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Dependencies:   mbed

main.cpp@28:82571fd665bf, 2019-06-06 (annotated)

Committer:
Wael_H
Date:
Thu Jun 06 16:01:05 2019 +0000
Revision:
28:82571fd665bf
Parent:
27:e103da412e2b
Child:
29:6bce50d6530c
Child:
30:ee3e274e4b55
Je continue vraiment ca apres les homologations

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 2:8971078b1ccf 1 #include "mbed.h"
Wael_H 5:34048faec367 2 #include "CAN_asser.h"
Wael_H 10:efa507ba2b35 3 #include "Robot.h"
Wael_H 10:efa507ba2b35 4
Wael_H 28:82571fd665bf 5 bool automate_aveugle(Robot&);
Wael_H 27:e103da412e2b 6 void automate_testLasers(Robot&);
Wael_H 27:e103da412e2b 7 void automate_testABalle(Robot&);
Wael_H 27:e103da412e2b 8 void automate_deplacement(Robot&);
Wael_H 27:e103da412e2b 9 void automate_vitesse(Robot&);
Wael_H 27:e103da412e2b 10
Wael_H 27:e103da412e2b 11 typedef enum{TURN_FAST, CORRECT_GAUCHE, CORRECT_DROITE, GO_STRAIGHT} type_etat_deplacement;
Wael_H 27:e103da412e2b 12 type_etat_deplacement etat_deplacement = TURN_FAST;
Wael_H 27:e103da412e2b 13
Wael_H 8:94ecfe411d02 14
Wael_H 2:8971078b1ccf 15 int main(void)
Wael_H 2:8971078b1ccf 16 {
Wael_H 10:efa507ba2b35 17 Robot robot;
theolp 17:aae5361ddddf 18
Wael_H 27:e103da412e2b 19 robot.setSpeed(80,450); // vitesse de rotation de recherche de la balle
theolp 20:a1b5d032b422 20
Wael_H 15:3d4543a6c100 21 while(1)
Wael_H 25:033263cf832c 22 if(!Robot::Jack)
theolp 17:aae5361ddddf 23 {
Wael_H 28:82571fd665bf 24 while(!automate_aveugle(robot));
Wael_H 28:82571fd665bf 25
Wael_H 27:e103da412e2b 26 automate_testABalle(robot);
Wael_H 27:e103da412e2b 27
Wael_H 27:e103da412e2b 28 automate_testLasers(robot);
theolp 17:aae5361ddddf 29
Wael_H 27:e103da412e2b 30 if(!robot.aBalle())
Wael_H 27:e103da412e2b 31 automate_deplacement(robot);
Wael_H 27:e103da412e2b 32
Wael_H 27:e103da412e2b 33 automate_vitesse(robot);
theolp 17:aae5361ddddf 34 }
Wael_H 15:3d4543a6c100 35 }
Wael_H 15:3d4543a6c100 36
Wael_H 28:82571fd665bf 37 bool automate_aveugle(Robot& robot)
Wael_H 28:82571fd665bf 38 {
Wael_H 28:82571fd665bf 39 typedef enum{STRAIGHT1, TOURNE_D, STRAIGHT2, TOURNE_G} type_etat;
Wael_H 28:82571fd665bf 40 static type_etat etat = STRAIGHT1;
Wael_H 28:82571fd665bf 41
Wael_H 28:82571fd665bf 42 static Timer T_ejecte;
Wael_H 28:82571fd665bf 43
Wael_H 28:82571fd665bf 44 switch(etat)
Wael_H 28:82571fd665bf 45 {
Wael_H 28:82571fd665bf 46 case STRAIGHT1:
Wael_H 28:82571fd665bf 47 robot.avance();
Wael_H 28:82571fd665bf 48 if(robot.aBalle())
Wael_H 28:82571fd665bf 49 {
Wael_H 28:82571fd665bf 50 robot.stop();
Wael_H 28:82571fd665bf 51 robot.ejecte();
Wael_H 28:82571fd665bf 52 etat = TOURNE_D;
Wael_H 28:82571fd665bf 53 }
Wael_H 28:82571fd665bf 54 else if( T_ejecte.read() >= 1.0f )
Wael_H 28:82571fd665bf 55 {
Wael_H 28:82571fd665bf 56 robot.gobe();
Wael_H 28:82571fd665bf 57 T_ejecte.stop();
Wael_H 28:82571fd665bf 58 T_ejecte.reset();
Wael_H 28:82571fd665bf 59 }
Wael_H 28:82571fd665bf 60 break;
Wael_H 28:82571fd665bf 61
Wael_H 28:82571fd665bf 62 case TOURNE_D:
Wael_H 28:82571fd665bf 63 if( T_ejecte.read() >= 1.0f )
Wael_H 28:82571fd665bf 64 {
Wael_H 28:82571fd665bf 65 robot.gobe();
Wael_H 28:82571fd665bf 66 T_ejecte.stop();
Wael_H 28:82571fd665bf 67 T_ejecte.reset();
Wael_H 28:82571fd665bf 68 }
Wael_H 28:82571fd665bf 69
Wael_H 28:82571fd665bf 70 if(robot.tourne(900))
Wael_H 28:82571fd665bf 71 etat = STRAIGHT2;
Wael_H 28:82571fd665bf 72 break;
Wael_H 28:82571fd665bf 73
Wael_H 28:82571fd665bf 74 case STRAIGHT2:
Wael_H 28:82571fd665bf 75 robot.avance();
Wael_H 28:82571fd665bf 76 if(robot.aBalle())
Wael_H 28:82571fd665bf 77 {
Wael_H 28:82571fd665bf 78 robot.stop();
Wael_H 28:82571fd665bf 79 etat = TOURNE_G;
Wael_H 28:82571fd665bf 80 }
Wael_H 28:82571fd665bf 81 break;
Wael_H 28:82571fd665bf 82
Wael_H 28:82571fd665bf 83 case TOURNE_G:
Wael_H 28:82571fd665bf 84 if(robot.tourne(-900))
Wael_H 28:82571fd665bf 85 robot.ejecte();
Wael_H 28:82571fd665bf 86
Wael_H 28:82571fd665bf 87 if(!robot.aBalle())
Wael_H 28:82571fd665bf 88 {
Wael_H 28:82571fd665bf 89 T_ejecte.start();
Wael_H 28:82571fd665bf 90 etat = TOURNE_D;
Wael_H 28:82571fd665bf 91 }
Wael_H 28:82571fd665bf 92 break;
Wael_H 28:82571fd665bf 93 }
Wael_H 28:82571fd665bf 94
Wael_H 28:82571fd665bf 95 return false;
Wael_H 28:82571fd665bf 96 }
Wael_H 28:82571fd665bf 97
Wael_H 27:e103da412e2b 98
Wael_H 27:e103da412e2b 99 void automate_testLasers(Robot& robot)
Wael_H 27:e103da412e2b 100 {
Wael_H 27:e103da412e2b 101 static const int diffMurBalle = 20;
Wael_H 27:e103da412e2b 102 static float past_gauche, past_droit, actual_gauche, actual_droit;
Wael_H 27:e103da412e2b 103 static float distBalle;
Wael_H 27:e103da412e2b 104
Wael_H 27:e103da412e2b 105 actual_gauche = robot.getDist(Laser::Gauche);
Wael_H 27:e103da412e2b 106 actual_droit = robot.getDist(Laser::Droit);
Wael_H 27:e103da412e2b 107
Wael_H 27:e103da412e2b 108 switch(etat_deplacement)
Wael_H 27:e103da412e2b 109 {
Wael_H 27:e103da412e2b 110 case TURN_FAST:
Wael_H 27:e103da412e2b 111 if(actual_droit < past_droit - diffMurBalle)
Wael_H 27:e103da412e2b 112 {
Wael_H 27:e103da412e2b 113 distBalle = actual_droit;
Wael_H 27:e103da412e2b 114 robot.stop();
Wael_H 27:e103da412e2b 115 etat_deplacement = CORRECT_GAUCHE;
Wael_H 27:e103da412e2b 116 }
Wael_H 27:e103da412e2b 117 break;
Wael_H 27:e103da412e2b 118
Wael_H 27:e103da412e2b 119 case CORRECT_GAUCHE:
Wael_H 27:e103da412e2b 120
Wael_H 27:e103da412e2b 121 break;
Wael_H 27:e103da412e2b 122
Wael_H 27:e103da412e2b 123 case CORRECT_DROITE:
Wael_H 27:e103da412e2b 124 break;
Wael_H 27:e103da412e2b 125
Wael_H 27:e103da412e2b 126 case GO_STRAIGHT:
Wael_H 27:e103da412e2b 127 break;
Wael_H 27:e103da412e2b 128 }
Wael_H 27:e103da412e2b 129
Wael_H 27:e103da412e2b 130
Wael_H 27:e103da412e2b 131 past_gauche = actual_gauche;
Wael_H 27:e103da412e2b 132 past_droit = actual_droit;
Wael_H 27:e103da412e2b 133 }
Wael_H 27:e103da412e2b 134
Wael_H 27:e103da412e2b 135 void automate_testABalle(Robot& robot)
Wael_H 24:314b1f6607c5 136 {
Wael_H 27:e103da412e2b 137 typedef enum {ATTENTE,ABALLE} type_etat;
Wael_H 27:e103da412e2b 138 static type_etat etat = ATTENTE;
Wael_H 23:bb1535360a98 139
Wael_H 27:e103da412e2b 140 static Timer T_ejecte;
Wael_H 7:753e901d441b 141
Wael_H 7:753e901d441b 142 switch(etat)
Wael_H 9:2113adf37c66 143 {
Wael_H 27:e103da412e2b 144 case ATTENTE:
Wael_H 27:e103da412e2b 145 if(robot.aBalle())
Wael_H 27:e103da412e2b 146 {
Wael_H 27:e103da412e2b 147 robot.stop();
Wael_H 27:e103da412e2b 148 etat = ABALLE;
Wael_H 27:e103da412e2b 149 robot.setSpeed(80,500); //vitesse de rotation vers le terrain ennemi
Wael_H 27:e103da412e2b 150 }
Wael_H 27:e103da412e2b 151 else if( T_ejecte.read() >= 1.0f )
Wael_H 27:e103da412e2b 152 {
Wael_H 28:82571fd665bf 153 robot.gobe();
Wael_H 27:e103da412e2b 154 T_ejecte.stop();
Wael_H 27:e103da412e2b 155 T_ejecte.reset();
Wael_H 27:e103da412e2b 156 }
Wael_H 13:9c62e263f245 157 break;
Wael_H 13:9c62e263f245 158
Wael_H 27:e103da412e2b 159 case ABALLE:
Wael_H 27:e103da412e2b 160 if(robot.tourne(1800))
Wael_H 28:82571fd665bf 161 robot.ejecte();
Wael_H 27:e103da412e2b 162
Wael_H 27:e103da412e2b 163 if(!robot.aBalle())
Wael_H 27:e103da412e2b 164 {
Wael_H 27:e103da412e2b 165 T_ejecte.start();
Wael_H 27:e103da412e2b 166 etat = ATTENTE;
Wael_H 27:e103da412e2b 167 etat_deplacement = TURN_FAST;
Wael_H 27:e103da412e2b 168 }
Wael_H 13:9c62e263f245 169 break;
Wael_H 13:9c62e263f245 170 }
Wael_H 13:9c62e263f245 171 }
Wael_H 23:bb1535360a98 172
Wael_H 27:e103da412e2b 173 void automate_deplacement(Robot& robot)
Wael_H 27:e103da412e2b 174 {
Wael_H 27:e103da412e2b 175 switch(etat_deplacement)
Wael_H 23:bb1535360a98 176 {
Wael_H 27:e103da412e2b 177 case TURN_FAST:
Wael_H 27:e103da412e2b 178 robot.tourne();
Wael_H 27:e103da412e2b 179 break;
Wael_H 27:e103da412e2b 180
Wael_H 27:e103da412e2b 181 case CORRECT_GAUCHE:
Wael_H 27:e103da412e2b 182 robot.tourne(-450);
Wael_H 23:bb1535360a98 183 break;
Wael_H 23:bb1535360a98 184
Wael_H 27:e103da412e2b 185 case CORRECT_DROITE:
Wael_H 27:e103da412e2b 186 robot.tourne(450);
Wael_H 27:e103da412e2b 187
Wael_H 27:e103da412e2b 188 case GO_STRAIGHT:
Wael_H 27:e103da412e2b 189 robot.avance();
Wael_H 27:e103da412e2b 190 break;
Wael_H 27:e103da412e2b 191 }
Wael_H 27:e103da412e2b 192 }
Wael_H 27:e103da412e2b 193
Wael_H 27:e103da412e2b 194 void automate_vitesse(Robot& robot)
Wael_H 27:e103da412e2b 195 {
Wael_H 27:e103da412e2b 196 switch(etat_deplacement)
Wael_H 27:e103da412e2b 197 {
Wael_H 27:e103da412e2b 198 case TURN_FAST:
Wael_H 27:e103da412e2b 199 robot.setSpeed(80,450);
Wael_H 23:bb1535360a98 200 break;
Wael_H 23:bb1535360a98 201
Wael_H 27:e103da412e2b 202 case CORRECT_GAUCHE:
Wael_H 27:e103da412e2b 203 robot.setSpeed(50,300);
Wael_H 27:e103da412e2b 204 break;
Wael_H 23:bb1535360a98 205
Wael_H 27:e103da412e2b 206 case CORRECT_DROITE:
Wael_H 27:e103da412e2b 207 robot.setSpeed(50,300);
Wael_H 27:e103da412e2b 208 break;
Wael_H 24:314b1f6607c5 209
Wael_H 27:e103da412e2b 210 case GO_STRAIGHT:
Wael_H 27:e103da412e2b 211 robot.setSpeed(80,400);
Wael_H 23:bb1535360a98 212 break;
Wael_H 23:bb1535360a98 213 }
Wael_H 27:e103da412e2b 214 }