FRC_equipe1 / Mbed 2 deprecated robot_total_3balles_recherche_odo

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Dependencies:   mbed

robot_general.cpp@0:b62e5418d010, 2019-05-13 (annotated)

Committer:
futureCrac
Date:
Mon May 13 15:41:22 2019 +0000
Revision:
0:b62e5418d010
Child:
1:23a830355dc5
cadeau

Who changed what in which revision?

UserRevisionLine numberNew contents of line
futureCrac 0:b62e5418d010 1 #include "robot_general.h"
futureCrac 0:b62e5418d010 2
futureCrac 0:b62e5418d010 3 DigitalIn Daniels_in(PA_15);
futureCrac 0:b62e5418d010 4
futureCrac 0:b62e5418d010 5 //DigitalIn UBp(USER_BUTTON);
futureCrac 0:b62e5418d010 6 InterruptIn UBp_it(USER_BUTTON);
futureCrac 0:b62e5418d010 7 Timeout ubp_to;
futureCrac 0:b62e5418d010 8
futureCrac 0:b62e5418d010 9 //Serial dbug(USBTX, USBRX, 115200);
futureCrac 0:b62e5418d010 10 Serial dbug(PA_0, PA_1, 38400);
futureCrac 0:b62e5418d010 11
futureCrac 0:b62e5418d010 12 Timer timer_generale;
futureCrac 0:b62e5418d010 13
futureCrac 0:b62e5418d010 14 int flagUBp = 0, flagDaniels = 0, match_en_cours = 0;
futureCrac 0:b62e5418d010 15 int flagEv = 0, flagAv = 1, flagDpl = 0, flag_auto_suiv = 0;
futureCrac 0:b62e5418d010 16 int sensrotation=-1;
futureCrac 0:b62e5418d010 17
futureCrac 0:b62e5418d010 18 short pos_balle[10][4];int nb_balle = 0, balle_retrouve = 0;
futureCrac 0:b62e5418d010 19
futureCrac 0:b62e5418d010 20
futureCrac 0:b62e5418d010 21
futureCrac 0:b62e5418d010 22 unsigned int temps_ecoule = 0;
futureCrac 0:b62e5418d010 23
futureCrac 0:b62e5418d010 24 void isr_UBp();void user_bp_ar();
futureCrac 0:b62e5418d010 25
futureCrac 0:b62e5418d010 26 enum etat_visee_balle_T {init_visee_balle, fin_vir_rapide, debut_vir_lent, fin_vir_lent, avancer_20,debut_vir_lent2, fin_vir_lent2,avancer,rotation, lancer, fin_visee_balle, error_visee_balle, D, ED, Perdu, debut_vir_retour, fin_vir_rapide_odo,M, balle_disparue, recalage, recalage3, recalage2, retour};
futureCrac 0:b62e5418d010 27 enum etat_visee_balle_T etat_visee_balle = init_visee_balle , etat_visee_balle_prec = Perdu;
futureCrac 0:b62e5418d010 28 int timer_visee_balle=0;
futureCrac 0:b62e5418d010 29 void automate_visee_balle();
futureCrac 0:b62e5418d010 30
futureCrac 0:b62e5418d010 31 enum etat_pied_ballon_T {init_pied_ballon_dierct, avance_x_DT_pb, rotation_ballon_x_pb, reculer_ballon_x_pb, recalage_pied_pb,fin_pied_ballon, error_pied_ballon};
futureCrac 0:b62e5418d010 32 enum etat_pied_ballon_T etat_pied_ballon = init_pied_ballon_dierct , etat_pied_ballon_prec = fin_pied_ballon;
futureCrac 0:b62e5418d010 33 int timer_pied_ballon = 0;
futureCrac 0:b62e5418d010 34 void automate_pied_ballon();
futureCrac 0:b62e5418d010 35
futureCrac 0:b62e5418d010 36 enum etat_macro_auto_T {init_macro_auto};
futureCrac 0:b62e5418d010 37 enum etat_macro_auto_T etat_macro_auto = init_macro_auto , etat_macro_auto_prec = init_macro_auto;
futureCrac 0:b62e5418d010 38 int timer_macro_auto = 0;
futureCrac 0:b62e5418d010 39 void automate_macro_auto();
futureCrac 0:b62e5418d010 40
futureCrac 0:b62e5418d010 41 enum etat_tirer_balle_complet_T {init_tirer_balle_complet, pied_ballon_tbc, visee_balle_tbc, fin_tirer_balle_complet, error_tirer_balle_complet};
futureCrac 0:b62e5418d010 42 enum etat_tirer_balle_complet_T etat_tirer_balle_complet = init_tirer_balle_complet , etat_tirer_balle_complet_prec = init_tirer_balle_complet;
futureCrac 0:b62e5418d010 43 int timer_tirer_balle_complet = 0;
futureCrac 0:b62e5418d010 44 void automate_tirer_balle_complet();
futureCrac 0:b62e5418d010 45
futureCrac 0:b62e5418d010 46 enum etat_3balles_odo_T {init_tirer_balle_complet, pied_ballon_tbc, visee_balle_tbc, fin_tirer_balle_complet, error_tirer_balle_complet};
futureCrac 0:b62e5418d010 47 enum etat_3balles_odo_T etat_3balles_odo = init_tirer_balle_complet , etat_3balles_odo = init_tirer_balle_complet;
futureCrac 0:b62e5418d010 48 int timer_3balles_odo = 0;
futureCrac 0:b62e5418d010 49 void automate_3balles_odo();
futureCrac 0:b62e5418d010 50
futureCrac 0:b62e5418d010 51
futureCrac 0:b62e5418d010 52 void automate_base();
futureCrac 0:b62e5418d010 53 int etat_auto = 0, etat_auto_prec = 0;
futureCrac 0:b62e5418d010 54 int etat_auto_base = 0, etat_auto_base_prec = 0;
futureCrac 0:b62e5418d010 55
futureCrac 0:b62e5418d010 56 void if_UBp();
futureCrac 0:b62e5418d010 57 void wait_debut_de_partie();
futureCrac 0:b62e5418d010 58
futureCrac 0:b62e5418d010 59
futureCrac 0:b62e5418d010 60
futureCrac 0:b62e5418d010 61 int main()
futureCrac 0:b62e5418d010 62 {
futureCrac 0:b62e5418d010 63 dbug.printf("\nSETUP ");
futureCrac 0:b62e5418d010 64 can_init();
futureCrac 0:b62e5418d010 65 UBp_it.rise(&isr_UBp);
futureCrac 0:b62e5418d010 66 //SetOdometrie(26,500,55,0);
futureCrac 0:b62e5418d010 67 bonus_findepartie(0);
futureCrac 0:b62e5418d010 68
futureCrac 0:b62e5418d010 69 cmd_servo = 0;
futureCrac 0:b62e5418d010 70 ejection_continue = 1;
futureCrac 0:b62e5418d010 71 ejection_active = 1;
futureCrac 0:b62e5418d010 72 temps_ecoule = 0;
futureCrac 0:b62e5418d010 73 match_en_cours = 0;
futureCrac 0:b62e5418d010 74
futureCrac 0:b62e5418d010 75 //BendRadius(139, 900, -1,0);
futureCrac 0:b62e5418d010 76 //GoStraight(3800,0,0,0);
futureCrac 0:b62e5418d010 77 dbug.printf("END SETUP\n");
futureCrac 0:b62e5418d010 78 while(!match_en_cours){
futureCrac 0:b62e5418d010 79 trait_can();
futureCrac 0:b62e5418d010 80 wait_debut_de_partie();}
futureCrac 0:b62e5418d010 81
futureCrac 0:b62e5418d010 82 timer_generale.start();
futureCrac 0:b62e5418d010 83 //Rotate(3600);
futureCrac 0:b62e5418d010 84 //BendRadius(139, -900, -1,0);
futureCrac 0:b62e5418d010 85 //while(1);
futureCrac 0:b62e5418d010 86 //dbug.printf("%d\n", flagDaniels);
futureCrac 0:b62e5418d010 87
futureCrac 0:b62e5418d010 88 while(1)
futureCrac 0:b62e5418d010 89 {
futureCrac 0:b62e5418d010 90 if(temps_ecoule > DUREE_MATCH_TIC)
futureCrac 0:b62e5418d010 91 {
futureCrac 0:b62e5418d010 92 match_en_cours = 0;
futureCrac 0:b62e5418d010 93 SendRawId(ASSERVISSEMENT_STOP);
futureCrac 0:b62e5418d010 94 ejection_active = 0;
futureCrac 0:b62e5418d010 95 automate_ejecteur();
futureCrac 0:b62e5418d010 96 wait(6);
futureCrac 0:b62e5418d010 97 bonus_findepartie(1);
futureCrac 0:b62e5418d010 98 while(1);
futureCrac 0:b62e5418d010 99 }
futureCrac 0:b62e5418d010 100 else if(timer_generale.read_us() > TIKER_GENERALE_US)
futureCrac 0:b62e5418d010 101 {timer_generale.reset();temps_ecoule++;
futureCrac 0:b62e5418d010 102 trait_can();
futureCrac 0:b62e5418d010 103 f_mesure();
futureCrac 0:b62e5418d010 104 pos_disquette();
futureCrac 0:b62e5418d010 105
futureCrac 0:b62e5418d010 106 //if_UBp();
futureCrac 0:b62e5418d010 107 //automate_base();
futureCrac 0:b62e5418d010 108 automate_pied_ballon();
futureCrac 0:b62e5418d010 109 automate_visee_balle();
futureCrac 0:b62e5418d010 110
futureCrac 0:b62e5418d010 111 automate_ejecteur();
futureCrac 0:b62e5418d010 112 if(((temps_ecoule%500) == 0))// execute chaques secondes
futureCrac 0:b62e5418d010 113 {
futureCrac 0:b62e5418d010 114 dbug.printf("Pos x:%d, y:%d, te:%d, Tecoule:%d\n", pos[0], pos[1], pos[2],temps_ecoule*TIKER_GENERALE_US/1000000);
futureCrac 0:b62e5418d010 115 //dbug.printf("Dis D:%f, G:%f, min:%f\n", DTD_avg_Ex, DTG_avg_Ex, DT_avg_min_Ex);
futureCrac 0:b62e5418d010 116 }
futureCrac 0:b62e5418d010 117 }
futureCrac 0:b62e5418d010 118
futureCrac 0:b62e5418d010 119 }
futureCrac 0:b62e5418d010 120 }
futureCrac 0:b62e5418d010 121
futureCrac 0:b62e5418d010 122 void automate_macro_auto()
futureCrac 0:b62e5418d010 123 {
futureCrac 0:b62e5418d010 124 timer_macro_auto++;
futureCrac 0:b62e5418d010 125 switch(etat_macro_auto)
futureCrac 0:b62e5418d010 126 {
futureCrac 0:b62e5418d010 127 case init_macro_auto:
futureCrac 0:b62e5418d010 128 etat_macro_auto = init_macro_auto; timer_macro_auto = 0;
futureCrac 0:b62e5418d010 129 break;
futureCrac 0:b62e5418d010 130 }
futureCrac 0:b62e5418d010 131 }
futureCrac 0:b62e5418d010 132
futureCrac 0:b62e5418d010 133 void automate_3balles_odo()
futureCrac 0:b62e5418d010 134 {
futureCrac 0:b62e5418d010 135 timer_3balles_odot++;
futureCrac 0:b62e5418d010 136 switch(etat_3balles_odo)
futureCrac 0:b62e5418d010 137 {
futureCrac 0:b62e5418d010 138 case 1:
futureCrac 0:b62e5418d010 139 ejection_active = 1;
futureCrac 0:b62e5418d010 140 ejection_continue = 1;
futureCrac 0:b62e5418d010 141 GoStraight(1805,0,0,0);
futureCrac 0:b62e5418d010 142 etat_3balles_odo = 2; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 143 break;
futureCrac 0:b62e5418d010 144
futureCrac 0:b62e5418d010 145 case 2 :
futureCrac 0:b62e5418d010 146 if(flagFinDpl)
futureCrac 0:b62e5418d010 147 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 148 flagDaniels = 1;
futureCrac 0:b62e5418d010 149 Rotate(-930);//rotation acoté de la balle
futureCrac 0:b62e5418d010 150 etat_3balles_odo = pied_ballon_tbc; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 151 }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
futureCrac 0:b62e5418d010 152 break;
futureCrac 0:b62e5418d010 153
futureCrac 0:b62e5418d010 154 case 3 :
futureCrac 0:b62e5418d010 155 if(flagFinDpl)
futureCrac 0:b62e5418d010 156 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 157 ejection_continue = 0;
futureCrac 0:b62e5418d010 158 GoStraight(1500,0,0,0);//on va vers la deuxieme balle
futureCrac 0:b62e5418d010 159 etat_3balles_odo = 4; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 160 }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
futureCrac 0:b62e5418d010 161 break;
futureCrac 0:b62e5418d010 162
futureCrac 0:b62e5418d010 163 case 4 :
futureCrac 0:b62e5418d010 164 if(flagFinDpl)
futureCrac 0:b62e5418d010 165 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 166 Rotate(940);//deuxieme balle gobé ,on tourne
futureCrac 0:b62e5418d010 167 etat_3balles_odo = 5; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 168 }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
futureCrac 0:b62e5418d010 169 break;
futureCrac 0:b62e5418d010 170
futureCrac 0:b62e5418d010 171 case 5 :
futureCrac 0:b62e5418d010 172 if(flagFinDpl)
futureCrac 0:b62e5418d010 173 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 174 envoyer_balle = 1;ejection_continue = 1;//tir la deuxieme balle
futureCrac 0:b62e5418d010 175 flagDaniels = 1;
futureCrac 0:b62e5418d010 176 Rotate(-940);//ici implementer le deuxieme ciblage laser
futureCrac 0:b62e5418d010 177 etat_3balles_odo = 6; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 178 }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
futureCrac 0:b62e5418d010 179 break;
futureCrac 0:b62e5418d010 180
futureCrac 0:b62e5418d010 181 case 6:
futureCrac 0:b62e5418d010 182 if(flagFinDpl)
futureCrac 0:b62e5418d010 183 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 184 ejection_continue = 0;
futureCrac 0:b62e5418d010 185 GoStraight(1500,0,0,0);
futureCrac 0:b62e5418d010 186 etat_3balles_odo = 7; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 187 }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
futureCrac 0:b62e5418d010 188 break;
futureCrac 0:b62e5418d010 189
futureCrac 0:b62e5418d010 190 case 7:
futureCrac 0:b62e5418d010 191 if(flagFinDpl)
futureCrac 0:b62e5418d010 192 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 193 Rotate(930);
futureCrac 0:b62e5418d010 194 etat_3balles_odo = 8; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 195 }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
futureCrac 0:b62e5418d010 196 break;
futureCrac 0:b62e5418d010 197
futureCrac 0:b62e5418d010 198 case 8:
futureCrac 0:b62e5418d010 199 if(flagFinDpl)
futureCrac 0:b62e5418d010 200 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 201 envoyer_balle = 1;ejection_continue = 1;//envoie de la troisième balle
futureCrac 0:b62e5418d010 202 etat_3balles_odo = 9; timer_3balles_odot = 0;
futureCrac 0:b62e5418d010 203 sensrotation=1;//on est a gauche sur le terrain ,donc on cible vers la droite
futureCrac 0:b62e5418d010 204 }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
futureCrac 0:b62e5418d010 205 break;
futureCrac 0:b62e5418d010 206
futureCrac 0:b62e5418d010 207 case 9:
futureCrac 0:b62e5418d010 208 break;
futureCrac 0:b62e5418d010 209
futureCrac 0:b62e5418d010 210 case 10:
futureCrac 0:b62e5418d010 211 break;
futureCrac 0:b62e5418d010 212 }
futureCrac 0:b62e5418d010 213 }
futureCrac 0:b62e5418d010 214
futureCrac 0:b62e5418d010 215
futureCrac 0:b62e5418d010 216
futureCrac 0:b62e5418d010 217 void automate_tirer_balle_complet()
futureCrac 0:b62e5418d010 218 {
futureCrac 0:b62e5418d010 219 timer_tirer_balle_complet++;
futureCrac 0:b62e5418d010 220 switch(etat_tirer_balle_complet)
futureCrac 0:b62e5418d010 221 {
futureCrac 0:b62e5418d010 222 case init_tirer_balle_complet:
futureCrac 0:b62e5418d010 223 sensrotation = -sensrotation;
futureCrac 0:b62e5418d010 224 etat_pied_ballon = init_pied_ballon_dierct;
futureCrac 0:b62e5418d010 225 etat_tirer_balle_complet = pied_ballon_tbc; timer_tirer_balle_complet = 0;
futureCrac 0:b62e5418d010 226 break;
futureCrac 0:b62e5418d010 227
futureCrac 0:b62e5418d010 228 case pied_ballon_tbc:
futureCrac 0:b62e5418d010 229 automate_pied_ballon();
futureCrac 0:b62e5418d010 230 if(etat_pied_ballon == fin_pied_ballon)
futureCrac 0:b62e5418d010 231 {
futureCrac 0:b62e5418d010 232 etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 233 etat_tirer_balle_complet = visee_balle_tbc; timer_tirer_balle_complet = 0;
futureCrac 0:b62e5418d010 234 }
futureCrac 0:b62e5418d010 235 break;
futureCrac 0:b62e5418d010 236
futureCrac 0:b62e5418d010 237 case visee_balle_tbc:
futureCrac 0:b62e5418d010 238 automate_visee_balle();
futureCrac 0:b62e5418d010 239 if(etat_visee_balle == fin_visee_balle)
futureCrac 0:b62e5418d010 240 {
futureCrac 0:b62e5418d010 241 //etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 242 etat_tirer_balle_complet = fin_tirer_balle_complet; timer_tirer_balle_complet = 0;
futureCrac 0:b62e5418d010 243 }
futureCrac 0:b62e5418d010 244 else if(etat_visee_balle == error_visee_balle)
futureCrac 0:b62e5418d010 245 {
futureCrac 0:b62e5418d010 246 //etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 247 etat_tirer_balle_complet = error_tirer_balle_complet; timer_tirer_balle_complet = 0;
futureCrac 0:b62e5418d010 248 }
futureCrac 0:b62e5418d010 249 break;
futureCrac 0:b62e5418d010 250
futureCrac 0:b62e5418d010 251 case fin_tirer_balle_complet:
futureCrac 0:b62e5418d010 252 break;
futureCrac 0:b62e5418d010 253
futureCrac 0:b62e5418d010 254 case error_tirer_balle_complet:
futureCrac 0:b62e5418d010 255 break;
futureCrac 0:b62e5418d010 256
futureCrac 0:b62e5418d010 257
futureCrac 0:b62e5418d010 258 }
futureCrac 0:b62e5418d010 259 }
futureCrac 0:b62e5418d010 260
futureCrac 0:b62e5418d010 261 void automate_pied_ballon()
futureCrac 0:b62e5418d010 262 {
futureCrac 0:b62e5418d010 263 timer_pied_ballon++;
futureCrac 0:b62e5418d010 264 switch(etat_pied_ballon)
futureCrac 0:b62e5418d010 265 {
futureCrac 0:b62e5418d010 266 case init_pied_ballon_dierct:
futureCrac 0:b62e5418d010 267 short y_temp;
futureCrac 0:b62e5418d010 268 if(sensrotation==1)y_temp = 300;
futureCrac 0:b62e5418d010 269 else y_temp = 3700;
futureCrac 0:b62e5418d010 270 GoToPosition(3500, y_temp, 0, 0);
futureCrac 0:b62e5418d010 271 etat_pied_ballon = avance_x_DT_pb; timer_pied_ballon = 0;
futureCrac 0:b62e5418d010 272 break;
futureCrac 0:b62e5418d010 273
futureCrac 0:b62e5418d010 274 case avance_x_DT_pb:
futureCrac 0:b62e5418d010 275 if(flagFinDpl)
futureCrac 0:b62e5418d010 276 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 277 GoStraight(3050-DTA_avg_Ex,0,0,0);
futureCrac 0:b62e5418d010 278 //SetOdometrie(26,pos[0],y_temp,sensrotation*900);
futureCrac 0:b62e5418d010 279 etat_pied_ballon = rotation_ballon_x_pb; timer_pied_ballon = 0;
futureCrac 0:b62e5418d010 280 }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
futureCrac 0:b62e5418d010 281 break;
futureCrac 0:b62e5418d010 282
futureCrac 0:b62e5418d010 283 case rotation_ballon_x_pb:
futureCrac 0:b62e5418d010 284 if(flagFinDpl)
futureCrac 0:b62e5418d010 285 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 286 if(DTA_avg_Ex<3070 && DTA_avg_Ex>3020){
futureCrac 0:b62e5418d010 287 Rotate(sensrotation*900);
futureCrac 0:b62e5418d010 288 etat_pied_ballon = reculer_ballon_x_pb; timer_pied_ballon = 0;
futureCrac 0:b62e5418d010 289 }
futureCrac 0:b62e5418d010 290 }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
futureCrac 0:b62e5418d010 291 break;
futureCrac 0:b62e5418d010 292
futureCrac 0:b62e5418d010 293 case reculer_ballon_x_pb:
futureCrac 0:b62e5418d010 294 if(flagFinDpl)
futureCrac 0:b62e5418d010 295 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 296 GoStraight(-250,0,0,0);
futureCrac 0:b62e5418d010 297 etat_pied_ballon = recalage_pied_pb; timer_pied_ballon = 0;
futureCrac 0:b62e5418d010 298 }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
futureCrac 0:b62e5418d010 299 break;
futureCrac 0:b62e5418d010 300
futureCrac 0:b62e5418d010 301 case recalage_pied_pb:
futureCrac 0:b62e5418d010 302 if(flagFinDpl)
futureCrac 0:b62e5418d010 303 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 304 short y_temp;
futureCrac 0:b62e5418d010 305 if(sensrotation==1)y_temp = 55;
futureCrac 0:b62e5418d010 306 else y_temp = 3945;
futureCrac 0:b62e5418d010 307 SetOdometrie(26,3050,y_temp,sensrotation*900);
futureCrac 0:b62e5418d010 308 etat_pied_ballon = fin_pied_ballon; timer_pied_ballon = 0;
futureCrac 0:b62e5418d010 309 }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
futureCrac 0:b62e5418d010 310 break;
futureCrac 0:b62e5418d010 311
futureCrac 0:b62e5418d010 312 case fin_pied_ballon:
futureCrac 0:b62e5418d010 313 break;
futureCrac 0:b62e5418d010 314
futureCrac 0:b62e5418d010 315 case error_pied_ballon:
futureCrac 0:b62e5418d010 316 break;
futureCrac 0:b62e5418d010 317 }
futureCrac 0:b62e5418d010 318 if(etat_pied_ballon != etat_pied_ballon_prec)dbug.printf("Etat visee_balle : %d\n",etat_pied_ballon);
futureCrac 0:b62e5418d010 319 etat_pied_ballon_prec = etat_pied_ballon;
futureCrac 0:b62e5418d010 320 }
futureCrac 0:b62e5418d010 321
futureCrac 0:b62e5418d010 322
futureCrac 0:b62e5418d010 323
futureCrac 0:b62e5418d010 324 void automate_visee_balle()
futureCrac 0:b62e5418d010 325 {
futureCrac 0:b62e5418d010 326 timer_visee_balle++;
futureCrac 0:b62e5418d010 327
futureCrac 0:b62e5418d010 328 switch(etat_visee_balle)
futureCrac 0:b62e5418d010 329 {
futureCrac 0:b62e5418d010 330 case init_visee_balle ://--------------------------------------0
futureCrac 0:b62e5418d010 331 SendSpeed(80, 600);
futureCrac 0:b62e5418d010 332 Rotate(sensrotation*900);
futureCrac 0:b62e5418d010 333 etat_visee_balle = fin_vir_rapide;
futureCrac 0:b62e5418d010 334 timer_visee_balle=0;
futureCrac 0:b62e5418d010 335 break;
futureCrac 0:b62e5418d010 336
futureCrac 0:b62e5418d010 337 case fin_vir_rapide : //--------------------------------------1
futureCrac 0:b62e5418d010 338 if(balleg || balled )
futureCrac 0:b62e5418d010 339 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 340 dbug.printf("balle 1-----1\n");
futureCrac 0:b62e5418d010 341 pos_balle[0][2] = pos[2];
futureCrac 0:b62e5418d010 342 SendRawId(ASSERVISSEMENT_STOP);
futureCrac 0:b62e5418d010 343 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 344 etat_visee_balle = debut_vir_lent;
futureCrac 0:b62e5418d010 345 } else if(flagFinDpl || timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 346 break;
futureCrac 0:b62e5418d010 347
futureCrac 0:b62e5418d010 348 case debut_vir_lent://--------------------------------------2
futureCrac 0:b62e5418d010 349 if(flagFinDpl)
futureCrac 0:b62e5418d010 350 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 351 dbug.printf("balle 2-----2\n");
futureCrac 0:b62e5418d010 352 SendSpeed(18, 300);
futureCrac 0:b62e5418d010 353 Rotate((pos_balle[0][2]-pos[2])*2);
futureCrac 0:b62e5418d010 354 etat_visee_balle = fin_vir_lent;
futureCrac 0:b62e5418d010 355 }else if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 356 break;
futureCrac 0:b62e5418d010 357
futureCrac 0:b62e5418d010 358 case balle_disparue:
futureCrac 0:b62e5418d010 359 break;
futureCrac 0:b62e5418d010 360
futureCrac 0:b62e5418d010 361 case fin_vir_lent://--------------------------------------3
futureCrac 0:b62e5418d010 362 if(balleg && balled)
futureCrac 0:b62e5418d010 363 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 364 pos_balle[0][2] = pos[2];
futureCrac 0:b62e5418d010 365 SendRawId(ASSERVISSEMENT_STOP);
futureCrac 0:b62e5418d010 366 SendSpeed(100, 600);
futureCrac 0:b62e5418d010 367 if(DT_avg_min_Ex<2000)etat_visee_balle = avancer;
futureCrac 0:b62e5418d010 368 else etat_visee_balle = avancer_20;
futureCrac 0:b62e5418d010 369 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 370 }else{
futureCrac 0:b62e5418d010 371 etat_visee_balle = debut_vir_lent;
futureCrac 0:b62e5418d010 372 flagFinDpl = 1;
futureCrac 0:b62e5418d010 373 }
futureCrac 0:b62e5418d010 374 break;
futureCrac 0:b62e5418d010 375
futureCrac 0:b62e5418d010 376
futureCrac 0:b62e5418d010 377 case avancer_20://--------------------------------------4
futureCrac 0:b62e5418d010 378 if(flagFinDpl)
futureCrac 0:b62e5418d010 379 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 380 GoStraight(DT_avg_min_Ex-D_ROULEAU_AXE-500,0,0,0);
futureCrac 0:b62e5418d010 381 etat_visee_balle = debut_vir_lent2;
futureCrac 0:b62e5418d010 382 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 383 }else if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 384 break;
futureCrac 0:b62e5418d010 385
futureCrac 0:b62e5418d010 386 case debut_vir_lent2://--------------------------------------5
futureCrac 0:b62e5418d010 387 if(flagFinDpl)
futureCrac 0:b62e5418d010 388 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 389
futureCrac 0:b62e5418d010 390 SendSpeed(18, 300);
futureCrac 0:b62e5418d010 391
futureCrac 0:b62e5418d010 392 if(!balleg && !balled)
futureCrac 0:b62e5418d010 393 {
futureCrac 0:b62e5418d010 394 etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 395 }
futureCrac 0:b62e5418d010 396 else{
futureCrac 0:b62e5418d010 397 if(!balleg && balled)
futureCrac 0:b62e5418d010 398 {
futureCrac 0:b62e5418d010 399 BendRadius(139, sensrotation*30, sensrotation,0);
futureCrac 0:b62e5418d010 400 etat_visee_balle = fin_vir_lent2;
futureCrac 0:b62e5418d010 401 }
futureCrac 0:b62e5418d010 402 else if(balleg && !balled)
futureCrac 0:b62e5418d010 403 {
futureCrac 0:b62e5418d010 404 BendRadius(139, 30, sensrotation,0);
futureCrac 0:b62e5418d010 405 etat_visee_balle = fin_vir_lent2;
futureCrac 0:b62e5418d010 406 }
futureCrac 0:b62e5418d010 407 else if(balleg && balled)
futureCrac 0:b62e5418d010 408 {
futureCrac 0:b62e5418d010 409 flagFinDpl = 1;
futureCrac 0:b62e5418d010 410 SendSpeed(100, 600);
futureCrac 0:b62e5418d010 411 etat_visee_balle = avancer;
futureCrac 0:b62e5418d010 412 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 413 }
futureCrac 0:b62e5418d010 414 }
futureCrac 0:b62e5418d010 415 }else if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 416 break;
futureCrac 0:b62e5418d010 417
futureCrac 0:b62e5418d010 418 case fin_vir_lent2://--------------------------------------6
futureCrac 0:b62e5418d010 419 if(balleg && balled)
futureCrac 0:b62e5418d010 420 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 421 SendRawId(ASSERVISSEMENT_STOP);
futureCrac 0:b62e5418d010 422 SendSpeed(100, 600);
futureCrac 0:b62e5418d010 423 etat_visee_balle = avancer;
futureCrac 0:b62e5418d010 424 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 425 }else{flagFinDpl = 1;
futureCrac 0:b62e5418d010 426 etat_visee_balle = debut_vir_lent2;
futureCrac 0:b62e5418d010 427 }
futureCrac 0:b62e5418d010 428 break;
futureCrac 0:b62e5418d010 429
futureCrac 0:b62e5418d010 430
futureCrac 0:b62e5418d010 431 case avancer://--------------------------------------7
futureCrac 0:b62e5418d010 432 if(flagFinDpl)
futureCrac 0:b62e5418d010 433 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 434 ejection_continue = 0;
futureCrac 0:b62e5418d010 435 GoStraight(DT_avg_min_Ex-(D_ROULEAU_AXE),0,0,0);
futureCrac 0:b62e5418d010 436 etat_visee_balle = rotation;
futureCrac 0:b62e5418d010 437 }
futureCrac 0:b62e5418d010 438 if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 439 break;
futureCrac 0:b62e5418d010 440
futureCrac 0:b62e5418d010 441 case rotation://--------------------------------------8
futureCrac 0:b62e5418d010 442 if(flagFinDpl)
futureCrac 0:b62e5418d010 443 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 444 if(balle_gobbee)
futureCrac 0:b62e5418d010 445 {
futureCrac 0:b62e5418d010 446 short dTeta = -pos[2];
futureCrac 0:b62e5418d010 447 Rotate(dTeta);
futureCrac 0:b62e5418d010 448 etat_visee_balle = lancer;
futureCrac 0:b62e5418d010 449 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 450 }else etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 451 }
futureCrac 0:b62e5418d010 452 break;
futureCrac 0:b62e5418d010 453
futureCrac 0:b62e5418d010 454 case lancer:
futureCrac 0:b62e5418d010 455 if(flagFinDpl)
futureCrac 0:b62e5418d010 456 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 457 envoyer_balle = 1;
futureCrac 0:b62e5418d010 458 ejection_continue = 1;
futureCrac 0:b62e5418d010 459 etat_visee_balle = fin_visee_balle;
futureCrac 0:b62e5418d010 460
futureCrac 0:b62e5418d010 461 } if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 462 break;
futureCrac 0:b62e5418d010 463
futureCrac 0:b62e5418d010 464 case fin_visee_balle:
futureCrac 0:b62e5418d010 465 ejection_continue = 1;
futureCrac 0:b62e5418d010 466 break;
futureCrac 0:b62e5418d010 467 case error_visee_balle:
futureCrac 0:b62e5418d010 468 ejection_continue = 1;
futureCrac 0:b62e5418d010 469 break;
futureCrac 0:b62e5418d010 470
futureCrac 0:b62e5418d010 471 case retour :
futureCrac 0:b62e5418d010 472 GoToPosition(300, 0, 0, 0);
futureCrac 0:b62e5418d010 473 etat_visee_balle = recalage;
futureCrac 0:b62e5418d010 474 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 475 break;
futureCrac 0:b62e5418d010 476
futureCrac 0:b62e5418d010 477 case recalage :
futureCrac 0:b62e5418d010 478 if(flagFinDpl)
futureCrac 0:b62e5418d010 479 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 480 GoStraight(-295,0,0,0);
futureCrac 0:b62e5418d010 481 etat_visee_balle = recalage2;
futureCrac 0:b62e5418d010 482 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 483 }if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 484 break;
futureCrac 0:b62e5418d010 485 case recalage2 :
futureCrac 0:b62e5418d010 486 if(flagFinDpl)
futureCrac 0:b62e5418d010 487 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 488 GoStraight(30,2,50,0);
futureCrac 0:b62e5418d010 489 etat_visee_balle = recalage2;
futureCrac 0:b62e5418d010 490 timer_visee_balle = 0;
futureCrac 0:b62e5418d010 491 }if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
futureCrac 0:b62e5418d010 492 break;
futureCrac 0:b62e5418d010 493 case recalage3 :
futureCrac 0:b62e5418d010 494 if(flagFinDpl)
futureCrac 0:b62e5418d010 495 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 496 etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 497 }
futureCrac 0:b62e5418d010 498 break;
futureCrac 0:b62e5418d010 499 }
futureCrac 0:b62e5418d010 500 if(etat_visee_balle != etat_visee_balle_prec)dbug.printf("Etat visee_balle : %d\n",etat_visee_balle);
futureCrac 0:b62e5418d010 501 etat_visee_balle_prec = etat_visee_balle;
futureCrac 0:b62e5418d010 502 }
futureCrac 0:b62e5418d010 503
futureCrac 0:b62e5418d010 504 void automate_base()
futureCrac 0:b62e5418d010 505 {
futureCrac 0:b62e5418d010 506 switch(etat_auto_base)
futureCrac 0:b62e5418d010 507 {
futureCrac 0:b62e5418d010 508 case 0 :
futureCrac 0:b62e5418d010 509 temps_ecoule = 0;
futureCrac 0:b62e5418d010 510 etat_auto_base = 1;
futureCrac 0:b62e5418d010 511 break;
futureCrac 0:b62e5418d010 512
futureCrac 0:b62e5418d010 513 case 1 :
futureCrac 0:b62e5418d010 514 ejection_active = 1;
futureCrac 0:b62e5418d010 515 ejection_continue = 1;
futureCrac 0:b62e5418d010 516 GoStraight(1805,0,0,0);
futureCrac 0:b62e5418d010 517 etat_auto_base=2;
futureCrac 0:b62e5418d010 518 break;
futureCrac 0:b62e5418d010 519
futureCrac 0:b62e5418d010 520 case 2 :
futureCrac 0:b62e5418d010 521 if(flagFinDpl)
futureCrac 0:b62e5418d010 522 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 523 flagDaniels = 1;
futureCrac 0:b62e5418d010 524 Rotate(-850);//rotation acoté de la balle
futureCrac 0:b62e5418d010 525 etat_auto_base=201;
futureCrac 0:b62e5418d010 526
futureCrac 0:b62e5418d010 527 }
futureCrac 0:b62e5418d010 528 break;
futureCrac 0:b62e5418d010 529
futureCrac 0:b62e5418d010 530 case 201 :
futureCrac 0:b62e5418d010 531 if(flagFinDpl)
futureCrac 0:b62e5418d010 532 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 533 sensrotation=-1;
futureCrac 0:b62e5418d010 534 etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 535 etat_auto_base=202;
futureCrac 0:b62e5418d010 536 }
futureCrac 0:b62e5418d010 537 break;
futureCrac 0:b62e5418d010 538
futureCrac 0:b62e5418d010 539 case 202 :
futureCrac 0:b62e5418d010 540 automate_visee_balle(); //ciblage vers la gauche
futureCrac 0:b62e5418d010 541 if(etat_visee_balle == init_visee_balle)//on attend d'etre sur la balle
futureCrac 0:b62e5418d010 542 {
futureCrac 0:b62e5418d010 543 etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 544 etat_auto_base = 3;
futureCrac 0:b62e5418d010 545 }
futureCrac 0:b62e5418d010 546 break;
futureCrac 0:b62e5418d010 547 //---------------------FIN---------------------------
futureCrac 0:b62e5418d010 548
futureCrac 0:b62e5418d010 549 case 3 :
futureCrac 0:b62e5418d010 550 ejection_continue = 0;
futureCrac 0:b62e5418d010 551 GoStraight(1500,0,0,0);//on va vers la deuxieme balle
futureCrac 0:b62e5418d010 552 etat_auto_base=4;
futureCrac 0:b62e5418d010 553 break;
futureCrac 0:b62e5418d010 554
futureCrac 0:b62e5418d010 555 case 4 :
futureCrac 0:b62e5418d010 556 if(flagFinDpl)
futureCrac 0:b62e5418d010 557 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 558 Rotate(900);//deuxieme balle gobé ,on tourne
futureCrac 0:b62e5418d010 559 etat_auto_base=5;
futureCrac 0:b62e5418d010 560 }
futureCrac 0:b62e5418d010 561 break;
futureCrac 0:b62e5418d010 562
futureCrac 0:b62e5418d010 563 case 5 :
futureCrac 0:b62e5418d010 564 if(flagFinDpl)
futureCrac 0:b62e5418d010 565 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 566 envoyer_balle = 1;//tir la deuxieme balle
futureCrac 0:b62e5418d010 567 flagDaniels = 1;
futureCrac 0:b62e5418d010 568 Rotate(-850);//ici implementer le deuxieme ciblage laser
futureCrac 0:b62e5418d010 569 etat_auto_base=601;
futureCrac 0:b62e5418d010 570 }
futureCrac 0:b62e5418d010 571 break;
futureCrac 0:b62e5418d010 572
futureCrac 0:b62e5418d010 573 case 601 :
futureCrac 0:b62e5418d010 574 if(flagFinDpl)
futureCrac 0:b62e5418d010 575 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 576 sensrotation=-1;
futureCrac 0:b62e5418d010 577 etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 578 etat_auto_base=602;
futureCrac 0:b62e5418d010 579 }
futureCrac 0:b62e5418d010 580 break;
futureCrac 0:b62e5418d010 581
futureCrac 0:b62e5418d010 582 case 602 :
futureCrac 0:b62e5418d010 583 automate_visee_balle(); //ciblage vers la gauche
futureCrac 0:b62e5418d010 584 if(etat_visee_balle == 4)//on attend d'etre sur la balle
futureCrac 0:b62e5418d010 585 {
futureCrac 0:b62e5418d010 586 etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 587 etat_auto_base = 7;
futureCrac 0:b62e5418d010 588 }
futureCrac 0:b62e5418d010 589 break;
futureCrac 0:b62e5418d010 590
futureCrac 0:b62e5418d010 591 case 7:
futureCrac 0:b62e5418d010 592 ejection_continue = 0;
futureCrac 0:b62e5418d010 593 GoStraight(1500,0,0,0);
futureCrac 0:b62e5418d010 594 etat_auto_base=8;
futureCrac 0:b62e5418d010 595 break;
futureCrac 0:b62e5418d010 596
futureCrac 0:b62e5418d010 597 case 8 :
futureCrac 0:b62e5418d010 598 if(flagFinDpl)
futureCrac 0:b62e5418d010 599 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 600 Rotate(900);
futureCrac 0:b62e5418d010 601 etat_auto_base=9;
futureCrac 0:b62e5418d010 602 }
futureCrac 0:b62e5418d010 603 break;
futureCrac 0:b62e5418d010 604
futureCrac 0:b62e5418d010 605 case 9 :
futureCrac 0:b62e5418d010 606 if(flagFinDpl)
futureCrac 0:b62e5418d010 607 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 608 envoyer_balle = 1;//envoie de la troisième balle
futureCrac 0:b62e5418d010 609 etat_auto_base=10;
futureCrac 0:b62e5418d010 610 sensrotation=1;//on est a gauche sur le terrain ,donc on cible vers la droite
futureCrac 0:b62e5418d010 611 }
futureCrac 0:b62e5418d010 612 break;
futureCrac 0:b62e5418d010 613
futureCrac 0:b62e5418d010 614 case 10:
futureCrac 0:b62e5418d010 615 GoStraight(1500,0,0,0);
futureCrac 0:b62e5418d010 616 etat_auto_base=11;
futureCrac 0:b62e5418d010 617 break;
futureCrac 0:b62e5418d010 618
futureCrac 0:b62e5418d010 619 case 11 :
futureCrac 0:b62e5418d010 620 if(flagFinDpl)
futureCrac 0:b62e5418d010 621 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 622 Rotate(900);
futureCrac 0:b62e5418d010 623 //cmd_servo = 2;
futureCrac 0:b62e5418d010 624 etat_auto_base=12;
futureCrac 0:b62e5418d010 625 }
futureCrac 0:b62e5418d010 626 break;
futureCrac 0:b62e5418d010 627
futureCrac 0:b62e5418d010 628 case 12 :
futureCrac 0:b62e5418d010 629 if(flagFinDpl)
futureCrac 0:b62e5418d010 630 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 631 GoStraight(100,2,0,0);
futureCrac 0:b62e5418d010 632 cmd_servo = 2;
futureCrac 0:b62e5418d010 633 etat_auto_base=13;
futureCrac 0:b62e5418d010 634 }
futureCrac 0:b62e5418d010 635 break;
futureCrac 0:b62e5418d010 636 case 13 :
futureCrac 0:b62e5418d010 637 if(flagFinDpl)
futureCrac 0:b62e5418d010 638 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 639 GoStraight(3800,0,0,0);
futureCrac 0:b62e5418d010 640 cmd_servo = 1;
futureCrac 0:b62e5418d010 641 etat_auto_base=14;
futureCrac 0:b62e5418d010 642 }
futureCrac 0:b62e5418d010 643 break;
futureCrac 0:b62e5418d010 644
futureCrac 0:b62e5418d010 645 case 14 :
futureCrac 0:b62e5418d010 646 if(flagFinDpl)
futureCrac 0:b62e5418d010 647 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 648 GoStraight(-500,0,0,0);
futureCrac 0:b62e5418d010 649 etat_auto_base=15;
futureCrac 0:b62e5418d010 650 }
futureCrac 0:b62e5418d010 651 break;
futureCrac 0:b62e5418d010 652
futureCrac 0:b62e5418d010 653 case 15 :
futureCrac 0:b62e5418d010 654 if(flagFinDpl)
futureCrac 0:b62e5418d010 655 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 656 Rotate(1800);
futureCrac 0:b62e5418d010 657 cmd_servo = 0;
futureCrac 0:b62e5418d010 658 etat_auto_base=16;
futureCrac 0:b62e5418d010 659 sensrotation=1;
futureCrac 0:b62e5418d010 660 }
futureCrac 0:b62e5418d010 661 break;
futureCrac 0:b62e5418d010 662 case 16 :
futureCrac 0:b62e5418d010 663
futureCrac 0:b62e5418d010 664 break;
futureCrac 0:b62e5418d010 665
futureCrac 0:b62e5418d010 666
futureCrac 0:b62e5418d010 667
futureCrac 0:b62e5418d010 668 case 100 :
futureCrac 0:b62e5418d010 669 etat_visee_balle = init_visee_balle;//On passe dans l'automate de ciblage
futureCrac 0:b62e5418d010 670 etat_auto_base=101;
futureCrac 0:b62e5418d010 671 break;
futureCrac 0:b62e5418d010 672
futureCrac 0:b62e5418d010 673 case 101 :
futureCrac 0:b62e5418d010 674 automate_visee_balle(); //ciblage vers la gauche
futureCrac 0:b62e5418d010 675 if(etat_visee_balle == init_visee_balle)//on attend d'etre sur la balle
futureCrac 0:b62e5418d010 676 {
futureCrac 0:b62e5418d010 677 etat_visee_balle = init_visee_balle;
futureCrac 0:b62e5418d010 678 etat_auto_base = 102;
futureCrac 0:b62e5418d010 679 }
futureCrac 0:b62e5418d010 680 break;
futureCrac 0:b62e5418d010 681
futureCrac 0:b62e5418d010 682 case 102 :
futureCrac 0:b62e5418d010 683 if(flagFinDpl)
futureCrac 0:b62e5418d010 684 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 685 ejection_continue = 0;
futureCrac 0:b62e5418d010 686 GoStraight(DTD_avg_Ex,0,0,0);
futureCrac 0:b62e5418d010 687 etat_auto_base=103;
futureCrac 0:b62e5418d010 688 }
futureCrac 0:b62e5418d010 689 break;
futureCrac 0:b62e5418d010 690
futureCrac 0:b62e5418d010 691 case 103 :
futureCrac 0:b62e5418d010 692 if(flagFinDpl)
futureCrac 0:b62e5418d010 693 {flagFinDpl = 0;
futureCrac 0:b62e5418d010 694 Rotate(-pos[2]);
futureCrac 0:b62e5418d010 695 etat_auto_base=100;
futureCrac 0:b62e5418d010 696 }
futureCrac 0:b62e5418d010 697 break;
futureCrac 0:b62e5418d010 698 default :
futureCrac 0:b62e5418d010 699
futureCrac 0:b62e5418d010 700 break;
futureCrac 0:b62e5418d010 701
futureCrac 0:b62e5418d010 702 }
futureCrac 0:b62e5418d010 703 if(etat_auto_base != etat_auto_base_prec)dbug.printf("Etat auto_base: %d\n",etat_auto_base);
futureCrac 0:b62e5418d010 704 etat_auto_base_prec = etat_auto_base;
futureCrac 0:b62e5418d010 705 }
futureCrac 0:b62e5418d010 706
futureCrac 0:b62e5418d010 707 void wait_debut_de_partie()
futureCrac 0:b62e5418d010 708 {
futureCrac 0:b62e5418d010 709 if(!Daniels_in)
futureCrac 0:b62e5418d010 710 {
futureCrac 0:b62e5418d010 711 dbug.printf("-----DEBUT DE PARTIE------\n");
futureCrac 0:b62e5418d010 712 match_en_cours = 1;
futureCrac 0:b62e5418d010 713 }
futureCrac 0:b62e5418d010 714 }
futureCrac 0:b62e5418d010 715
futureCrac 0:b62e5418d010 716 void user_bp_ar(){UBp_it.enable_irq();}
futureCrac 0:b62e5418d010 717 void isr_UBp()
futureCrac 0:b62e5418d010 718 {
futureCrac 0:b62e5418d010 719 UBp_it.disable_irq();dbug.printf("ubp\n");
futureCrac 0:b62e5418d010 720 ubp_to.attach(&user_bp_ar, 0.3);
futureCrac 0:b62e5418d010 721 flagUBp = 1;
futureCrac 0:b62e5418d010 722 }