From 19834f01110cc8cf38173577c96ce17153d681b7 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Mon, 24 Apr 2023 22:43:21 +0200
Subject: [PATCH] =?UTF-8?q?Fonction=20pour=20lancer=20les=20cerises=20revu?=
 =?UTF-8?q?e,=20envoie=20des=20cerises=20une=20=C3=A0=20une?=
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---
 Strategie.c | 31 +++++++++++++++++--------------
 1 file changed, 17 insertions(+), 14 deletions(-)

diff --git a/Strategie.c b/Strategie.c
index 8624b21..68b30a6 100644
--- a/Strategie.c
+++ b/Strategie.c
@@ -146,6 +146,7 @@ enum etat_action_t lance_balles(uint32_t step_ms){
         LANCE_PROPULSEUR_ON,
         LANCE_TEMPO_PROP_ON,
         LANCE_PORTE_OUVERTE,
+        LANCE_OUVERTURE_INITIALE,
     } etat_lance_balle = LANCE_PROPULSEUR_ON;
 
     switch(etat_lance_balle){
@@ -153,36 +154,38 @@ enum etat_action_t lance_balles(uint32_t step_ms){
             i2c_annexe_active_propulseur();
             tempo_ms = 1000;
             nb_iteration=0;
-            etat_lance_balle = LANCE_TEMPO_PROP_ON;
+            etat_lance_balle = LANCE_OUVERTURE_INITIALE;
+            break;
+        
+        case LANCE_OUVERTURE_INITIALE:
+            if(temporisation_terminee(&tempo_ms, step_ms)){
+                i2c_annexe_ouvre_porte();
+                etat_lance_balle = LANCE_PORTE_OUVERTE;
+                tempo_ms = 250;
+            }
             break;
         
         case LANCE_TEMPO_PROP_ON:
-            if (tempo_ms < step_ms){
+            if(temporisation_terminee(&tempo_ms, step_ms)){
+                i2c_annexe_ouvre_porte();
                 nb_iteration++;
                 if(nb_iteration > 10){
+                    nb_iteration=0;
                     etat_action = ACTION_TERMINEE;
                     etat_lance_balle = LANCE_PROPULSEUR_ON;
                     i2c_annexe_desactive_propulseur();
                 }else{
                     etat_lance_balle = LANCE_PORTE_OUVERTE;
-                    tempo_ms = 300;
+                    tempo_ms = 150;
                 }
-                
-                i2c_annexe_ouvre_porte();
-                
-            }else{
-                tempo_ms -= step_ms;
             }
             break;
         
         case LANCE_PORTE_OUVERTE:
-            if (tempo_ms < step_ms){
-                i2c_annexe_ferme_porte();
+            if(temporisation_terminee(&tempo_ms, step_ms)){
+                i2c_annexe_mi_ferme_porte();
                 etat_lance_balle = LANCE_TEMPO_PROP_ON;
-                tempo_ms = 450;
-                
-            }else{
-                tempo_ms -= step_ms;
+                tempo_ms = 500;
             }
             break;