Mode colonne lumineuse + nouveau code de démonstration

Demonstration.c

@@ -2,16 +2,20 @@
 #include "Demonstration.h"
 
 #define TEST_TIMEOUT_US 10000000
-#define CAPTEUR_POUR_ATTENTE 11
+#define CAPTEUR_POUR_ATTENTE 6
 
 
 int Demonstration_init(void);
 enum etat_action_t Demonstration_calage();
 enum etat_action_t Demonstration_rectangle(int avance_x_mm, int avance_y_mm);
 enum etat_action_t Demonstration_avance_puis_tourne(int avance_x_mm, int avance_y_mm, float angle_degrees);
+enum etat_action_t Demonstration_tourne(float angle_degrees);
 enum etat_action_t Demonstration_bezier();
 enum etat_action_t Demonstration_attente();
-
+enum etat_action_t Demonstration_leve_bras(uint32_t bras);
+enum etat_action_t  Demonstration_baisse_bras(void);
+enum etat_action_t Demonstration_attrape_plante();
+void Demonstration_actionneurs(void);
 
 uint32_t temps_ms_demo = 0, temps_ms_old;
 
@@ -22,6 +26,7 @@ void demo_affiche_localisation(){
         printf(">X:%f\n>Y:%f\n>angle:%f\n", position.x_mm, position.y_mm, position.angle_radian *180. / 3.141592654);
         printf(">v_bat:%2.2f\n", i2c_annexe_get_tension_batterie() / 10.);
         printf(">capteur:%d\n", Balise_VL53L1X_get_capteur_cm(CAPTEUR_POUR_ATTENTE));
+        sleep_ms(50);
     }
 }
 
@@ -29,6 +34,7 @@ int Demonstration_menu(void){
     static int iteration = 2;
     int rep;
     printf("Mode demo - init\n");
+    set_position_avec_gyroscope(false);
     Demonstration_init();
     while(1){
         do{
@@ -40,6 +46,8 @@ int Demonstration_menu(void){
             /*printf("C - Trajets enchaines - manuels\n");
             printf("D - Trajets enchaines - auto\n");
             printf("E - Asservissement angulaire\n");*/
+            printf("F - Rotation et actionneurs\n");
+            printf("Z - Sem-automatique\n");
             printf("Q - Quitter\n");
             rep = getchar_timeout_us(TEST_TIMEOUT_US);
         }while(rep == 0 || rep == PICO_ERROR_TIMEOUT);
@@ -75,6 +83,13 @@ int Demonstration_menu(void){
             printf("Fin attente\n");
             break;
 
+        case 'F':
+            while(1){
+                printf("Demo actionneur\n");
+                Demonstration_actionneurs();
+            }
+            break;
+
         case 'q':
         case 'Q':
             return 0;
@@ -82,6 +97,7 @@ int Demonstration_menu(void){
 
         case 'z':
         case 'Z':
+            printf("Demo semi-auto\n");
             Demonstration_semiauto();
             break;
 
@@ -135,6 +151,112 @@ void Demonstration_auto(){
     }
 }
 
+void Demonstration_actionneurs(){
+    Demonstration_attente();
+    Demonstration_attrape_plante();
+    Demonstration_tourne(30);
+    Demonstration_leve_bras(0);
+    Demonstration_tourne(-60);
+    Demonstration_leve_bras(5);
+    Demonstration_tourne(120);
+    Demonstration_leve_bras(1);
+    Demonstration_tourne(-180);
+    Demonstration_leve_bras(4);
+    Demonstration_tourne(240);
+    Demonstration_leve_bras(2);
+    Demonstration_tourne(-300);
+    Demonstration_leve_bras(3);
+    Demonstration_tourne(150);
+    Demonstration_baisse_bras();
+}
+
+void Balise_cli_orange_maintenance(){
+    static int32_t temps_ms_led_cli, timer_led_ms = 0;
+    static enum etat_led_cli_orange_maintenance_t{
+        CLI_ON_1,
+        CLI_OFF_1,
+        CLI_ON_2,
+        CLI_OFF_2,
+    }etat_led_cli_orange_maintenance=CLI_ON_1;
+    // Toutes les 1 ms.
+    if(temps_ms_led_cli != Temps_get_temps_ms()){
+        temps_ms_led_cli = Temps_get_temps_ms();
+
+        timer_led_ms--;
+
+        switch(etat_led_cli_orange_maintenance){
+            case CLI_ON_1:
+                if(timer_led_ms<= 0){
+                    i2c_annexe_couleur_balise(0, 0xFFFF);
+                    timer_led_ms = 100;
+                    etat_led_cli_orange_maintenance=CLI_OFF_1;
+                }
+                break;
+            case CLI_OFF_1:
+                if(timer_led_ms<= 0){
+                    i2c_annexe_couleur_balise(0b11101000, 0xFFFF);
+                    timer_led_ms = 100;
+                    etat_led_cli_orange_maintenance=CLI_ON_2;
+                }
+                break;
+            case CLI_ON_2:
+                if(timer_led_ms<= 0){
+                    i2c_annexe_couleur_balise(0, 0xFFFF);
+                    timer_led_ms = 800;
+                    etat_led_cli_orange_maintenance=CLI_OFF_2;
+                }
+                break;
+            case CLI_OFF_2:
+                if(timer_led_ms<= 0){
+                    i2c_annexe_couleur_balise(0b11101000, 0xFFFF);
+                    timer_led_ms = 100;
+                    etat_led_cli_orange_maintenance=CLI_ON_1;
+                }
+                break;
+        }
+   
+    }
+}
+
+void Balise_pulse_vert(){
+    static int32_t temps_ms_led_cli, timer_led_ms = 800;
+    int32_t timer_led_max_ms =800;
+    int32_t vert_led, vert_led_max = 0b111;
+    static enum etat_led_pulse_vert_t{
+        PULSE_RISE,
+        PULSE_FALL,
+    }etat_led_pulse_vert=PULSE_FALL;
+    // Toutes les 1 ms.
+    if(temps_ms_led_cli != Temps_get_temps_ms()){
+        temps_ms_led_cli = Temps_get_temps_ms();
+
+        timer_led_ms--;
+
+        switch(etat_led_pulse_vert){
+            case PULSE_RISE:
+                vert_led = (vert_led_max-1)  - (vert_led_max-1) * timer_led_ms / timer_led_max_ms + 1;
+                vert_led = vert_led & 0b111;
+                i2c_annexe_couleur_balise(vert_led << 2, 0xFFFF);
+                if(timer_led_ms<= 0){
+                    i2c_annexe_couleur_balise(0, 0xFFFF);
+                    timer_led_ms = timer_led_max_ms;
+                    etat_led_pulse_vert=PULSE_FALL;
+                }
+                break;
+            case PULSE_FALL:
+                vert_led = (vert_led_max-1) * timer_led_ms / timer_led_max_ms + 1;
+                vert_led = vert_led & 0b111;
+                i2c_annexe_couleur_balise(vert_led << 2, 0xFFFF);
+                if(timer_led_ms<= 0){
+                    timer_led_ms = timer_led_max_ms;
+                    etat_led_pulse_vert=PULSE_RISE;
+                }
+                break;
+        }
+   
+    }
+}
+
 enum etat_action_t Demonstration_attente(){
     enum {
         ATTENTE_DETECTION,
@@ -145,6 +267,7 @@ enum etat_action_t Demonstration_attente(){
 
     while(true){
         Holonome_cyclique(PARAM_NO_MOTORS);
+        Balise_cli_orange_maintenance();
         
         switch(etat_attente){
             case ATTENTE_DETECTION:
@@ -376,6 +499,52 @@ enum etat_action_t Demonstration_avance_puis_tourne(int avance_x_mm, int avance_
     return ACTION_ECHEC;
 }
 
+/// @brief Rotation du robot sur lui-même du robot 
+/// @param angle_degrees : Rotation du robot sur lui-même
+/// @return ACTION_TERMINEE
+enum etat_action_t Demonstration_tourne(float angle_degrees){
+    enum {
+        DEMO_TOURNE,
+        DEMO_TOURNE_TERMINE
+    } etat_avance_puis_tourne = DEMO_TOURNE;
+    int pos_x_init_mm, pos_y_init_mm;
+    while(true){
+        struct trajectoire_t trajectoire;
+
+        Holonome_cyclique(PARAM_DEFAULT);
+
+        // Toutes les 1 ms.
+        if(temps_ms_demo != Temps_get_temps_ms()){
+            temps_ms_demo = Temps_get_temps_ms();
+
+        
+            switch (etat_avance_puis_tourne)
+            {
+            
+            case DEMO_TOURNE:
+                Trajectoire_rotation(&trajectoire, Localisation_get().x_mm, Localisation_get().y_mm, 
+                    Localisation_get().angle_radian, Localisation_get().angle_radian + (angle_degrees * DEGRE_EN_RADIAN) );
+                Trajet_config(TRAJECT_CONFIG_ROTATION_PURE);
+                if(Strategie_parcourir_trajet(trajectoire, 1, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){
+                    etat_avance_puis_tourne = DEMO_TOURNE_TERMINE;
+                    Trajet_config(TRAJECT_CONFIG_STD);
+                }
+                break;
+            
+            case DEMO_TOURNE_TERMINE:
+                etat_avance_puis_tourne = DEMO_TOURNE;
+                Moteur_Stop();
+                return ACTION_TERMINEE;
+            
+            default:
+                break;
+            }
+        }
+        
+    }
+    return ACTION_ECHEC;
+}
+
 /// @brief Déplacement suivant deux courbes de Bézier. Recommandé pour une démo sur une planche de 1m x 1,5m
 /// @return ACTION_TERMINEE
 enum etat_action_t Demonstration_bezier(){
@@ -434,3 +603,128 @@ enum etat_action_t Demonstration_bezier(){
     }
     return ACTION_ECHEC;
 }
+
+/// @brief Leve le bras, et agite le doigt
+/// @param bras 
+enum etat_action_t  Demonstration_leve_bras(uint32_t bras){
+    static enum{
+        LB_LEVE_BRAS,
+        LB_TEMPO_BRAS,
+        LB_DOIGT_ATTRAPE_1,
+        LB_DOIGT_LACHE,
+        LB_DOIGT_ATTRAPE_2,
+    } DLB_status;
+    int timer_ms;
+    while(true){
+        Holonome_cyclique(PARAM_NO_MOTORS);
+        if(temps_ms_demo != Temps_get_temps_ms()){
+            temps_ms_demo = Temps_get_temps_ms();
+            timer_ms--;
+
+            switch(DLB_status){
+                case LB_LEVE_BRAS:
+                    i2c_annexe_actionneur_pot(bras, BRAS_HAUT, DOIGT_LACHE);
+                    DLB_status = LB_TEMPO_BRAS;
+                    timer_ms = 250;
+                    break;
+
+                case LB_TEMPO_BRAS:
+                    if(timer_ms <= 0){
+                        DLB_status = LB_DOIGT_ATTRAPE_1;
+                        timer_ms=150;
+                    }
+                    break;
+
+                case LB_DOIGT_ATTRAPE_1:
+                    i2c_annexe_actionneur_pot(bras, BRAS_HAUT, DOIGT_TIENT);
+                    if(timer_ms <= 0){
+                        DLB_status = LB_DOIGT_LACHE;
+                        timer_ms=200;
+                    }
+                    break;
+
+                case LB_DOIGT_LACHE:
+                    i2c_annexe_actionneur_pot(bras, BRAS_HAUT, DOIGT_LACHE);
+                    if(timer_ms <= 0){
+                        DLB_status = LB_DOIGT_ATTRAPE_2;
+                        timer_ms=200;
+                    }
+                    break;
+
+                case LB_DOIGT_ATTRAPE_2:
+                    i2c_annexe_actionneur_pot(bras, BRAS_HAUT, DOIGT_TIENT);
+                    if(timer_ms <= 0){
+                        DLB_status = LB_LEVE_BRAS;
+                        return ACTION_TERMINEE;
+                    }
+                    break;
+
+            }
+        }
+        
+        
+    }
+}
+enum etat_action_t  Demonstration_attrape_plante(void){
+    int32_t timer_ms;
+    enum {
+        DAP_ENVOI,
+        DAP_ATTENTE
+    } dap_status=DAP_ENVOI;
+    while(true){
+        Holonome_cyclique(PARAM_NO_MOTORS);
+        if(temps_ms_demo != Temps_get_temps_ms()){
+            temps_ms_demo = Temps_get_temps_ms();
+            timer_ms--;
+
+            switch(dap_status){
+                case DAP_ENVOI:
+                    i2c_annexe_attrape_plante(PLANTE_BRAS_1);
+                    dap_status = DAP_ATTENTE;
+                    timer_ms=5000;
+                    break;
+
+                case DAP_ATTENTE:
+                    if (timer_ms <= 0){
+                        dap_status=DAP_ENVOI;
+                        return ACTION_TERMINEE;
+                    }
+                    break;            
+            }
+            
+        }
+    }
+}
+
+enum etat_action_t  Demonstration_baisse_bras(void){
+    static int32_t timer_ms;
+    enum {
+        DBB_ENVOI,
+        DBB_ATTENTE
+    } dbb_status=DBB_ENVOI;
+    while(true){
+        Holonome_cyclique(PARAM_NO_MOTORS);
+        if(temps_ms_demo != Temps_get_temps_ms()){
+            temps_ms_demo = Temps_get_temps_ms();
+            timer_ms--;
+
+            switch(dbb_status){
+                case DBB_ENVOI:
+                    for(int bras=0; bras < 6; bras++){
+                        i2c_annexe_actionneur_pot(bras, BRAS_PLIE, DOIGT_LACHE);
+                    }
+                    dbb_status = DBB_ATTENTE;
+                    timer_ms=500;
+                    break;
+
+                case DBB_ATTENTE:
+                    if (timer_ms <= 0){
+                        dbb_status = DBB_ENVOI;
+                        return ACTION_TERMINEE;
+                    }
+                    break;            
+            }
+            
+        }
+    }
+}

Holonome2023.c

@@ -45,7 +45,7 @@ int main() {
     stdio_init_all();
     
     //Demonstration_init();Demonstration_auto();
-    //while(mode_test());
+    while(mode_test());
     //test_pseudo_homologation();
     Holonome2023_init();
 

Tests_deplacement.c

@@ -345,8 +345,8 @@ int test_aller_retour(){
     switch(lettre){
         case 'b':
         case 'B':
-            Trajet_config(TRAJECT_CONFIG_AVANCE_DROIT);
+            Trajet_config(TRAJECT_CONFIG_AVANCE_ET_TOURNE);
-            Trajectoire_bezier(&trajectoire, 0, 0, -200., 450, 250, 450, 0, 0, 0, 0);
+            Trajectoire_bezier(&trajectoire, 0, 0, 2500, 0, 250, 1300, 0, 0, 0, 0);
             printf("Trajectoire de Bézier\n");
             break;