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Dependencies:   mbed

main.cpp@23:bb1535360a98, 2019-06-06 (annotated)

Committer:
Wael_H
Date:
Thu Jun 06 11:43:01 2019 +0000
Revision:
23:bb1535360a98
Parent:
20:a1b5d032b422
Child:
24:314b1f6607c5
verion de la classe Robot avec gestion du bras

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 23:bb1535360a98 5 void automate_testLasers(Robot&);
Wael_H 23:bb1535360a98 6 void automate_testABalle(Robot&);
Wael_H 23:bb1535360a98 7 void automate_deplacement(Robot&);
Wael_H 23:bb1535360a98 8 void automate_vitesse(Robot&);
Wael_H 23:bb1535360a98 9
Wael_H 23:bb1535360a98 10 typedef enum{TURN_FAST, CORRECT_GAUCHE, CORRECT_DROITE, GO_STRAIGHT} type_etat_deplacement;
Wael_H 23:bb1535360a98 11 type_etat_deplacement etat_deplacement = TURN_FAST;
Wael_H 23:bb1535360a98 12
Wael_H 8:94ecfe411d02 13
Wael_H 2:8971078b1ccf 14 int main(void)
Wael_H 2:8971078b1ccf 15 {
Wael_H 10:efa507ba2b35 16 Robot robot;
theolp 17:aae5361ddddf 17
Wael_H 23:bb1535360a98 18 robot.setSpeed(80,450); // vitesse de rotation de recherche de la balle
Wael_H 23:bb1535360a98 19 robot.gobe(25);
Wael_H 15:3d4543a6c100 20
Wael_H 23:bb1535360a98 21 double pos_servo_ballon = 0.045;
theolp 20:a1b5d032b422 22
Wael_H 15:3d4543a6c100 23 while(1)
Wael_H 23:bb1535360a98 24 if(!Robot::Jack)
theolp 17:aae5361ddddf 25 {
Wael_H 23:bb1535360a98 26 if(robot.leveBras())
Wael_H 23:bb1535360a98 27 robot.exploseBallon();
Wael_H 23:bb1535360a98 28 //automate_testABalle(robot);
theolp 17:aae5361ddddf 29
Wael_H 23:bb1535360a98 30 /*automate_testLasers(robot);
Wael_H 23:bb1535360a98 31
Wael_H 23:bb1535360a98 32 if(!robot.aBalle())
Wael_H 23:bb1535360a98 33 automate_deplacement(robot);
Wael_H 23:bb1535360a98 34
Wael_H 23:bb1535360a98 35 automate_vitesse(robot);*/
theolp 17:aae5361ddddf 36 }
Wael_H 15:3d4543a6c100 37 }
Wael_H 15:3d4543a6c100 38
Wael_H 23:bb1535360a98 39
Wael_H 23:bb1535360a98 40 void automate_testLasers(Robot& robot)
Wael_H 23:bb1535360a98 41 {
Wael_H 23:bb1535360a98 42 static const int diffMurBalle = 20;
Wael_H 23:bb1535360a98 43 static float past_gauche, past_droit, actual_gauche, actual_droit;
Wael_H 23:bb1535360a98 44 static float distBalle;
Wael_H 23:bb1535360a98 45
Wael_H 23:bb1535360a98 46 actual_gauche = robot.getDist(Laser::Gauche);
Wael_H 23:bb1535360a98 47 actual_droit = robot.getDist(Laser::Droit);
Wael_H 23:bb1535360a98 48
Wael_H 23:bb1535360a98 49 switch(etat_deplacement)
Wael_H 23:bb1535360a98 50 {
Wael_H 23:bb1535360a98 51 case TURN_FAST:
Wael_H 23:bb1535360a98 52 if(actual_droit < past_droit - diffMurBalle)
Wael_H 23:bb1535360a98 53 {
Wael_H 23:bb1535360a98 54 distBalle = actual_droit;
Wael_H 23:bb1535360a98 55 robot.stop();
Wael_H 23:bb1535360a98 56 etat_deplacement = CORRECT_GAUCHE;
Wael_H 23:bb1535360a98 57 }
Wael_H 23:bb1535360a98 58 break;
Wael_H 23:bb1535360a98 59 }
Wael_H 23:bb1535360a98 60
Wael_H 23:bb1535360a98 61
Wael_H 23:bb1535360a98 62 past_gauche = actual_gauche;
Wael_H 23:bb1535360a98 63 past_droit = actual_droit;
Wael_H 23:bb1535360a98 64 }
Wael_H 23:bb1535360a98 65
Wael_H 23:bb1535360a98 66 void automate_testABalle(Robot& robot)
Wael_H 15:3d4543a6c100 67 {
Wael_H 23:bb1535360a98 68 typedef enum {ATTENTE,ABALLE} type_etat;
Wael_H 23:bb1535360a98 69 static type_etat etat = ATTENTE;
Wael_H 23:bb1535360a98 70
Wael_H 23:bb1535360a98 71 static Timer T_ejecte;
Wael_H 7:753e901d441b 72
Wael_H 7:753e901d441b 73 switch(etat)
Wael_H 9:2113adf37c66 74 {
Wael_H 23:bb1535360a98 75 case ATTENTE:
Wael_H 23:bb1535360a98 76 if(robot.aBalle())
Wael_H 23:bb1535360a98 77 {
Wael_H 23:bb1535360a98 78 robot.stop();
Wael_H 23:bb1535360a98 79 robot.exploseBallon();
Wael_H 23:bb1535360a98 80 etat = ABALLE;
Wael_H 23:bb1535360a98 81 robot.setSpeed(80,500); //vitesse de rotation vers le terrain ennemi
Wael_H 23:bb1535360a98 82 }
Wael_H 23:bb1535360a98 83 else if( T_ejecte.read() >= 1.0f )
Wael_H 23:bb1535360a98 84 {
Wael_H 23:bb1535360a98 85 robot.gobe(25);
Wael_H 23:bb1535360a98 86 T_ejecte.stop();
Wael_H 23:bb1535360a98 87 T_ejecte.reset();
Wael_H 23:bb1535360a98 88 }
Wael_H 13:9c62e263f245 89 break;
Wael_H 13:9c62e263f245 90
Wael_H 23:bb1535360a98 91 case ABALLE:
Wael_H 23:bb1535360a98 92 if(robot.tourne(1800))
Wael_H 23:bb1535360a98 93 robot.ejecte(70);
Wael_H 23:bb1535360a98 94
Wael_H 23:bb1535360a98 95 if(!robot.aBalle())
Wael_H 23:bb1535360a98 96 {
Wael_H 23:bb1535360a98 97 robot.arreteDisquette();
Wael_H 23:bb1535360a98 98 T_ejecte.start();
Wael_H 23:bb1535360a98 99 etat = ATTENTE;
Wael_H 23:bb1535360a98 100 etat_deplacement = TURN_FAST;
Wael_H 23:bb1535360a98 101 }
Wael_H 13:9c62e263f245 102 break;
Wael_H 13:9c62e263f245 103 }
Wael_H 13:9c62e263f245 104 }
Wael_H 23:bb1535360a98 105
Wael_H 23:bb1535360a98 106 void automate_deplacement(Robot& robot)
Wael_H 23:bb1535360a98 107 {
Wael_H 23:bb1535360a98 108 switch(etat_deplacement)
Wael_H 23:bb1535360a98 109 {
Wael_H 23:bb1535360a98 110 case TURN_FAST:
Wael_H 23:bb1535360a98 111 robot.tourne();
Wael_H 23:bb1535360a98 112 break;
Wael_H 23:bb1535360a98 113
Wael_H 23:bb1535360a98 114 case CORRECT_GAUCHE:
Wael_H 23:bb1535360a98 115 robot.tourne(-450);
Wael_H 23:bb1535360a98 116 break;
Wael_H 23:bb1535360a98 117
Wael_H 23:bb1535360a98 118 case CORRECT_DROITE:
Wael_H 23:bb1535360a98 119 robot.tourne(450);
Wael_H 23:bb1535360a98 120
Wael_H 23:bb1535360a98 121 case GO_STRAIGHT:
Wael_H 23:bb1535360a98 122 robot.avance();
Wael_H 23:bb1535360a98 123 break;
Wael_H 23:bb1535360a98 124 }
Wael_H 23:bb1535360a98 125 }
Wael_H 23:bb1535360a98 126
Wael_H 23:bb1535360a98 127 void automate_vitesse(Robot& robot)
Wael_H 23:bb1535360a98 128 {
Wael_H 23:bb1535360a98 129 switch(etat_deplacement)
Wael_H 23:bb1535360a98 130 {
Wael_H 23:bb1535360a98 131 case TURN_FAST:
Wael_H 23:bb1535360a98 132 robot.setSpeed(80,450);
Wael_H 23:bb1535360a98 133 break;
Wael_H 23:bb1535360a98 134
Wael_H 23:bb1535360a98 135 case CORRECT_GAUCHE:
Wael_H 23:bb1535360a98 136 robot.setSpeed(50,300);
Wael_H 23:bb1535360a98 137 break;
Wael_H 23:bb1535360a98 138
Wael_H 23:bb1535360a98 139 case CORRECT_DROITE:
Wael_H 23:bb1535360a98 140 robot.setSpeed(50,300);
Wael_H 23:bb1535360a98 141 break;
Wael_H 23:bb1535360a98 142
Wael_H 23:bb1535360a98 143 case GO_STRAIGHT:
Wael_H 23:bb1535360a98 144 robot.setSpeed(80,400);
Wael_H 23:bb1535360a98 145 break;
Wael_H 23:bb1535360a98 146 }
Wael_H 23:bb1535360a98 147 }