Keuronde/PAMI_2024
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trajets pour les robot 1 à 3 + détection de l'adversaire plus souple

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This commit is contained in:
Samuel 2024-05-09 14:50:12 +02:00
parent d68fa90724
commit 15c58d0db4
4 changed files with 29 additions and 22 deletions
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2
Asser_Position.c
View File

@ -3,7 +3,7 @@
#include "math.h" #include "math.h"
#define GAIN_P_POSITION 15 #define GAIN_P_POSITION 15
#define GAIN_P_ORIENTATION 2 #define GAIN_P_ORIENTATION 10
struct position_t position_maintien; struct position_t position_maintien;

6
Trajet.c
View File

@ -141,16 +141,16 @@ float Trajet_calcul_vitesse(float pas_de_temps_s){
vitesse_max_contrainte = 0; vitesse_max_contrainte = 0;
} }
/*distance_contrainte_obstacle = Trajet_get_obstacle_mm(); distance_contrainte_obstacle = Trajet_get_obstacle_mm();
if(distance_contrainte_obstacle != DISTANCE_INVALIDE){ if(distance_contrainte_obstacle != DISTANCE_INVALIDE){
vitesse_max_contrainte_obstacle = sqrtf(2 * acceleration_mm_ss_obstacle * distance_contrainte_obstacle); vitesse_max_contrainte_obstacle = sqrtf(2 * acceleration_mm_ss_obstacle * distance_contrainte_obstacle);
if(vitesse_max_contrainte_obstacle < vitesse_max_contrainte){ if(vitesse_max_contrainte_obstacle < vitesse_max_contrainte){
vitesse_max_contrainte = vitesse_max_contrainte_obstacle; vitesse_max_contrainte = vitesse_max_contrainte_obstacle;
} }
}*/ }/*
if((Trajet_get_obstacle_mm() != DISTANCE_INVALIDE) && (Trajet_get_obstacle_mm() < 50)){ if((Trajet_get_obstacle_mm() != DISTANCE_INVALIDE) && (Trajet_get_obstacle_mm() < 50)){
vitesse = 0; vitesse = 0;
} }*/
// Selection de la vitesse la plus faible // Selection de la vitesse la plus faible

7
VL53L8_2024.c
View File

@ -14,6 +14,8 @@ int masque[64]={
195,200,202,206,213,200,200,202 195,200,202,206,213,200,200,202
}; };
float old_min_distance;
void VL53L8_init(VL53L8CX_Configuration * Dev){ void VL53L8_init(VL53L8CX_Configuration * Dev){
uint8_t status, isAlive, isReady, i; uint8_t status, isAlive, isReady, i;
@ -162,7 +164,12 @@ int VL53L8_min_distance(VL53L8CX_ResultsData Results, float *distance){
if(min_distance-50 > 0){ if(min_distance-50 > 0){
*distance = min_distance-50; *distance = min_distance-50;
} }
old_min_distance = *distance;
} }
float VL53L8_get_old_min_distance(){
return old_min_distance;
}

36
main.c
View File

@ -82,7 +82,7 @@ void main(void)
//multicore_launch_core1(gestion_affichage); //multicore_launch_core1(gestion_affichage);
multicore_launch_core1(gestion_VL53L8CX); multicore_launch_core1(gestion_VL53L8CX);
sleep_ms(3000); sleep_ms(5000);
printf("Demarrage...\n"); printf("Demarrage...\n");
@ -113,16 +113,13 @@ void main(void)
if(temps_ms % step_ms == 0){ if(temps_ms % step_ms == 0){
QEI_update(); QEI_update();
Localisation_gestion(); Localisation_gestion();
if(Trajet_get_obstacle_mm() < 50){
Moteur_Stop(); if(etat_trajet != TRAJET_TERMINE){
etat_trajet = Trajet_avance((float)step_ms/1000.);
}else{ }else{
if(etat_trajet != TRAJET_TERMINE){ Asser_Position_maintien();
etat_trajet = Trajet_avance((float)step_ms/1000.);
}else{
Asser_Position_maintien();
}
AsserMoteur_Gestion(step_ms);
} }
AsserMoteur_Gestion(step_ms);
} }
} }
@ -239,16 +236,19 @@ void configure_trajet(int identifiant, int couleur){
case 0: case 0:
break; break;
case 1: case 1:
Localisation_set(1465, 2000-63, M_PI); Localisation_set(3000-1249, 2000-63, 0);
Trajectoire_bezier(&trajectoire, 3000-1465, 2000-63, 3000-1260, 2000-63, Trajectoire_bezier(&trajectoire, 3000-1250, 2000-63, 3000-1050, 2000-63,
3000-600, 1400, 3000-0, 2000, M_PI, M_PI); 3000-750, 1400, 3000-750, 2100, 0, 0);
break; break;
case 2: case 2:
Localisation_set(3000-1117, 2000-63, 0);
Trajectoire_bezier(&trajectoire, 3000-1116, 2000-63, 3000-975, 2000-63,
3000-540, 1400, 3000+60, 1400, -M_PI, -M_PI);
break; break;
case 3: case 3:
Localisation_set(3000 - 1130, 2000-63, 0); Localisation_set(1121-1130, 2000-63, 0);
Trajectoire_bezier(&trajectoire, 3000-1122, 2000-63, 3000-905, 2000-63, Trajectoire_bezier(&trajectoire, 3000-1122, 2000-63, 3000-905, 2000-63,
3000-606, 2000-590, 3000-225, 2000-225, 0, 0); 3000-606, 2000-590, 3000-225, 2000-225, -M_PI, -M_PI);
break; break;
case 4: case 4:
break; break;
@ -270,9 +270,9 @@ void configure_trajet(int identifiant, int couleur){
case 0: case 0:
break; break;
case 1: case 1:
Localisation_set(1465, 2000-63, M_PI); Localisation_set(1249, 2000-63, M_PI);
Trajectoire_bezier(&trajectoire, 1465, 2000-63, 1260, 2000-63, Trajectoire_bezier(&trajectoire, 1250, 2000-63, 1050, 2000-63,
600, 1400, 0, 2000, M_PI, M_PI); 750, 1400, 750, 2100, M_PI, M_PI);
break; break;
case 2: case 2:
Localisation_set(1117, 2000-63, M_PI); Localisation_set(1117, 2000-63, M_PI);
@ -280,7 +280,7 @@ void configure_trajet(int identifiant, int couleur){
540, 1400, -60, 1400, M_PI, M_PI); 540, 1400, -60, 1400, M_PI, M_PI);
break; break;
case 3: case 3:
Localisation_set(1130, 2000-63, M_PI); Localisation_set(1121, 2000-63, M_PI);
Trajectoire_bezier(&trajectoire, 1122, 2000-63, 905, 2000-63, Trajectoire_bezier(&trajectoire, 1122, 2000-63, 905, 2000-63,
606, 2000-590, 225, 2000-225, M_PI, M_PI); 606, 2000-590, 225, 2000-225, M_PI, M_PI);
break; break;