Keuronde/RPiPico-Holonome2023
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Ajout d'un fonction d'init oubliée dans la stratégie + test complémentaire pour LEDs

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This commit is contained in:
Samuel 2023-05-07 00:12:29 +02:00
parent ec67302805
commit c66f1011bc
2 changed files with 53 additions and 4 deletions
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1
Holonome2023.c
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@ -85,6 +85,7 @@ int main() {
//while(mode_test()); //while(mode_test());
i2c_maitre_init(); i2c_maitre_init();
Trajet_init(); Trajet_init();
Balise_VL53L1X_init();
set_position_avec_gyroscope(1); set_position_avec_gyroscope(1);
if(get_position_avec_gyroscope()){ if(get_position_avec_gyroscope()){

56
Test.c
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@ -1423,11 +1423,24 @@ int test_angle_balise(void){
int lettre; int lettre;
float distance, angle=3.1281; float distance, angle=3.1281;
enum {
TEST_BLEU,
ATTENTE1,
TEST_VERT,
ATTENTE2,
TEST_RESET,
ATTENTE3,
TEST_ANGLE
}etat_test_led=TEST_BLEU;
i2c_maitre_init(); i2c_maitre_init();
Balise_VL53L1X_init(); Balise_VL53L1X_init();
Localisation_set(1000,1500,0); Localisation_set(1000,1500,0);
multicore_launch_core1(affiche_monitoring); multicore_launch_core1(affiche_monitoring);
uint temps_ms, timer_ms=1000;
temps_ms = Temps_get_temps_ms();
do{ do{
temps_cycle_check(); temps_cycle_check();
@ -1435,13 +1448,48 @@ int test_angle_balise(void){
i2c_gestion(i2c0); i2c_gestion(i2c0);
i2c_annexe_gestion(); i2c_annexe_gestion();
Balise_VL53L1X_gestion(); Balise_VL53L1X_gestion();
if(temps_ms != Temps_get_temps_ms()){
temps_ms = Temps_get_temps_ms();
distance = Balise_VL53L1X_get_distance_obstacle_mm(angle); switch(etat_test_led){
Trajet_set_obstacle_mm(distance); case TEST_BLEU:
i2c_annexe_couleur_balise(0b00011100, 0x0FFF);
timer_ms--;
if(timer_ms<2){
etat_test_led=TEST_VERT;
timer_ms=1000;
}
break;
case TEST_VERT:
i2c_annexe_couleur_balise(0b00000011, 0x0FFF);
timer_ms--;
if(timer_ms<2){
etat_test_led=TEST_RESET;
timer_ms=10000;
}
break;
case TEST_RESET:
i2c_annexe_couleur_balise(0, 0x00);
timer_ms--;
if(timer_ms<2){
etat_test_led=TEST_ANGLE;
timer_ms=0;
}
break;
case TEST_ANGLE:
timer_ms++;
angle=(float)timer_ms / 1000.;
Trajet_set_obstacle_mm(Balise_VL53L1X_get_distance_obstacle_mm(angle));
break;
}
}
lettre = getchar_timeout_us(0); lettre = getchar_timeout_us(0);
}while(1); }while(lettre == PICO_ERROR_TIMEOUT || lettre == 0);
//}while(lettre == PICO_ERROR_TIMEOUT || lettre == 0);
return 0; return 0;