_AT_3, &argu_at_3_bras,sizeof(arg1)); |
gabrieltetar | 14:6aa8aa1699ad | 1645 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1646 | waitingAckID =0; |
gabrieltetar | 14:6aa8aa1699ad | 1647 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1648 | |
maximilienlv | 20:2f0b1c48a35f | 1649 | case 156: |
maximilienlv | 20:2f0b1c48a35f | 1650 | unsigned char argu_re_3_bras = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1651 | SendMsgCan(BRAS_RE_3, &argu_re_3_bras,sizeof(arg1)); |
gabrieltetar | 14:6aa8aa1699ad | 1652 | waitingAckFrom = 0; |
gabrieltetar | 14:6aa8aa1699ad | 1653 | waitingAckID =0; |
gabrieltetar | 14:6aa8aa1699ad | 1654 | break; |
maximilienlv | 20:2f0b1c48a35f | 1655 | |
maximilienlv | 20:2f0b1c48a35f | 1656 | case 157: |
maximilienlv | 20:2f0b1c48a35f | 1657 | unsigned char argu_at_vent = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1658 | SendMsgCan(VENT_AT, &argu_at_vent,sizeof(arg1)); |
maximilienlv | 16:c6c765e8b982 | 1659 | waitingAckFrom = 0; |
maximilienlv | 16:c6c765e8b982 | 1660 | waitingAckID =0; |
maximilienlv | 20:2f0b1c48a35f | 1661 | break; |
maximilienlv | 20:2f0b1c48a35f | 1662 | |
maximilienlv | 20:2f0b1c48a35f | 1663 | case 158: |
maximilienlv | 20:2f0b1c48a35f | 1664 | unsigned char argu_re_vent = arg1; |
maximilienlv | 20:2f0b1c48a35f | 1665 | SendMsgCan(VENT_RE, &argu_re_vent,sizeof(arg1)); |
maximilienlv | 20:2f0b1c48a35f | 1666 | waitingAckFrom = 0; |
maximilienlv | 20:2f0b1c48a35f | 1667 | waitingAckID =0; |
maximilienlv | 20:2f0b1c48a35f | 1668 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1669 | |
gabrieltetar | 14:6aa8aa1699ad | 1670 | default: |
gabrieltetar | 14:6aa8aa1699ad | 1671 | retour = 0;//L'action n'existe pas, il faut utiliser le CAN |
maximilienlv | 16:c6c765e8b982 | 1672 | break; |
gabrieltetar | 14:6aa8aa1699ad | 1673 | } |
gabrieltetar | 14:6aa8aa1699ad | 1674 | return retour;//L'action est spécifique. |
gabrieltetar | 14:6aa8aa1699ad | 1675 | |
maximilienlv | 17:1cf2043c5c01 | 1676 | } |