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Match2-CARAR

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This commit is contained in:
Samuel 2023-04-01 17:03:56 +02:00
parent 6fa6b95789
commit 0d1761e94e
1 changed files with 12 additions and 84 deletions
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94
Strategie.c
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@ -69,68 +69,19 @@ void Homologation(uint32_t step_ms){
break; break;
case APPROCHE_PANIER_2: case APPROCHE_PANIER_2:
if( depose_cerises(step_ms) == ACTION_TERMINEE){
etat_strategie = APPROCHE_CERISE_2;
}
break;
case APPROCHE_CERISE_2:
Trajet_config(250, 500);
Trajectoire_droite(&trajectoire,Localisation_get().x_mm, Localisation_get().y_mm,
857, 3000 - 156,
+270. * DEGREE_EN_RADIAN, 300. * DEGREE_EN_RADIAN);
if(parcourt_trajet_simple(trajectoire, step_ms) == ACTION_TERMINEE){
etat_strategie = ATTRAPPE_CERISE_2;
}
break;
case ATTRAPPE_CERISE_2:
etat_action = cerise_attraper_bordure(LONGER_VERS_A, step_ms);
if(etat_action == ACTION_TERMINEE){
etat_strategie = APPROCHE_PANIER_3;
}
break;
case APPROCHE_PANIER_3:
if( depose_cerises(step_ms) == ACTION_TERMINEE){
etat_strategie = STRATEGIE_FIN;
}
break;
case STRATEGIE_FIN:
Moteur_Stop();
i2c_annexe_desactive_propulseur();
break;
}
}
enum etat_action_t depose_cerises(uint32_t step_ms){
static enum {
APPROCHE_ANGLE,
CALAGE_PANIER_1,
RECULE_PANIER,
LANCE_DANS_PANIER,
}etat_depose = APPROCHE_ANGLE;
enum etat_action_t etat_action = ACTION_EN_COURS;
struct trajectoire_t trajectoire;
switch(etat_depose){
case APPROCHE_ANGLE:
Trajectoire_droite(&trajectoire,Localisation_get().x_mm, Localisation_get().y_mm, Trajectoire_droite(&trajectoire,Localisation_get().x_mm, Localisation_get().y_mm,
265,2830, 265,2830,
Localisation_get().angle_radian, +120. * DEGREE_EN_RADIAN); +120. * DEGREE_EN_RADIAN, +120. * DEGREE_EN_RADIAN);
if(parcourt_trajet_simple(trajectoire, step_ms) == ACTION_TERMINEE){ if(parcourt_trajet_simple(trajectoire, step_ms) == ACTION_TERMINEE){
etat_depose = CALAGE_PANIER_1; etat_strategie = CALAGE_PANIER_1;
} }
break; break;
case CALAGE_PANIER_1: case CALAGE_PANIER_1:
if(calage_angle(LONGER_VERS_A, RAYON_ROBOT, 3000 - (RAYON_ROBOT/(RACINE_DE_3/2.)), 120. *DEGREE_EN_RADIAN) == ACTION_TERMINEE){ if(calage_angle(LONGER_VERS_A, RAYON_ROBOT, 3000 - (RAYON_ROBOT/(RACINE_DE_3/2.)), 120. *DEGREE_EN_RADIAN) == ACTION_TERMINEE){
etat_depose = RECULE_PANIER; etat_strategie = RECULE_PANIER;
} }
break; break;
@ -141,20 +92,23 @@ enum etat_action_t depose_cerises(uint32_t step_ms){
120. * DEGREE_EN_RADIAN, +270. * DEGREE_EN_RADIAN); 120. * DEGREE_EN_RADIAN, +270. * DEGREE_EN_RADIAN);
if(parcourt_trajet_simple(trajectoire, step_ms) == ACTION_TERMINEE){ if(parcourt_trajet_simple(trajectoire, step_ms) == ACTION_TERMINEE){
etat_depose = LANCE_DANS_PANIER; etat_strategie = LANCE_DANS_PANIER;
} }
break; break;
case LANCE_DANS_PANIER: case LANCE_DANS_PANIER:
Asser_Position_maintien(); Asser_Position_maintien();
if(lance_balles(step_ms) == ACTION_TERMINEE){ if(lance_balles(step_ms) == ACTION_TERMINEE){
etat_depose = APPROCHE_ANGLE; etat_strategie = STRATEGIE_FIN;
etat_action = ACTION_TERMINEE;
} }
break; break;
}
return etat_action;
case STRATEGIE_FIN:
Moteur_Stop();
i2c_annexe_desactive_propulseur();
break;
}
} }
@ -258,32 +212,6 @@ enum etat_action_t parcourt_trajet_simple(struct trajectoire_t trajectoire, uint
return etat_action; return etat_action;
} }
enum etat_action_t parcourt_trajet_simple_sans_evitement(struct trajectoire_t trajectoire, uint32_t step_ms){
enum etat_action_t etat_action = ACTION_EN_COURS;
enum etat_trajet_t etat_trajet;
static enum {
PARCOURS_INIT,
PARCOURS_AVANCE,
} etat_parcourt=PARCOURS_INIT;
switch (etat_parcourt){
case PARCOURS_INIT:
Trajet_debut_trajectoire(trajectoire);
etat_parcourt = PARCOURS_AVANCE;
break;
case PARCOURS_AVANCE:
etat_trajet = Trajet_avance(step_ms/1000.);
if(etat_trajet == TRAJET_TERMINE){
etat_action = ACTION_TERMINEE;
etat_parcourt = PARCOURS_INIT;
}
break;
}
return etat_action;
}
/// @brief Renvoi 1 si on doit attendre le déclenchement de la tirette /// @brief Renvoi 1 si on doit attendre le déclenchement de la tirette
uint attente_tirette(void){ uint attente_tirette(void){
return !gpio_get(TIRETTE); return !gpio_get(TIRETTE);