Keuronde/2026-Propulsion
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Activation de l'évitement pour les groupies

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This commit is contained in:
Samuel 2025-05-29 19:21:10 +02:00
parent a0626c5287
commit 4ff4b2c8bf
2 changed files with 8 additions and 4 deletions
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4
Strategie.c
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@ -84,7 +84,7 @@ enum etat_action_t Strategie_groupie_1(uint32_t step_ms, enum couleur_t couleur)
case SSS_AVANCE: case SSS_AVANCE:
Trajet_config(TRAJECT_CONFIG_RAPIDE); Trajet_config(TRAJECT_CONFIG_RAPIDE);
if(Strategie_parcourir_trajet(trajectoire_composee, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){ if(Strategie_parcourir_trajet(trajectoire_composee, step_ms, EVITEMENT_PAUSE_DEVANT_OBSTACLE) == ACTION_TERMINEE){
etat_sss = SSS_DANCE; etat_sss = SSS_DANCE;
} }
break; break;
@ -121,7 +121,7 @@ enum etat_action_t Strategie_groupie_2(uint32_t step_ms, enum couleur_t couleur)
case SSS_AVANCE: case SSS_AVANCE:
Trajet_config(TRAJECT_CONFIG_RAPIDE); Trajet_config(TRAJECT_CONFIG_RAPIDE);
if(Strategie_parcourir_trajet(trajectoire1, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){ if(Strategie_parcourir_trajet(trajectoire1, step_ms, EVITEMENT_PAUSE_DEVANT_OBSTACLE) == ACTION_TERMINEE){
etat_sss = SSS_DANCE; etat_sss = SSS_DANCE;
} }
break; break;

8
main.c
View File

@ -87,9 +87,13 @@ void main(void)
multicore_launch_core1(gestion_affichage);
// TODO: A remettre - quand on aura récupéré un capteur // TODO: A remettre - quand on aura récupéré un capteur
//multicore_launch_core1(gestion_VL53L8CX); if(get_identifiant() != 0){
multicore_launch_core1(gestion_VL53L8CX);
}else{
multicore_launch_core1(gestion_affichage);
}
printf("Demarrage...\n"); printf("Demarrage...\n");