Keuronde/PAMI_2025
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Trajectoire fonctionnelle pour la compétition de 2025

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This commit is contained in:
Samuel 2025-01-20 21:38:25 +01:00
parent 67e5c63f1c
commit 349241951e
3 changed files with 8 additions and 9 deletions
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2
Asser_Position.c
View File

@ -48,7 +48,7 @@ void Asser_Position(struct position_t position_consigne){
rotation_radian_s = delta_orientation_radian * GAIN_P_ORIENTATION;
if(delta_avance_mm < 10){
rotation_radian_s=0;
rotation_radian_s=delta_avance_mm/10 * rotation_radian_s;
}
// Commande en vitesse

13
Strategie.c
View File

@ -11,7 +11,7 @@ enum etat_action_t Strategie_super_star(uint32_t step_ms){
SSS_TOURNE,
SSS_AVANCE_2,
SSS_DANCE
} etat_sss = SSS_TEST_TOURNE;
} etat_sss = SSS_INIT;
struct trajectoire_t trajectoire;
switch(etat_sss){
@ -28,23 +28,22 @@ enum etat_action_t Strategie_super_star(uint32_t step_ms){
Trajet_config(TRAJECT_CONFIG_STD);
Trajectoire_droite(&trajectoire, 45, 1895, 1135, 1895, 0, 0);
if(Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){
//etat_sss = SSS_TOURNE;
etat_sss = SSS_DANCE;
etat_sss = SSS_TOURNE;
}
break;
case SSS_TOURNE:
Trajet_config(100, 100);
//Trajet_config(100, 100);
Trajet_config(TRAJECT_CONFIG_STD);
Trajectoire_circulaire(&trajectoire, 1135, 1645, M_PI/2, 0, 250, 0, -M_PI/2);
if(Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){
//etat_sss = SSS_AVANCE_2;
etat_sss = SSS_DANCE;
etat_sss = SSS_AVANCE_2;
}
break;
case SSS_AVANCE_2:
Trajet_config(TRAJECT_CONFIG_STD);
Trajectoire_droite(&trajectoire, 1385, 1645, 1385, 1600, 0, 0);
Trajectoire_droite(&trajectoire, 1385, 1645, 1385, 1580, 0, 0);
if(Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){
etat_sss = SSS_DANCE;
}

2
main.c
View File

@ -105,7 +105,7 @@ void main(void)
while(1){
// Fin du match
if((Temps_get_temps_ms() -temps_depart_ms) >10000 || (fin_match == 1)){
if((Temps_get_temps_ms() -temps_depart_ms) >15000 || (fin_match == 1)){
Moteur_Stop();
while(1);
}