45 lines
2.0 KiB
C
45 lines
2.0 KiB
C
#include "math.h"
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#include "Strategie_2024_pots.h"
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struct position_t position_pots_dans_groupe_pot[5] =
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{
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{.x_mm = -40, .y_mm = 69.2, .angle_radian = 120 * DEGRE_EN_RADIAN},
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{.x_mm = 40, .y_mm = 69.2, .angle_radian = 60 * DEGRE_EN_RADIAN},
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{.x_mm = -80, .y_mm = 0, .angle_radian = -90 * DEGRE_EN_RADIAN},
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{.x_mm = 80, .y_mm = 0, .angle_radian = -90 * DEGRE_EN_RADIAN},
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{.x_mm = 0, .y_mm = 0, .angle_radian = -90 * DEGRE_EN_RADIAN}
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};
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struct position_t position_groupe_pot[6] =
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{
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{.x_mm = 36.1, .y_mm = 1386.8, .angle_radian = -90 * DEGRE_EN_RADIAN},
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{.x_mm = 36.1, .y_mm = 616.2, .angle_radian = -90 * DEGRE_EN_RADIAN},
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{.x_mm = 1000, .y_mm = 36.4, .angle_radian = 0 * DEGRE_EN_RADIAN},
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{.x_mm = 2000, .y_mm = 36.4, .angle_radian = 0 * DEGRE_EN_RADIAN},
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{.x_mm = 2963.9, .y_mm = 616.2, .angle_radian = 90 * DEGRE_EN_RADIAN},
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{.x_mm = 2963.9, .y_mm = 1386.8, .angle_radian = 90 * DEGRE_EN_RADIAN}
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};
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/// @brief renvoie la position du centre du pot ainsi que l'ange par lequel l'attraper
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/// @param groupe_pot Position du groupe de pot
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/// @param num_pot Pot à prendre, entre 0 et 4 (ou utiliser les macros POT_x)
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struct position_t groupe_pot_get_pot(unsigned int groupe_pot, unsigned int num_pot){
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struct position_t position_pot;
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struct position_t my_position_groupe_pot;
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my_position_groupe_pot = position_groupe_pot[groupe_pot];
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float angle_groupe_pot = my_position_groupe_pot.angle_radian;
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position_pot.x_mm = my_position_groupe_pot.x_mm +
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cosf(angle_groupe_pot) * position_pots_dans_groupe_pot[num_pot].x_mm -
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sinf(angle_groupe_pot) * position_pots_dans_groupe_pot[num_pot].y_mm;
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position_pot.y_mm = my_position_groupe_pot.y_mm +
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sinf(angle_groupe_pot) * position_pots_dans_groupe_pot[num_pot].x_mm +
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cosf(angle_groupe_pot) * position_pots_dans_groupe_pot[num_pot].y_mm;
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position_pot.angle_radian = my_position_groupe_pot.angle_radian + angle_groupe_pot;
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return position_pot;
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} |