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Match2

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This commit is contained in:
Samuel 2025-05-29 21:24:42 +02:00
parent d94cedd6e2
commit c76c939c78
5 changed files with 64 additions and 54 deletions
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19
Cerveau/Cerveau.ino
View File

@ -338,11 +338,15 @@ void gestion_match(){
translation_x_mm = 0;
translation_y_mm = 0;
rotation_rad = 100;
Serial.println("C1");
Triangulation_send_immobile(1);
Serial.println("C2");
while(M5.BtnC.read()){
M5.update();
}
Serial.println("C3");
delay(200);
Serial.println("C4");
IHM_attente_match(&couleur);
tirette_enlevee = 0;
@ -421,12 +425,12 @@ void IHM_attente_match(int * couleur){
M5.update();
if(M5.BtnA.read() == 1){
affiche_msg("Couleur", " BLEU ");
Triangulation_send_config(configuration_match_bleu);
//Triangulation_send_config(configuration_match_bleu);
m_couleur = COULEUR_BLEU;
}
if(M5.BtnB.read() == 1){
affiche_msg("Couleur", " JAUNE ");
Triangulation_send_config(configuration_match_jaune);
//Triangulation_send_config(configuration_match_jaune);
m_couleur = COULEUR_JAUNE;
}
if(M5.BtnC.read() == 1){
@ -450,7 +454,7 @@ enum etat_action_t Strategie(int couleur){
STRAT_ALLER_BACKSTAGE, // Déplacement relatif
STRAT_FIN
}etat_strategie = STRAT_RECULE_BANDEROLE;
}etat_strategie = STRAT_INIT;
enum etat_action_t etat_action;
int translation_x_mm, translation_y_mm;
static unsigned long temps_timer;
@ -459,9 +463,10 @@ enum etat_action_t Strategie(int couleur){
switch(etat_strategie){
case STRAT_INIT:
temps_timer = millis();
etat_strategie = STRAT_RECULE_BANDEROLE;
break;
case STRAT_RECULE_BANDEROLE:
if(millis() - temps_timer > 300){
if(millis() - temps_timer >300){
// Déplacement en X
translation_x_mm = -300;
translation_y_mm = 0;
@ -520,9 +525,9 @@ enum etat_action_t Strategie(int couleur){
case STRAT_ALLER_PREPA_BACKSTAGE:
if(couleur == COULEUR_JAUNE){
etat_action = deplacement_relatif(0, 0, 165. / 180 * M_PI, 0);
etat_action = deplacement_relatif(0, 0, -15. / 180 * M_PI, 0);
}else{
etat_action = deplacement_relatif(0, 0, -165. / 180 * M_PI, 0);
etat_action = deplacement_relatif(0, 0, 15. / 180 * M_PI, 0);
}
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_ATTENTE_BACKSTAGE;
@ -536,7 +541,7 @@ enum etat_action_t Strategie(int couleur){
break;
case STRAT_ALLER_BACKSTAGE:
etat_action = deplacement_relatif(1140, 0, 0, 0);
etat_action = deplacement_relatif(-1140, 0, 0, 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_FIN;
}

28
Cerveau/Com_chassis.ino
View File

@ -8,23 +8,22 @@ int Scan_chassis(struct chassis_reception_t * chassis_reception){
}
/// @brief Lit l'état du chassis en I2C
int Scan_chassis(struct chassis_reception_t * chassis_reception, bool blocking){
unsigned char tampon2[14];
int Scan_chassis(struct chassis_reception_t * chassis_reception, bool continuous_try){
unsigned char tampon[14];
//(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
error = I2C_lire_registre(I2C_SLAVE_chassi, 0, tampon2, 12);
if (error !=0){
Err_Chassi_com =1;IndexErr = 2;
error = I2C_lire_registre(I2C_SLAVE_chassi, 0, tampon, 12);
while(error !=0 && continuous_try){
affiche_erreur("Scan_Chassi", "Erreur I2C");
if(blocking){
while(1);
}
}else{
error = I2C_lire_registre(I2C_SLAVE_chassi, 0, tampon, 12);
}
if(error == 0){
Err_Chassi_com =0;
IndexErr = 0;
Mvt_finit = (MOUVEMENT_FINI == tampon2[0]);
chassis_reception->status = tampon2[0];
Mvt_finit = (MOUVEMENT_FINI == tampon[0]);
chassis_reception->status = tampon[0];
}
return error;
}
@ -54,7 +53,10 @@ void send_Chassis(struct chassis_emission_t * chassis_emission){
Mot[9] = chassis_emission->acceleration >>8;
Mot[10] = chassis_emission->acceleration;
error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, Mot, 11);
do{
error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, Mot, 11);
}while(!error);
if (error !=0){Err_Cha_send =1; IndexErr = 5;}
else{Err_Cha_send =0;IndexErr = 0;}
if(error==0){ //si pas d'erreur de transmission alors RAZ des valeurs

12
Cerveau/Com_detection_adversaire.ino
View File

@ -3,20 +3,16 @@
#include <HardwareSerial.h>
int Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception){
return Detect_adv_lire(detect_adv_reception, true);
return Detect_adv_lire(detect_adv_reception, false);
}
/// @brief Lit les capteurs VL53L1X
int Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception, bool blocking){
int Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception, bool continuous_try){
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){
while(error !=0 && continuous_try){
affiche_erreur("Scan_Detect_adversaire", "Erreur I2C");
if(blocking){
while(1);
}
}else{
Serial.println("I2C OK");
error = I2C_lire_registre(I2C_SLAVE_detect_adv, 0, detect_adv_reception->distance_cm, 12);
}
return error;
}

12
Cerveau/Com_gradins.ino
View File

@ -9,19 +9,17 @@ int Detect_gradin(struct detect_gradin_t * detect_gradin){
}
/// @brief Lit les capteurs VL53L1X
int Detect_gradin(struct detect_gradin_t * detect_gradin, bool blocking){
int Detect_gradin(struct detect_gradin_t * detect_gradin, bool continuous_try){
unsigned char tampon[14];
char chaine[200];
int angle_mrad;
//(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
error = I2C_lire_registre(I2C_SLAVE_detect_gradin, 0, tampon, 13);
if (error !=0){
while (error !=0 && continuous_try){
affiche_erreur("Detect_gradin", "Erreur I2C");
if (blocking){
while(1);
}
}else{
error = I2C_lire_registre(I2C_SLAVE_detect_gradin, 0, tampon, 13);
}
if(!error){
detect_gradin->status = tampon[0];
detect_gradin->centre_x_mm = tampon[1] << 24 | tampon[2] << 16 | tampon[3] << 8 | tampon[4];
detect_gradin->centre_y_mm = tampon[5] << 24 | tampon[6] << 16 | tampon[7] << 8 | tampon[8];

47
Cerveau/Com_triangulation.ino
View File

@ -4,22 +4,19 @@ int Scan_Triangulation(struct triangulation_reception_t * triangulation_receptio
/// @brief Récupère position (X, Y) et l'orientation du robot
int Scan_Triangulation(struct triangulation_reception_t * triangulation_reception, bool blocking){
int Scan_Triangulation(struct triangulation_reception_t * triangulation_reception, bool continuous_try){
unsigned char tampon2[14];
lec_Balise_1, lec_Balise_2, lec_Balise_3 = 0, 0, 0;
//(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
triangulation_reception->validite = false;
error = I2C_lire_registre(I2C_SLAVE_trian, 0, tampon2, 13); // si errror != de 0 alors erreur de communication
if (error !=0){
while (error !=0 && continuous_try){
Err_Tri_com =1;IndexErr = 1;lec_Balise_1=0;lec_Balise_2=0;lec_Balise_3=0;
affiche_erreur("Scan_Triangulation", "Erreur I2C");
if(blocking){
while(1);
}
return error;
error = I2C_lire_registre(I2C_SLAVE_trian, 0, tampon2, 13); // si errror != de 0 alors erreur de communication
}
else{Err_Tri_com =0;IndexErr = 0;}
if (error ==0){
Err_Tri_com =0;IndexErr = 0;
triangulation_reception->pos_x_mm = tampon2[1]<< 24 | tampon2[2]<< 16 | tampon2[3]<< 8 | tampon2[4] ;
triangulation_reception->pos_y_mm = tampon2[5]<< 24 | tampon2[6]<< 16 | tampon2[7]<< 8 | tampon2[8] ;
@ -39,30 +36,42 @@ int Scan_Triangulation(struct triangulation_reception_t * triangulation_receptio
if(Position_actuelle_Y < PosLimNeg | Position_actuelle_Y > PosLimPos){
triangulation_reception->pos_y_mm = 9999;
}
if(lec_Balise_1 == 1 && lec_Balise_2 == 1 && lec_Balise_3 == 1 && lec_Calcul_ok == 1 && error ==0){
triangulation_reception->validite = true;
}
}
if(lec_Balise_1 == 1 && lec_Balise_2 == 1 && lec_Balise_3 == 1 && lec_Calcul_ok == 1 && error ==0){
triangulation_reception->validite = true;
}
return error;
}
void Triangulation_send_immobile(int immobile){
int Triangulation_send_immobile(int immobile){
return Triangulation_send_immobile(immobile, true);
}
int Triangulation_send_immobile(int immobile, bool continuous_try){
unsigned char donnee=0;
if(immobile){
donnee = 1;
}
error = I2C_ecrire_registre(I2C_SLAVE_trian, 13, &donnee, 1); // si errror != de 0 alors erreur de communication
if (error !=0){
while (error !=0 && continuous_try){
affiche_erreur("Send_Triangulation", "Erreur I2C");
while(1);
error = I2C_ecrire_registre(I2C_SLAVE_trian, 13, &donnee, 1); // si errror != de 0 alors erreur de communication
}
return error;
}
int Triangulation_send_config(unsigned char configuration){
Triangulation_send_config(configuration, true);
}
void Triangulation_send_config(unsigned char configuration){
int Triangulation_send_config(unsigned char configuration, bool continuous_try){
error = I2C_ecrire_registre(I2C_SLAVE_trian, 14, &configuration, 1); // si errror != de 0 alors erreur de communication
if (error !=0){
affiche_erreur("Send_Triangulation", "Erreur I2C");
while(1);
while (error !=0 || continuous_try){
affiche_erreur("Triangulation_send_config", "Erreur I2C");
error = I2C_ecrire_registre(I2C_SLAVE_trian, 14, &configuration, 1); // si errror != de 0 alors erreur de communication
}
}
return error;
}