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Non testé : Ajout panneaux solaires

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This commit is contained in:
Samuel 2024-05-08 00:03:07 +02:00
parent d414eb1d07
commit 09e0c50a9f
8 changed files with 129 additions and 30 deletions
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1
CMakeLists.txt
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@ -32,6 +32,7 @@ Score.c
Servomoteur.c
Strategie.c
Strategie_deplacement.c
Strategie_2024_panneaux.c
Strategie_2024_plante.c
Strategie_2024_pots.c
Strategie_2024.c

38
Score.c
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@ -2,22 +2,20 @@
#include "i2c_annexe.h"
#include "Score.h"
#define SCORE_INITIAL 5
#define SCORE_INITIAL 0
uint32_t Score_nb_cerises=0;
uint32_t Score_nb_points=0;
uint32_t Score_funny_action=0;
uint32_t Score_gateau=0;
uint32_t Score_nb_points;
uint32_t Score_plante_zone_normale=0;
uint32_t Score_plante_jardiniere=0;
uint32_t Score_panneau=0;
uint32_t Score_pieds_dans_plat=0;
void Score_recalcule(){
Score_nb_points = SCORE_INITIAL;
if(Score_nb_cerises > 0){
Score_nb_points += Score_nb_cerises + 5;
}
Score_nb_points += Score_funny_action;
Score_nb_points += Score_plante_zone_normale;
Score_nb_points += Score_plante_jardiniere;
Score_nb_points += Score_panneau;
Score_nb_points += Score_pieds_dans_plat;
Score_nb_points += Score_gateau;
}
@ -26,23 +24,15 @@ void Score_actualise(){
i2c_annexe_envoie_score(Score_nb_points);
}
void Score_ajout_gateau(uint32_t nb_gateau){
Score_gateau += nb_gateau;
Score_actualise();
}
void Score_set_funny_action(){
Score_funny_action = 5;
Score_actualise();
}
/// @brief 10 points si le robot finit dans une autre zone que la sienne
void Score_set_pieds_dans_plat(){
Score_pieds_dans_plat = 15;
Score_pieds_dans_plat = 10;
Score_actualise();
}
void Score_ajout_cerise(uint32_t nb_cerises){
Score_nb_cerises += nb_cerises;
/// @brief Ajout 5 points au score par panneaux
/// @param nb_panneau
void Score_ajout_panneau(uint32_t nb_panneau){
Score_panneau += (nb_panneau*5);
Score_actualise();
}

4
Score.h
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@ -1,6 +1,4 @@
#include "pico/stdlib.h"
void Score_set_funny_action();
void Score_set_pieds_dans_plat();
void Score_ajout_cerise(uint32_t nb_cerises);
void Score_ajout_gateau(uint32_t nb_gateau);
void Score_ajout_panneau(uint32_t nb_panneaux);

15
Strategie_2024.c
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@ -71,6 +71,8 @@ void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms)
static enum {
TAP_CALAGE,
TAP_POT,
TAP_PANNEAUX_SOLAIRES,
TAP_ALLER_PLANTE,
TAP_PLANTE_ORIENTATION,
TAP_PLANTE_ATTRAPE_1,
TAP_PLANTE_ATTRAPE_2,
@ -93,10 +95,21 @@ void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms)
break;
case TAP_POT:
if(Strat_2024_attrape_pot(get_groupe_pot(couleur), _step_ms) == ACTION_TERMINEE){
etat_test=TAP_PLANTE_ORIENTATION;
etat_test=TAP_PANNEAUX_SOLAIRES;
}
break;
case TAP_PANNEAUX_SOLAIRES:
if(Strat_2024_tourner_panneaux(couleur, step_ms) == ACTION_TERMINEE){
etat_test=TAP_ALLER_PLANTE;
}
break;
case TAP_ALLER_PLANTE:
if(Strategie_aller_a(940, 300, EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms) == ACTION_TERMINEE){
etat_test=TAP_PLANTE_ORIENTATION;
}
case TAP_PLANTE_ORIENTATION:
if(Strat_2024_aller_zone_plante(get_zone_plante(couleur), _step_ms) == ACTION_TERMINEE){
etat_test=TAP_PLANTE_ATTRAPE_1;

1
Strategie_2024.h
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@ -4,6 +4,7 @@
#include "Trajectoire.h"
#include "Trajet.h"
#include "Strategie.h"
#include "Strategie_2024_panneaux.h"
#include "Strategie_2024_plante.h"
#include "Strategie_2024_pots.h"
#include "Commande_vitesse.h"

93
Strategie_2024_panneaux.c Normal file
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@ -0,0 +1,93 @@
#include "math.h"
#include "Strategie.h"
#include "Geometrie_robot.h"
#include "Commande_vitesse.h"
#include "Strategie_2024_pots.h"
#include "i2c_annexe.h"
#include "Localisation.h"
#include "Score.h"
/// @brief Fonction demande au robot d'aller activer les panneaux solaires
enum etat_action_t Strat_2024_tourner_panneaux(enum couleur_t couleur, uint32_t step_ms){
enum etat_action_t etat_action;
struct trajectoire_t trajectoire;
static int tempo_ms;
static enum {
TP_APPROCHE_PANNEAU_1, // Position et orientation pour attaquer le panneau 1, bras 2 qui pousse
TP_TOURNE_PANNEAU_1,
TP_TOURNE_PANNEAU_2,
TP_TOURNE_PANNEAU_3,
TP_TOURNE_PANNEAU_4,
TP_TOURNE_PANNEAU_5,
TP_TOURNE_PANNEAU_6,
} etat_tourne_panneaux = TP_APPROCHE_PANNEAU_1;
switch (etat_tourne_panneaux)
{
case TP_APPROCHE_PANNEAU_1:
Trajet_config(TRAJECT_CONFIG_AVANCE_ET_TOURNE);
if(couleur == COULEUR_BLEU){
etat_action = Strategie_tourner_et_aller_a(
323, 300, (150. *DEGRE_EN_RADIAN),
EVITEMENT_ARRET_DEVANT_OBSTACLE, step_ms);
}else{
etat_action = Strategie_tourner_et_aller_a(
323, 300, (150. *DEGRE_EN_RADIAN),
EVITEMENT_ARRET_DEVANT_OBSTACLE, step_ms);
}
if (etat_action == ACTION_TERMINEE){
etat_tourne_panneaux = TP_TOURNE_PANNEAU_1;
}else if(etat_action == ACTION_ECHEC){
return ACTION_TERMINEE;
}
break;
case TP_TOURNE_PANNEAU_1:
if(couleur == COULEUR_BLEU){
etat_action = Strategie_tourner_et_aller_a(
323, 200, (150. *DEGRE_EN_RADIAN), EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms);
}else{
etat_action = Strategie_tourner_et_aller_a(
323, 300, (150. *DEGRE_EN_RADIAN), EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms);
}
if (etat_action == ACTION_TERMINEE){
Score_ajout_panneau(1);
etat_tourne_panneaux = TP_TOURNE_PANNEAU_2;
}
break;
case TP_TOURNE_PANNEAU_2:
if(couleur == COULEUR_BLEU){
Trajectoire_bezier(&trajectoire, 323, 200, 405, 310, 548, 400, 548, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
}else{
Trajectoire_bezier(&trajectoire, 3000-323, 200, 3000-405, 310, 3000-548, 400, 3000-548, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
}
etat_action =Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_ARRET_DEVANT_OBSTACLE);
if (etat_action == ACTION_TERMINEE){
Score_ajout_panneau(1);
etat_tourne_panneaux = TP_TOURNE_PANNEAU_3;
}else if(etat_action == ACTION_ECHEC){
return ACTION_TERMINEE;
}
break;
case TP_TOURNE_PANNEAU_3:
if(couleur == COULEUR_BLEU){
Trajectoire_bezier(&trajectoire, 548, 200, 630, 310, 773, 400, 773, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
}else{
Trajectoire_bezier(&trajectoire, 3000-548, 200, 3000-630, 310, 3000-773, 400, 3000-773, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
}
etat_action =Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_ARRET_DEVANT_OBSTACLE);
if (etat_action == ACTION_TERMINEE){
Score_ajout_panneau(1);
//etat_tourne_panneaux = TP_TOURNE_PANNEAU_3;
return ACTION_TERMINEE;
}else if(etat_action == ACTION_ECHEC){
return ACTION_TERMINEE;
}
break;
}
return ACTION_EN_COURS;
}

3
Strategie_2024_panneaux.h Normal file
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@ -0,0 +1,3 @@
#include "Strategie.h"
enum etat_action_t Strat_2024_tourner_panneaux(enum couleur_t couleur, uint32_t step_ms);

4
Strategie_2024_plante.c
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@ -175,7 +175,7 @@ enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot
enum validite_vl53l8_t validite;
enum etat_action_t etat_action;
float angle_rad, distance_mm;
static nb_essai_prise;
static int nb_essai_prise;
switch (etat_plante_dans_pot)
{
@ -267,7 +267,7 @@ enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot
position_initiale.angle_radian += ANGLE_PINCE;
position_recule = Geometrie_deplace(position_initiale, -100);
Trajet_config(TRAJECT_CONFIG_AVANCE_DROIT);
if(Strategie_aller_a(position_recule.x_mm, position_recule.y_mm, step_ms) == ACTION_TERMINEE){
if(Strategie_aller_a(position_recule.x_mm, position_recule.y_mm, EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms) == ACTION_TERMINEE){
commande_vitesse_stop();
etat_plante_dans_pot=PDP_ALLER_PLANTE;
return ACTION_TERMINEE;