Keuronde/Holonome_2024
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

prêt pour l'homologation ?

Browse Source
This commit is contained in:
Samuel 2024-05-06 16:47:41 +02:00
parent 015d24d0b8
commit 5df0f12d2a
5 changed files with 71 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Holonome2023.c
View File

@ -1,4 +1,5 @@
#include "Holonome2023.h"
#include "Strategie_2024.h"
#include "Demonstration.h"
const uint LED_PIN = 25;

52
Strategie_2024.c
View File

@ -62,6 +62,7 @@ enum zone_plante_t get_zone_plante(enum couleur_t couleur){
void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms){
int lettre, _step_ms = 1, _step_ms_gyro=2,temps_ms_init;
float angle_destination;
struct trajectoire_t trajectoire;
enum evitement_t evitement;
enum etat_action_t etat_action=ACTION_EN_COURS;
@ -77,7 +78,10 @@ void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms)
TAP_PLANTE_ATTRAPE_3,
TAP_PLANTE_ATTRAPE_4,
TAP_RENTRE,
TAP_DEPOSE
TAP_DEPOSE_1,
TAP_DEPOSE_2,
TAP_DEPOSE_3,
TAP_FINI
} etat_test = TAP_CALAGE;
@ -150,25 +154,47 @@ void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms)
break;
case TAP_RENTRE:
float angle_destination;
angle_destination = 15 * DEGRE_EN_RADIAN;
if(couleur == COULEUR_BLEU){
angle_destination = 15 * DEGRE_EN_RADIAN;
}else{
angle_destination = (90-15) * DEGRE_EN_RADIAN;
}
Trajet_config(TRAJECT_CONFIG_AVANCE_ET_TOURNE);
if(Strategie_tourner_et_aller_a(450, 450, angle_destination, EVITEMENT_PAUSE_DEVANT_OBSTACLE, _step_ms) == ACTION_TERMINEE){
etat_test=TAP_DEPOSE;
i2c_annexe_actionneur_pot(0, BRAS_POT_SOL, DOIGT_TIENT);
i2c_annexe_actionneur_pot(5, BRAS_POT_SOL, DOIGT_TIENT);
tempo_ms=500;
if(Strategie_tourner_et_aller_a(300, 300, angle_destination, EVITEMENT_PAUSE_DEVANT_OBSTACLE, _step_ms) == ACTION_TERMINEE){
etat_test=TAP_DEPOSE_1;
}
break;
case TAP_DEPOSE:
tempo_ms--;
case TAP_DEPOSE_1:
commande_vitesse_stop();
if(tempo_ms<= 0){
i2c_annexe_actionneur_pot(0, BRAS_POT_SOL, DOIGT_LACHE);
i2c_annexe_actionneur_pot(5, BRAS_POT_SOL, DOIGT_LACHE);
if(Strat_2024_depose_pot(MASQUE_POT_1 | MASQUE_POT_6, _step_ms)== ACTION_TERMINEE){
etat_test=TAP_DEPOSE_2;
}
break;
case TAP_DEPOSE_2:
if(couleur == COULEUR_BLEU){
angle_destination = 180+15 * DEGRE_EN_RADIAN;
}else{
angle_destination = (90-(180+15)) * DEGRE_EN_RADIAN;
}
Trajet_config(TRAJECT_CONFIG_AVANCE_ET_TOURNE);
if(Strategie_tourner_et_aller_a(450, 450, angle_destination, EVITEMENT_PAUSE_DEVANT_OBSTACLE, _step_ms) == ACTION_TERMINEE){
etat_test=TAP_DEPOSE_3;
}
break;
case TAP_DEPOSE_3:
commande_vitesse_stop();
if(Strat_2024_depose_pot(MASQUE_POT_3 | MASQUE_POT_4, _step_ms)== ACTION_TERMINEE){
etat_test=TAP_FINI;
}
break;
case TAP_FINI:
break;
}
}

6
Strategie_2024_pots.c
View File

@ -348,7 +348,7 @@ enum etat_action_t Strat_2024_echange_pot_avant_arriere(uint32_t step_ms){
case EPAA_LEVE:
tempo_ms--;
if(tempo_ms <= 0){
etat_echange_pot = EPAA_LEVE;
etat_echange_pot = EPAA_RETOURNE;
}
break;
@ -385,7 +385,7 @@ enum etat_action_t Strat_2024_depose_pot(uint8_t masque_pot, uint32_t step_ms){
masque =1;
masque = masque << i;
if(masque_pot & masque){
i2c_annexe_actionneur_pot(i, BRAS_POT_SOL, DOIGT_TIENT);
i2c_annexe_actionneur_pot(i, BRAS_ECARTE, DOIGT_TIENT);
}
}
tempo_ms=350;
@ -399,7 +399,7 @@ enum etat_action_t Strat_2024_depose_pot(uint8_t masque_pot, uint32_t step_ms){
masque =1;
masque = masque << i;
if(masque_pot & masque){
i2c_annexe_actionneur_pot(i, BRAS_POT_SOL, DOIGT_LACHE);
i2c_annexe_actionneur_pot(i, BRAS_ECARTE, DOIGT_LACHE);
}
}
tempo_ms=250;

8
Strategie_2024_pots.h
View File

@ -21,6 +21,13 @@
#define BRAS_5 4
#define BRAS_6 5
#define MASQUE_POT_1 1
#define MASQUE_POT_2 2
#define MASQUE_POT_3 4
#define MASQUE_POT_4 8
#define MASQUE_POT_5 16
#define MASQUE_POT_6 32
#define DISTANCE_APPROCHE_POT_MM 300.
#define DISTANCE_ATTRAPE_POT_MM 200.
@ -29,3 +36,4 @@
struct position_t groupe_pot_get_pot(unsigned int groupe_pot, unsigned int num_pot);
enum etat_action_t Strat_2024_attrape_pot(unsigned int groupe_pot, uint32_t step_ms);
enum etat_action_t Strat_2024_echange_pot_avant_arriere(uint32_t step_ms);
enum etat_action_t Strat_2024_depose_pot(uint8_t masque_pot, uint32_t step_ms);

21
Test_i2c.c
View File

@ -305,7 +305,10 @@ int test_i2c_ecriture_pico_annex_nb_2(){
printf("K - Ouvre doigt plante\n");
printf("L - Ferme doigt plante\n");
printf("M - ouvre doigt + attrape plante\n");
printf("L - Pots avant levite\n");
printf("N - Pots avant levite\n");
printf("O - Pots ecarte et tient\n");
printf("P - Pots ecarte et lache\n");
printf("S - Score + 1\n");
printf("\nQ - Quitter\n");
@ -425,6 +428,22 @@ int test_i2c_ecriture_pico_annex_nb_2(){
printf("=> Levite pots avant\n");
break;
case 'o':
case 'O':
for(int i=0; i<6; i++){
i2c_annexe_actionneur_pot(i, BRAS_ECARTE, DOIGT_TIENT);
}
printf("=> Ecarte et tient pot\n");
break;
case 'p':
case 'P':
for(int i=0; i<6; i++){
i2c_annexe_actionneur_pot(i, BRAS_ECARTE, DOIGT_LACHE);
}
printf("=> Ecarte et lache pot\n");
break;
case 'q':