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Programme_course_30Tr
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Mlib.cpp
00001 #include "Mlib.h" 00002 00003 /***********AUTRES_FCT***************/ 00004 00005 char middle_3(char *tab) 00006 { 00007 tri_a_bulle(tab, 3); 00008 return tab[1]; 00009 } 00010 00011 int middle_3U(int *tab) 00012 { 00013 tri_a_bulleU(tab, 3); 00014 return tab[1]; 00015 } 00016 00017 float middle_3F(float *tab) 00018 { 00019 00020 return tri_a_bulleF(tab, 3); 00021 } 00022 00023 00024 void tri_a_bulle(char* t, int const size) 00025 { 00026 int en_desordre = 1; 00027 int i,j; 00028 00029 for (i = 0; (i < size) && en_desordre; ++i) 00030 { 00031 en_desordre = 0; 00032 for (j = 1; j < (size - i); ++j) 00033 { 00034 if (t[j-1] > t[j]) 00035 { 00036 int temp = t[j-1]; 00037 t[j-1] = t[j]; 00038 t[j] = temp; 00039 en_desordre = 1; 00040 } 00041 } 00042 } 00043 } 00044 void tri_a_bulleU(int* t, int const size) 00045 { 00046 int en_desordre = 1; 00047 int i,j; 00048 00049 for (i = 0; (i < size) && en_desordre; ++i) 00050 { 00051 en_desordre = 0; 00052 for (j = 1; j < (size - i); ++j) 00053 { 00054 if (t[j-1] > t[j]) 00055 { 00056 int temp = t[j-1]; 00057 t[j-1] = t[j]; 00058 t[j] = temp; 00059 en_desordre = 1; 00060 } 00061 } 00062 } 00063 } 00064 float tri_a_bulleF(float* t2, int const size) 00065 { 00066 float t[3]; 00067 t[0] = t2[0]; 00068 t[1] = t2[1]; 00069 t[2] = t2[2]; 00070 00071 00072 int en_desordre = 1; 00073 int i,j; 00074 00075 for (i = 0; (i < size) && en_desordre; ++i) 00076 { 00077 en_desordre = 0; 00078 for (j = 1; j < (size - i); ++j) 00079 { 00080 if (t[j-1] > t[j]) 00081 { 00082 float temp = t[j-1]; 00083 t[j-1] = t[j]; 00084 t[j] = temp; 00085 en_desordre = 1; 00086 } 00087 } 00088 } 00089 return t[1]; 00090 } 00091 00092 unsigned char Moyenne(unsigned char *tab) 00093 { 00094 int i = 0; 00095 int somme = 0; 00096 for(i = 0; i < 128;i++) 00097 { 00098 somme+=tab[i]; 00099 } 00100 return somme/128.0; 00101 } 00102 char Moyenne2(char *tab, int nb) 00103 { 00104 int i = 0; 00105 int somme = 0; 00106 for(i = 0; i < nb;i++) 00107 { 00108 somme+=tab[i]; 00109 } 00110 return float(somme/nb); 00111 } 00112 00113 void menu() 00114 { 00115 static int p = 0; 00116 p++; 00117 wait(0.1); 00118 if(BP2) 00119 { 00120 seuil_der++; 00121 if(seuil_der == 2) seuil_der = -1; 00122 led1 = 0; 00123 wait(0.5); 00124 } 00125 if(seuil_der == 0) 00126 { 00127 led1 = p%2; 00128 } 00129 else if(seuil_der == 1) 00130 { 00131 led1 = 1; 00132 } 00133 else 00134 { 00135 led1 = 0; 00136 } 00137 if(S1 == 1) 00138 { 00139 led2 = 1; 00140 } 00141 else led2 = 0; 00142 if(S2 == 1) 00143 { 00144 led3 = 1; 00145 } 00146 else led3= 0; 00147 } 00148 00149 void fin_course() 00150 { 00151 static int arr = 0; 00152 static char moy_inter, moy_mem_a,moy_mem_b; 00153 static char tab_mem_b[TAILLE_TAB_INT]={0,0,0}; 00154 static char tab_mem_a[TAILLE_TAB_INT]={0,0,0}; 00155 00156 if (t_debut.read_ms()>2000){ 00157 moy_inter=Moyenne2(Interval, TAILLE_TAB_INT); 00158 moy_mem_a=Moyenne2(tab_mem_a, TAILLE_TAB_INT); 00159 moy_mem_b=Moyenne2(tab_mem_b, TAILLE_TAB_INT); 00160 00161 //pc.printf("%d\n",moy_inter); 00162 if(S1&&(arr!=0)) {//delai apres l'arret 00163 if (t_debut.read_ms()-arr>200)VIT=0; 00164 } 00165 else if((moy_mem_a>20)&&(moy_mem_b>20)){ // si la voiture n'est pas trop sur l'exterieur de la piste 00166 if(S1 && (moy_inter<75) && (moy_inter>50)){ //si l'espace entre les deux lignes est plus petit que la normale (arret) 00167 00168 //for(int i=0;i<5;i++) pc.printf("%d ",Interval[i]); 00169 //pc.printf("\n"); 00170 //VIT=0; 00171 //pc.printf("\narret "); 00172 //pc.printf("\n%d ",moy_inter); 00173 led1=1; 00174 led2=1; 00175 arr=t_debut.read_ms(); 00176 00177 } 00178 } 00179 else { 00180 led1=0; 00181 led2=0; 00182 00183 } 00184 00185 } 00186 00187 for(int j = TAILLE_TAB_INT-1; j > 0; j--) 00188 { 00189 Interval[j] = Interval[j-1]; 00190 tab_mem_b[j]=tab_mem_b[j-1]; 00191 tab_mem_a[j]=tab_mem_a[j-1]; 00192 } 00193 tab_mem_b[0]=mem_b; 00194 tab_mem_a[0]=mem_a; 00195 } 00196 00197 00198 void Gestion_bosse() 00199 { 00200 if(BOSSE_ACTIVE)//Si on active la détection de la bosse 00201 { 00202 00203 //pc.printf("bosse: %d , X: %1.2f , ajustement : %hi\n ",bosse,middle_3F(last_three),ajust_vit_bosse); 00204 00205 00206 last_three[2] = last_three[1]; // les 3 dernieres valeurs de X sont stockées dans un tableau 00207 last_three[1] = last_three[0]; 00208 last_three[0] = acc.getAccX(); 00209 00210 if(bosse == 1) 00211 { 00212 ajust_vit_bosse = 60; 00213 led3=1; 00214 led4=0; 00215 00216 } 00217 else if(bosse == 3){ 00218 ajust_vit_bosse = -80; 00219 led3=0; 00220 led4=1; 00221 00222 } 00223 else 00224 { 00225 ajust_vit_bosse = 0; 00226 led3=0; 00227 led4=0; 00228 00229 } 00230 00231 if((abs(middle_3F(last_three)) > 0.13 ) && (bosse == 0)) // si montée détectée 00232 { 00233 bosse = 1; 00234 //tep = (int)t_debut.read_ms(); 00235 } 00236 else if(bosse == 1 && (middle_3F(last_three) > -0.1)) 00237 { 00238 bosse = 2; 00239 } 00240 else if(bosse == 2 && (middle_3F(last_three) > 0.19)) 00241 { 00242 bosse = 3; 00243 00244 } 00245 else if(bosse==3 && (middle_3F(last_three) > 0.19)) 00246 { 00247 ajust_vit_bosse = -50; 00248 00249 pc.printf("bosse: %d , X: %1.2f , ajustement : %hi\n",bosse,middle_3F(last_three),ajust_vit_bosse); 00250 } 00251 00252 else if (bosse==3 && (middle_3F(last_three) < 0.19)) 00253 { 00254 bosse=0; 00255 ajust_vit_bosse=0; 00256 } 00257 } 00258 } 00259 00260 00261 //void F_BalanceBlancs() 00262 //{ 00263 // unsigned char moy = 0; 00264 // moy = Moyenne(cam_data); 00265 // if(moy > LUMI_MOYENNE && tempsInte >= MIN_INTE) tempsInte-=INCREM_BALANCE; 00266 // else if(tempsInte <= MAX_INTE) tempsInte+=INCREM_BALANCE; 00267 //} 00268 00269 00270
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