From 37b1b75d5f7d2d760823ea8e59dff4c599603900 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Wed, 19 Mar 2025 11:57:26 +0100
Subject: [PATCH] =?UTF-8?q?Ajout=20de=20la=20communicatio=20vers=20la=20de?=
 =?UTF-8?q?tection=20de=20l'adversaire.=20Fonction=20d=C3=A9mo=20uniquemen?=
 =?UTF-8?q?t=20pour=20l'instant?=
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---
 Cerveau/Cerveau.ino                            | 11 +++++++++++
 Cerveau/Communication_detection_adversaire.h   | 12 ++++++++++++
 Cerveau/Communication_detection_adversaire.ino | 18 ++++++++++++++++++
 Cerveau/I2C_Master_lib.ino                     |  4 +++-
 4 files changed, 44 insertions(+), 1 deletion(-)
 create mode 100644 Cerveau/Communication_detection_adversaire.h
 create mode 100644 Cerveau/Communication_detection_adversaire.ino

diff --git a/Cerveau/Cerveau.ino b/Cerveau/Cerveau.ino
index 0ffd0fb..b9ac582 100644
--- a/Cerveau/Cerveau.ino
+++ b/Cerveau/Cerveau.ino
@@ -4,6 +4,7 @@
 #include <math.h>
 
 #include "Communication_chassis.h"
+#include "Communication_detection_adversaire.h"
 #include "ServerWeb.h"
 
 
@@ -107,6 +108,16 @@ void setup() {
   //}
   // MemPosition_X = 800;
   // MemPosition_Y = 800;
+  struct detect_adv_reception_t detect_adv_reception;
+  
+  while(1){
+    Detect_adv_lire(&detect_adv_reception);
+    char chaine[40];
+    sprintf(chaine, "Distance: %d cm\n Distance: %d cm\n", detect_adv_reception.distance_cm[0],
+          detect_adv_reception.distance_cm[11]);
+    affiche_msg("Scan_Detect_adversaire", chaine);
+  }
+  
   affichage_standard_init();
 
   //M5.Lcd.setCursor(10, 200);M5.Lcd.print("cmd :");
diff --git a/Cerveau/Communication_detection_adversaire.h b/Cerveau/Communication_detection_adversaire.h
new file mode 100644
index 0000000..2be81b1
--- /dev/null
+++ b/Cerveau/Communication_detection_adversaire.h
@@ -0,0 +1,12 @@
+#ifndef DETEC_ADV_H
+#define DETEC_ADV_H
+
+#define I2C_SLAVE_detect_adv 0x18
+
+struct detect_adv_reception_t {
+  unsigned char distance_cm[12];
+};
+
+void Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception);
+
+#endif
diff --git a/Cerveau/Communication_detection_adversaire.ino b/Cerveau/Communication_detection_adversaire.ino
new file mode 100644
index 0000000..baa86b4
--- /dev/null
+++ b/Cerveau/Communication_detection_adversaire.ino
@@ -0,0 +1,18 @@
+//#include "Chassis.h"
+#include <Arduino.h>
+#include <HardwareSerial.h>
+
+
+/// @brief Lit les capteurs VL53L1X
+void Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception){
+  unsigned char tampon2[14];
+  //(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
+  error = I2C_lire_registre(I2C_SLAVE_detect_adv, 0, detect_adv_reception->distance_cm, 12);
+  if (error !=0){
+    affiche_erreur("Scan_Detect_adversaire", "Erreur I2C");
+    while(1);
+  }else{
+    Serial.println("I2C OK");
+    
+  }
+}
diff --git a/Cerveau/I2C_Master_lib.ino b/Cerveau/I2C_Master_lib.ino
index 44654a2..7662822 100644
--- a/Cerveau/I2C_Master_lib.ino
+++ b/Cerveau/I2C_Master_lib.ino
@@ -26,7 +26,9 @@ uint8_t I2C_lire_registre(int adresse_i2c, uint adresse_registre, unsigned char
 
   WIRE.requestFrom(adresse_i2c, taille_donnees + 1);
   // ceci contient l'adresse
-  Wire.readBytes(&temp, 1);
+  if(adresse_i2c == I2C_SLAVE_chassi){
+    Wire.readBytes(&temp, 1);
+  }
   // Et ceci les données
   Wire.readBytes(donnees_recues, taille_donnees);
   return status;