File content as of revision 0:6d472204c7b4:

#include "IHM.h"      // contient mbed.h
#include "mbed.h"
//#include <cmath>

IHM ihm;  // définition de l'objet ihm (de classe IHM pour la NBOARD)
AnalogIn laser1(PC_2); 
AnalogIn laser2(PC_0);
AnalogIn laser3(PC_1);
AnalogIn laser4(PA_4);
AnalogIn laser5(PA_3);
AnalogIn laser6(PC_4);
AnalogIn laser7(PC_5);
AnalogIn laser8(PB_1);

Serial pc(PC_1, PA_4);



void calculcoord(float Xballe, float Yballe, float dist);
void calcul_dist(float courant_laser);
void calcul_dist_double_laser();


float courant_laser[8] = {laser1, laser2, laser3, laser4, laser5, laser6, laser7, laser8};
float distance_laser_fct[8] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0};
float distance_laser;

bool balle_inaccessible = false;
bool flag_balle_here = false;

double Odo_x, Odo_y, Odo_theta;
float Xballe;
float Yballe;

void calculcoord(float dist)
{
    float Xcapt, Ycapt, Tcapt, Rcapt;
    
    Xcapt = Rcapt * cos(Odo_theta /*+ Tcapt */);
    Ycapt = Rcapt * sin(Odo_theta /*+ Tcapt */);
    
    Xballe = Odo_x + Xcapt + dist * cos(Odo_theta);
    Yballe = Odo_y + Ycapt + dist * sin(Odo_theta);
}

void calcul_dist(float * courant_laser_fct)
{
    //courant = 0.00290 * distance + 3.8;
    for(int i;i<8;i++)
        {
            distance_laser_fct[i] = courant_laser_fct[i] / 0.00290;
            calculcoord(distance_laser);
            
            if (distance_laser_fct[i]!= 0)
            {
            if((Xballe < 4000)|| (Xballe > 0) || (Yballe < 4000) || (Yballe > 0)) //vérifie si la balle est dans le terrain
                balle_inaccessible = false;
            
            else
                balle_inaccessible = true;
            }
        }
}

void calcul_dist_double_laser()
{
    if((abs(courant_laser[0] - courant_laser[1]) > 0.1) || (abs(courant_laser[2] - courant_laser[3]) > 0.1) || (abs(courant_laser[4] - courant_laser[5]) > 0.1) || (abs(courant_laser[6] - courant_laser[7]) > 0.1))
        {
            flag_balle_here = true;
            courant_laser[0] = courant_laser[0] +0.055; //offset 
            courant_laser[3] = courant_laser[0] +0.055; 
            courant_laser[4] = courant_laser[0] +0.055;
            courant_laser[7] = courant_laser[0] +0.055;

            
            if((abs(courant_laser[0] - courant_laser[1]) > 0.1) || (abs(courant_laser[2] - courant_laser[3]) > 0.1))
            {
                distance_laser = courant_laser[1]/0.00290; //avant
            }
            else
            {
                distance_laser = courant_laser[5]/0.00290; //arrière
            }       
        }
}

int main(void)
{
    while(1)
    {
     pc.printf("loul");
     calcul_dist(courant_laser);
     calcul_dist_double_laser();
     
    pc.printf("distance laser \n %f:",distance_laser);
    pc.printf("distance laser 3\n %f:",distance_laser_fct[4]);
    pc.printf("distance laser 4\n f:",distance_laser_fct[5]);
    }  
}