Ajout de la communicatio vers la detection de l'adversaire. Fonction démo uniquement pour l'instant
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@ -4,6 +4,7 @@
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#include <math.h>
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#include "Communication_chassis.h"
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#include "Communication_detection_adversaire.h"
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#include "ServerWeb.h"
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@ -107,6 +108,16 @@ void setup() {
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//}
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// MemPosition_X = 800;
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// MemPosition_Y = 800;
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struct detect_adv_reception_t detect_adv_reception;
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while(1){
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Detect_adv_lire(&detect_adv_reception);
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char chaine[40];
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sprintf(chaine, "Distance: %d cm\n Distance: %d cm\n", detect_adv_reception.distance_cm[0],
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detect_adv_reception.distance_cm[11]);
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affiche_msg("Scan_Detect_adversaire", chaine);
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}
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affichage_standard_init();
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//M5.Lcd.setCursor(10, 200);M5.Lcd.print("cmd :");
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12
Cerveau/Communication_detection_adversaire.h
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12
Cerveau/Communication_detection_adversaire.h
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@ -0,0 +1,12 @@
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#ifndef DETEC_ADV_H
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#define DETEC_ADV_H
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#define I2C_SLAVE_detect_adv 0x18
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struct detect_adv_reception_t {
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unsigned char distance_cm[12];
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};
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void Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception);
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#endif
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18
Cerveau/Communication_detection_adversaire.ino
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18
Cerveau/Communication_detection_adversaire.ino
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@ -0,0 +1,18 @@
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//#include "Chassis.h"
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#include <Arduino.h>
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#include <HardwareSerial.h>
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/// @brief Lit les capteurs VL53L1X
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void Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception){
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unsigned char tampon2[14];
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//(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
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error = I2C_lire_registre(I2C_SLAVE_detect_adv, 0, detect_adv_reception->distance_cm, 12);
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if (error !=0){
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affiche_erreur("Scan_Detect_adversaire", "Erreur I2C");
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while(1);
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}else{
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Serial.println("I2C OK");
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}
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}
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@ -26,7 +26,9 @@ uint8_t I2C_lire_registre(int adresse_i2c, uint adresse_registre, unsigned char
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WIRE.requestFrom(adresse_i2c, taille_donnees + 1);
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// ceci contient l'adresse
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Wire.readBytes(&temp, 1);
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if(adresse_i2c == I2C_SLAVE_chassi){
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Wire.readBytes(&temp, 1);
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}
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// Et ceci les données
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Wire.readBytes(donnees_recues, taille_donnees);
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return status;
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