Diff: robot_general.cpp

Revision:

0:b62e5418d010

Child:

1:23a830355dc5

diff -r 000000000000 -r b62e5418d010 robot_general.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot_general.cpp	Mon May 13 15:41:22 2019 +0000
@@ -0,0 +1,722 @@
+#include "robot_general.h"
+
+DigitalIn Daniels_in(PA_15);
+
+//DigitalIn UBp(USER_BUTTON);  
+InterruptIn UBp_it(USER_BUTTON);
+Timeout ubp_to; 
+
+//Serial dbug(USBTX, USBRX, 115200);   
+Serial dbug(PA_0, PA_1, 38400);
+
+Timer timer_generale;
+
+int flagUBp = 0, flagDaniels = 0, match_en_cours = 0;
+int flagEv = 0, flagAv = 1, flagDpl = 0, flag_auto_suiv = 0;
+int sensrotation=-1;
+
+short pos_balle[10][4];int nb_balle = 0, balle_retrouve = 0;
+
+
+
+unsigned int temps_ecoule = 0;
+
+void isr_UBp();void user_bp_ar();
+
+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};
+enum etat_visee_balle_T etat_visee_balle = init_visee_balle , etat_visee_balle_prec = Perdu;
+int timer_visee_balle=0;
+void automate_visee_balle(); 
+
+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};
+enum etat_pied_ballon_T etat_pied_ballon = init_pied_ballon_dierct , etat_pied_ballon_prec = fin_pied_ballon;
+int timer_pied_ballon = 0;
+void automate_pied_ballon();
+
+enum etat_macro_auto_T {init_macro_auto};
+enum etat_macro_auto_T etat_macro_auto = init_macro_auto , etat_macro_auto_prec = init_macro_auto;
+int timer_macro_auto = 0;
+void automate_macro_auto();
+
+enum etat_tirer_balle_complet_T {init_tirer_balle_complet, pied_ballon_tbc, visee_balle_tbc, fin_tirer_balle_complet, error_tirer_balle_complet};
+enum etat_tirer_balle_complet_T etat_tirer_balle_complet = init_tirer_balle_complet , etat_tirer_balle_complet_prec = init_tirer_balle_complet;
+int timer_tirer_balle_complet = 0;
+void automate_tirer_balle_complet();
+
+enum etat_3balles_odo_T {init_tirer_balle_complet, pied_ballon_tbc, visee_balle_tbc, fin_tirer_balle_complet, error_tirer_balle_complet};
+enum etat_3balles_odo_T etat_3balles_odo = init_tirer_balle_complet , etat_3balles_odo = init_tirer_balle_complet;
+int timer_3balles_odo = 0;
+void automate_3balles_odo();
+
+
+void automate_base();
+int etat_auto = 0, etat_auto_prec = 0;
+int etat_auto_base = 0, etat_auto_base_prec = 0;
+
+void if_UBp();
+void wait_debut_de_partie();
+
+
+
+int main() 
+{
+    dbug.printf("\nSETUP    ");
+    can_init();
+    UBp_it.rise(&isr_UBp);
+    //SetOdometrie(26,500,55,0);
+    bonus_findepartie(0);
+    
+    cmd_servo = 0;
+    ejection_continue = 1;
+    ejection_active = 1;
+    temps_ecoule = 0;
+    match_en_cours = 0;
+    
+    //BendRadius(139, 900, -1,0);
+    //GoStraight(3800,0,0,0);
+    dbug.printf("END SETUP\n");
+    while(!match_en_cours){
+        trait_can();
+        wait_debut_de_partie();}
+        
+    timer_generale.start();
+    //Rotate(3600);
+    //BendRadius(139, -900, -1,0);
+    //while(1);
+    //dbug.printf("%d\n", flagDaniels);
+
+    while(1)
+    {
+        if(temps_ecoule > DUREE_MATCH_TIC)
+        {
+            match_en_cours = 0;
+            SendRawId(ASSERVISSEMENT_STOP);
+            ejection_active = 0;
+            automate_ejecteur();
+            wait(6);
+            bonus_findepartie(1);
+            while(1);
+        }
+        else if(timer_generale.read_us() > TIKER_GENERALE_US)
+        {timer_generale.reset();temps_ecoule++;
+            trait_can();
+            f_mesure();
+            pos_disquette();
+            
+            //if_UBp();
+            //automate_base();
+            automate_pied_ballon();
+            automate_visee_balle();
+    
+            automate_ejecteur();
+            if(((temps_ecoule%500) == 0))// execute chaques secondes
+            {
+                dbug.printf("Pos x:%d, y:%d, te:%d, Tecoule:%d\n", pos[0], pos[1], pos[2],temps_ecoule*TIKER_GENERALE_US/1000000);
+                //dbug.printf("Dis D:%f, G:%f, min:%f\n", DTD_avg_Ex, DTG_avg_Ex, DT_avg_min_Ex);
+            }
+        }
+            
+    }
+}
+
+void automate_macro_auto()
+{
+    timer_macro_auto++;
+    switch(etat_macro_auto)
+    {
+        case init_macro_auto:
+            etat_macro_auto = init_macro_auto; timer_macro_auto = 0;
+            break;
+    }
+}
+
+void automate_3balles_odo()
+{
+    timer_3balles_odot++;
+    switch(etat_3balles_odo)
+    {
+        case 1:
+            ejection_active = 1;
+            ejection_continue = 1; 
+            GoStraight(1805,0,0,0);
+            etat_3balles_odo = 2; timer_3balles_odot = 0;
+            break;
+               
+        case 2 :
+            if(flagFinDpl)
+            {flagFinDpl = 0; 
+                flagDaniels = 1;
+                Rotate(-930);//rotation acoté de la balle
+                etat_3balles_odo = pied_ballon_tbc; timer_3balles_odot = 0;
+            }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
+            break;
+            
+        case 3 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                ejection_continue = 0;
+                GoStraight(1500,0,0,0);//on va vers la deuxieme balle
+                etat_3balles_odo = 4; timer_3balles_odot = 0;
+            }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
+            break;   
+             
+        case 4 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                Rotate(940);//deuxieme balle gobé ,on tourne
+                etat_3balles_odo = 5; timer_3balles_odot = 0;
+            }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
+            break;
+            
+        case 5 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                envoyer_balle = 1;ejection_continue = 1;//tir la deuxieme balle
+                flagDaniels = 1;
+                Rotate(-940);//ici implementer le deuxieme ciblage laser
+                etat_3balles_odo = 6; timer_3balles_odot = 0;
+            }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
+            break;
+        
+        case 6:  
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                ejection_continue = 0;
+                GoStraight(1500,0,0,0);
+                etat_3balles_odo = 7; timer_3balles_odot = 0;
+            }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
+            break;
+                 
+        case 7:
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                Rotate(930);
+                etat_3balles_odo = 8; timer_3balles_odot = 0;
+            }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
+            break;
+        
+        case 8:
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                envoyer_balle = 1;ejection_continue = 1;//envoie de la troisième balle
+                etat_3balles_odo = 9; timer_3balles_odot = 0;
+                sensrotation=1;//on est a gauche sur le terrain ,donc on cible vers la droite 
+            }else if(timer_3balles_odot>TIMEOUT_ERROR_TIC) etat_3balles_odo = 10;
+            break;
+            
+        case 9:
+            break;
+            
+        case 10:
+            break;
+    }
+}
+
+
+
+void automate_tirer_balle_complet()
+{
+    timer_tirer_balle_complet++;
+    switch(etat_tirer_balle_complet)
+    {
+        case init_tirer_balle_complet:
+            sensrotation = -sensrotation;
+            etat_pied_ballon = init_pied_ballon_dierct;
+            etat_tirer_balle_complet = pied_ballon_tbc; timer_tirer_balle_complet = 0;
+            break;
+            
+        case pied_ballon_tbc:
+            automate_pied_ballon();
+            if(etat_pied_ballon == fin_pied_ballon)
+            {
+                etat_visee_balle = init_visee_balle;
+                etat_tirer_balle_complet = visee_balle_tbc; timer_tirer_balle_complet = 0;
+            }
+            break;
+            
+        case visee_balle_tbc:
+            automate_visee_balle();
+            if(etat_visee_balle == fin_visee_balle)
+            {
+                //etat_visee_balle = init_visee_balle;
+                etat_tirer_balle_complet = fin_tirer_balle_complet; timer_tirer_balle_complet = 0;
+            }
+            else if(etat_visee_balle == error_visee_balle)
+            {
+                //etat_visee_balle = init_visee_balle;
+                etat_tirer_balle_complet = error_tirer_balle_complet; timer_tirer_balle_complet = 0;
+            }
+            break;
+            
+        case fin_tirer_balle_complet:
+            break;
+            
+        case error_tirer_balle_complet:
+            break;
+        
+        
+    }
+}
+
+void automate_pied_ballon()
+{
+    timer_pied_ballon++;
+    switch(etat_pied_ballon)
+    {
+        case init_pied_ballon_dierct:
+            short y_temp;
+            if(sensrotation==1)y_temp = 300;
+            else y_temp = 3700;
+            GoToPosition(3500, y_temp, 0, 0);
+            etat_pied_ballon = avance_x_DT_pb; timer_pied_ballon = 0;
+            break;
+        
+        case avance_x_DT_pb:
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                GoStraight(3050-DTA_avg_Ex,0,0,0);
+                //SetOdometrie(26,pos[0],y_temp,sensrotation*900);
+                etat_pied_ballon = rotation_ballon_x_pb; timer_pied_ballon = 0;
+            }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
+            break; 
+            
+        case rotation_ballon_x_pb:
+           if(flagFinDpl)
+            {flagFinDpl = 0;
+                if(DTA_avg_Ex<3070 && DTA_avg_Ex>3020){ 
+                    Rotate(sensrotation*900);
+                    etat_pied_ballon = reculer_ballon_x_pb; timer_pied_ballon = 0;
+                }
+            }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
+            break;
+            
+         case reculer_ballon_x_pb:
+           if(flagFinDpl)
+            {flagFinDpl = 0;
+                GoStraight(-250,0,0,0);
+                etat_pied_ballon = recalage_pied_pb; timer_pied_ballon = 0;
+            }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
+            break; 
+              
+        case recalage_pied_pb:
+           if(flagFinDpl)
+            {flagFinDpl = 0;
+                short y_temp;
+                if(sensrotation==1)y_temp = 55;
+                else y_temp = 3945;
+                SetOdometrie(26,3050,y_temp,sensrotation*900);
+                etat_pied_ballon = fin_pied_ballon; timer_pied_ballon = 0;
+            }else if(timer_pied_ballon>TIMEOUT_ERROR_TIC) etat_pied_ballon = error_pied_ballon;
+            break;
+            
+        case fin_pied_ballon:
+            break;
+            
+        case error_pied_ballon:
+            break;
+    }    
+    if(etat_pied_ballon != etat_pied_ballon_prec)dbug.printf("Etat visee_balle : %d\n",etat_pied_ballon);
+    etat_pied_ballon_prec = etat_pied_ballon;
+}
+
+
+
+void automate_visee_balle()
+{   
+    timer_visee_balle++;
+    
+    switch(etat_visee_balle)
+    {
+        case init_visee_balle ://--------------------------------------0
+            SendSpeed(80, 600);
+            Rotate(sensrotation*900);
+            etat_visee_balle = fin_vir_rapide;
+            timer_visee_balle=0;
+            break;
+            
+        case fin_vir_rapide : //--------------------------------------1
+            if(balleg  || balled )
+            {flagFinDpl = 0;
+                dbug.printf("balle 1-----1\n");
+                pos_balle[0][2] = pos[2];
+                SendRawId(ASSERVISSEMENT_STOP);
+                timer_visee_balle = 0;
+                etat_visee_balle = debut_vir_lent;
+            } else if(flagFinDpl || timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break;
+                
+        case debut_vir_lent://--------------------------------------2
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+            dbug.printf("balle 2-----2\n");
+            SendSpeed(18, 300);
+            Rotate((pos_balle[0][2]-pos[2])*2);
+            etat_visee_balle = fin_vir_lent;
+            }else if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break;   
+        
+        case balle_disparue:
+            break;
+            
+        case fin_vir_lent://--------------------------------------3
+            if(balleg && balled)
+            {flagFinDpl = 0;
+                pos_balle[0][2] = pos[2];
+                SendRawId(ASSERVISSEMENT_STOP);
+                SendSpeed(100, 600);
+                if(DT_avg_min_Ex<2000)etat_visee_balle = avancer;
+                else etat_visee_balle = avancer_20;
+                timer_visee_balle = 0;
+            }else{
+                 etat_visee_balle = debut_vir_lent;
+                 flagFinDpl = 1;
+            }
+            break;   
+            
+            
+        case avancer_20://--------------------------------------4
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                GoStraight(DT_avg_min_Ex-D_ROULEAU_AXE-500,0,0,0);
+                etat_visee_balle = debut_vir_lent2;
+                timer_visee_balle = 0;
+            }else if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break;
+            
+        case debut_vir_lent2://--------------------------------------5
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+            
+                SendSpeed(18, 300);
+                
+                if(!balleg && !balled)
+                {
+                    etat_visee_balle = error_visee_balle;
+                }
+                else{
+                    if(!balleg && balled)
+                    {
+                        BendRadius(139, sensrotation*30, sensrotation,0);
+                        etat_visee_balle = fin_vir_lent2;
+                    }
+                    else if(balleg && !balled)
+                    {
+                        BendRadius(139, 30, sensrotation,0);
+                        etat_visee_balle = fin_vir_lent2;
+                    }
+                    else if(balleg && balled)
+                    {
+                        flagFinDpl = 1;
+                        SendSpeed(100, 600);
+                        etat_visee_balle = avancer;
+                        timer_visee_balle = 0;
+                    } 
+                }
+            }else if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break;   
+            
+        case fin_vir_lent2://--------------------------------------6
+            if(balleg && balled)
+            {flagFinDpl = 0;
+                SendRawId(ASSERVISSEMENT_STOP);
+                SendSpeed(100, 600);
+                etat_visee_balle = avancer;
+                timer_visee_balle = 0;
+            }else{flagFinDpl = 1;
+                 etat_visee_balle = debut_vir_lent2;
+            }
+            break;  
+            
+            
+        case avancer://--------------------------------------7
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                ejection_continue = 0;
+                GoStraight(DT_avg_min_Ex-(D_ROULEAU_AXE),0,0,0);
+                etat_visee_balle = rotation;
+            } 
+            if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break;
+            
+        case rotation://--------------------------------------8
+            if(flagFinDpl)
+            {flagFinDpl = 0;   
+                if(balle_gobbee)
+                {
+                    short dTeta = -pos[2];
+                    Rotate(dTeta);
+                    etat_visee_balle = lancer;
+                    timer_visee_balle = 0;
+                }else etat_visee_balle = error_visee_balle;
+            }
+            break;
+            
+        case lancer:
+            if(flagFinDpl)
+            {flagFinDpl = 0; 
+                envoyer_balle = 1;
+                ejection_continue = 1;
+                etat_visee_balle = fin_visee_balle;
+                
+            } if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break; 
+           
+        case fin_visee_balle:
+                ejection_continue = 1;
+            break;
+        case error_visee_balle:
+                ejection_continue = 1;
+            break;
+            
+        case retour :
+            GoToPosition(300, 0, 0, 0);
+            etat_visee_balle = recalage;
+            timer_visee_balle = 0;
+            break;
+            
+        case recalage :
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                GoStraight(-295,0,0,0);
+            etat_visee_balle = recalage2;
+            timer_visee_balle = 0;
+            }if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break;
+        case recalage2 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                GoStraight(30,2,50,0);
+            etat_visee_balle = recalage2;
+            timer_visee_balle = 0;
+            }if(timer_visee_balle>TIMEOUT_ERROR_TIC) etat_visee_balle = error_visee_balle;
+            break;
+        case recalage3 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;
+                etat_visee_balle = init_visee_balle;
+            }
+            break;      
+    }
+    if(etat_visee_balle != etat_visee_balle_prec)dbug.printf("Etat visee_balle : %d\n",etat_visee_balle);
+    etat_visee_balle_prec = etat_visee_balle;
+}
+
+void automate_base()
+{  
+    switch(etat_auto_base)
+    {
+        case 0 :
+            temps_ecoule = 0;
+            etat_auto_base = 1;
+            break;
+            
+        case 1 :
+            ejection_active = 1;
+            ejection_continue = 1; 
+            GoStraight(1805,0,0,0);
+            etat_auto_base=2;
+            break;
+        
+        case 2 :
+            if(flagFinDpl)
+            {flagFinDpl = 0; 
+                flagDaniels = 1;
+                Rotate(-850);//rotation acoté de la balle
+                etat_auto_base=201;
+
+            }
+            break;
+            
+        case 201 :
+            if(flagFinDpl)
+            {flagFinDpl = 0; 
+                sensrotation=-1;
+                etat_visee_balle = init_visee_balle;
+                etat_auto_base=202;
+            }
+            break;
+                
+        case 202 :
+            automate_visee_balle(); //ciblage vers la gauche
+            if(etat_visee_balle == init_visee_balle)//on attend d'etre sur la balle
+            {
+                etat_visee_balle = init_visee_balle;
+                etat_auto_base = 3;
+            }
+            break;
+//---------------------FIN---------------------------
+            
+        case 3 :
+            ejection_continue = 0;
+            GoStraight(1500,0,0,0);//on va vers la deuxieme balle
+            etat_auto_base=4;
+            break;   
+             
+        case 4 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                Rotate(900);//deuxieme balle gobé ,on tourne
+                etat_auto_base=5;
+            }
+            break;
+            
+        case 5 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                envoyer_balle = 1;//tir la deuxieme balle
+                flagDaniels = 1;
+                Rotate(-850);//ici implementer le deuxieme ciblage laser
+                etat_auto_base=601;
+            }
+            break;
+            
+        case 601 :
+            if(flagFinDpl)
+            {flagFinDpl = 0; 
+                sensrotation=-1;
+                etat_visee_balle = init_visee_balle;
+                etat_auto_base=602;
+            }
+            break;
+                
+        case 602 :
+            automate_visee_balle(); //ciblage vers la gauche
+            if(etat_visee_balle == 4)//on attend d'etre sur la balle
+            {
+                etat_visee_balle = init_visee_balle;
+                etat_auto_base = 7;
+            }
+            break;
+        
+        case 7:  
+                ejection_continue = 0;
+                GoStraight(1500,0,0,0);
+                etat_auto_base=8;
+            break;
+                 
+        case 8 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                Rotate(900);
+                etat_auto_base=9;
+            }
+            break;
+        
+        case 9 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                envoyer_balle = 1;//envoie de la troisième balle
+                etat_auto_base=10;
+                sensrotation=1;//on est a gauche sur le terrain ,donc on cible vers la droite 
+            }
+            break;
+            
+         case 10:
+            GoStraight(1500,0,0,0);
+            etat_auto_base=11;
+            break;   
+        
+        case 11 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                Rotate(900);
+               //cmd_servo = 2;
+                etat_auto_base=12;
+            }
+            break;
+        
+        case 12 :   
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                GoStraight(100,2,0,0);
+                cmd_servo = 2;
+                etat_auto_base=13;
+            }
+            break;
+        case 13 :   
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                GoStraight(3800,0,0,0);
+                cmd_servo = 1;
+                etat_auto_base=14;
+            }
+            break;
+            
+         case 14 :   
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                GoStraight(-500,0,0,0);
+                etat_auto_base=15;
+            }
+            break;   
+            
+         case 15 :   
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                Rotate(1800);
+                cmd_servo = 0;
+                etat_auto_base=16;
+                sensrotation=1;
+            }
+            break;   
+         case 16 :
+               
+            break;   
+            
+            
+            
+        case 100 :
+            etat_visee_balle = init_visee_balle;//On passe dans l'automate de ciblage
+                etat_auto_base=101;
+            break;    
+            
+        case 101 :
+            automate_visee_balle(); //ciblage vers la gauche
+            if(etat_visee_balle == init_visee_balle)//on attend d'etre sur la balle
+            {
+                etat_visee_balle = init_visee_balle;
+                etat_auto_base = 102;
+            }
+            break;
+            
+        case 102 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                ejection_continue = 0;
+                GoStraight(DTD_avg_Ex,0,0,0);
+                etat_auto_base=103;
+            }
+            break;
+                 
+        case 103 :
+            if(flagFinDpl)
+            {flagFinDpl = 0;  
+                Rotate(-pos[2]);
+                etat_auto_base=100;
+            }
+            break;
+        default :
+            
+            break; 
+            
+    }
+    if(etat_auto_base != etat_auto_base_prec)dbug.printf("Etat auto_base: %d\n",etat_auto_base);
+    etat_auto_base_prec = etat_auto_base;
+}
+
+void wait_debut_de_partie()
+{
+    if(!Daniels_in)
+    {
+        dbug.printf("-----DEBUT DE PARTIE------\n");
+        match_en_cours = 1;
+    }
+}
+
+void user_bp_ar(){UBp_it.enable_irq();}
+void isr_UBp()
+{
+    UBp_it.disable_irq();dbug.printf("ubp\n");
+    ubp_to.attach(&user_bp_ar, 0.3);
+    flagUBp = 1;
+}