64 lines
1.7 KiB
C
64 lines
1.7 KiB
C
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#include "pico/multicore.h"
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#include "stdio.h"
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#include "hardware/i2c.h"
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#include "Asser_Moteurs.h"
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#include "i2c_annexe.h"
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#include "i2c_maitre.h"
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#include "gyro.h"
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#include "Localisation.h"
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#include "QEI.h"
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#include "Robot_config.h"
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#include "Strategie.h"
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#include "Temps.h"
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#include "Trajet.h"
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#include "Trajectoire.h"
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#include "Test.h"
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int test_accostage(){
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int lettre, _step_ms = 1, temps_ms=0, _step_ms_gyro=2,temps_ms_init;
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i2c_maitre_init();
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Trajet_init();
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//printf("Init gyroscope\n");
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//Gyro_Init();
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stdio_flush();
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//set_position_avec_gyroscope(1);
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temps_ms = Temps_get_temps_ms();
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temps_ms_init = temps_ms;
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do{
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i2c_gestion(i2c0);
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i2c_annexe_gestion();
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// Routines à 1 ms
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if(temps_ms != Temps_get_temps_ms()){
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temps_ms = Temps_get_temps_ms();
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QEI_update();
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Localisation_gestion();
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AsserMoteur_Gestion(_step_ms);
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// Routine à 2 ms
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if(temps_ms % _step_ms_gyro == 0){
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// Gyro_Read(_step_ms_gyro);
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}
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if(temps_ms > temps_ms_init + 200){
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if(cerise_accostage() == ACTION_TERMINEE){
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printf("Accostage_terminee\n");
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}
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}
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/*printf(">contacteur_butee_A:%d\n", i2c_annexe_get_contacteur_butee_A());
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printf(">contacteur_butee_C:%d\n", i2c_annexe_get_contacteur_butee_C());
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printf(">contacteur_longer_A:%d\n", i2c_annexe_get_contacteur_longer_A());
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printf(">contacteur_longer_C:%d\n", i2c_annexe_get_contacteur_longer_C());*/
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}
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lettre = getchar_timeout_us(0);
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}while((lettre == PICO_ERROR_TIMEOUT) || (lettre == 0));
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printf("Lettre : %d; %c\n", lettre, lettre);
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}
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