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abandonne au bout de 3 essais de prise de plante

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Samuel 2024-05-07 23:49:50 +02:00
parent 7adacfddb8
commit 34f0a45041
1 changed files with 10 additions and 1 deletions
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11
Strategie_2024_plante.c
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@ -161,6 +161,7 @@ enum etat_action_t Strat_2024_aller_a_plante(enum zone_plante_t zone_plante){
/// @return ACTION_EN_COURS ou ACTION_TERMINEE ou ACTION_ECHEC (plante tombée devant le robot) /// @return ACTION_EN_COURS ou ACTION_TERMINEE ou ACTION_ECHEC (plante tombée devant le robot)
enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot, enum zone_plante_t zone_plante){ enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot, enum zone_plante_t zone_plante){
static enum{ static enum{
PDP_INIT,
PDP_ALLER_PLANTE, PDP_ALLER_PLANTE,
PDP_PRE_PRISE_PLANTE, PDP_PRE_PRISE_PLANTE,
PDP_PRE_PRISE_TEMPO, PDP_PRE_PRISE_TEMPO,
@ -174,9 +175,13 @@ enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot
enum validite_vl53l8_t validite; enum validite_vl53l8_t validite;
enum etat_action_t etat_action; enum etat_action_t etat_action;
float angle_rad, distance_mm; float angle_rad, distance_mm;
static nb_essai_prise;
switch (etat_plante_dans_pot) switch (etat_plante_dans_pot)
{ {
case PDP_INIT:
nb_essai_prise=0;
// Pas besoin de break ici
case PDP_ALLER_PLANTE: case PDP_ALLER_PLANTE:
etat_action = Strat_2024_aller_a_plante(zone_plante); etat_action = Strat_2024_aller_a_plante(zone_plante);
if (etat_action == ACTION_TERMINEE){ if (etat_action == ACTION_TERMINEE){
@ -212,13 +217,17 @@ enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot
position_initiale.angle_radian += ANGLE_PINCE; position_initiale.angle_radian += ANGLE_PINCE;
position_recule = Geometrie_deplace(position_initiale, -100); position_recule = Geometrie_deplace(position_initiale, -100);
Trajet_config(TRAJECT_CONFIG_AVANCE_DROIT); 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){
if(validite == VL53L8_PLANTE){ if(validite == VL53L8_PLANTE){
if(distance_mm > 90){ if(distance_mm > 90){
// Nous n'avons pas attrapé la plante avec le doigt, on recommence: // Nous n'avons pas attrapé la plante avec le doigt, on recommence:
etat_plante_dans_pot = PDP_ALLER_PLANTE; etat_plante_dans_pot = PDP_ALLER_PLANTE;
i2c_annexe_ouvre_doigt_plante(); i2c_annexe_ouvre_doigt_plante();
i2c_annexe_set_mode_VL53L8(VL53L8_INVALIDE); i2c_annexe_set_mode_VL53L8(VL53L8_INVALIDE);
nb_essai_prise++;
if(nb_essai_prise >= 3){
return ACTION_ECHEC;
}
break; break;
} }
} }