Keuronde/PAMI_2024
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Match 5 + Match Amical - 5 PAMI

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This commit is contained in:
Samuel 2024-06-15 21:49:52 +02:00
parent 334a9cbf21
commit 4216d8236d
2 changed files with 22 additions and 6 deletions
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1
VL53L8_2024.h
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@ -4,3 +4,4 @@ void VL53L8_init(VL53L8CX_Configuration * Dev);
void VL53L8_lecture(VL53L8CX_Configuration * Dev, VL53L8CX_ResultsData * Results);
int VL53L8_min_distance(VL53L8CX_ResultsData Results, float *distance);
float VL53L8_get_old_min_distance(void);

25
main.c
View File

@ -37,7 +37,7 @@ uint16_t tension_batterie_lire(void);
void identifiant_init(void);
uint identifiant_lire(void);
int get_tirette(void);
int get_tirette(int);
int get_couleur(void);
void configure_trajet(int identifiant, int couleur);
@ -95,9 +95,12 @@ void main(void)
enum etat_trajet_t etat_trajet=TRAJET_EN_COURS;
while(get_tirette());
while(get_tirette(identifiant_lire()));
//sleep_ms(90000);
// Seul le premier PAMI doit attendre 90s, les autres démarrent lorsque celui de devant part
if(identifiant_lire() == 3){
sleep_ms(90000);
}
temps_depart_ms = Temps_get_temps_ms();
@ -211,8 +214,12 @@ void identifiant_init(){
gpio_set_dir(COULEUR_PIN, GPIO_IN);
}
int get_tirette(void){
int get_tirette(int id){
if(id == 3){
return !gpio_get(TIRETTE_PIN);
}
return (VL53L8_get_old_min_distance() <50);
}
int get_couleur(void){
@ -258,9 +265,13 @@ void configure_trajet(int identifiant, int couleur){
Trajet_config(TRAJECT_CONFIG_RAPIDE_ROUGE);
Localisation_set(3000-1364, 2000-63, 0);
Trajectoire_bezier(&trajectoire, 3000-1363, 2000-63, 3000-550, 2000-63,
3000-900, 600, 3000-0, 0, 0, 0);
2700-900, 600, 2700-0, 0, 0, 0);
break;
case 5:
Trajet_config(TRAJECT_CONFIG_RAPIDE_ROUGE);
Localisation_set(3000-1450, 2000-63, 0);
Trajectoire_bezier(&trajectoire, 3000-1449, 2000-63, 3000-675, 2000-63,
3000-930, 970, 0, 1200, -M_PI / 2., M_PI);
break;
case 6:
break;
@ -302,6 +313,10 @@ void configure_trajet(int identifiant, int couleur){
900, 600, 0, 0, -M_PI / 2., M_PI);
break;
case 5:
Trajet_config(TRAJECT_CONFIG_RAPIDE_ROUGE);
Localisation_set(1450, 2000-63, M_PI);
Trajectoire_bezier(&trajectoire, 1449, 2000-63, 675, 2000-63,
930, 970, 3000, 1200, -M_PI / 2., M_PI);
break;
case 6:
break;