From d94cedd6e24fd5ef4942c59c50af3d1c50458ce5 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Thu, 29 May 2025 12:12:36 +0200
Subject: [PATCH] Match 1

---
 Cerveau/Cerveau.ino | 55 +++++++++++++++++++++++++++++----------------
 1 file changed, 36 insertions(+), 19 deletions(-)

diff --git a/Cerveau/Cerveau.ino b/Cerveau/Cerveau.ino
index b9f4362..8e80474 100644
--- a/Cerveau/Cerveau.ino
+++ b/Cerveau/Cerveau.ino
@@ -438,39 +438,48 @@ void IHM_attente_match(int * couleur){
 
 enum etat_action_t Strategie(int couleur){
   static enum {
+    STRAT_INIT, // On attend de ne pas voir la tirette dans la detection de l'adversaire
     STRAT_RECULE_BANDEROLE, // Deplacement relatif
     STRAT_ALLER_GRADINS_1_A,  // Déplacement relatif
     STRAT_ALLER_GRADINS_1_B,  // Cherche gradin
     STRAT_ALLER_GRADINS_1_C,  // Déplacement relatif
     STRAT_DEPOSE_GRADIN_1A, // Empile gradin
     STRAT_DEPOSE_GRADIN_1B, // Recule du gradin
-    STRAT_ALLER_PREPA_BACKSTAGE, // Déplacement absolu
-    STRAT_ALLER_BACKSTAGE // Déplacement relatif
+    STRAT_ALLER_PREPA_BACKSTAGE, // Déplacement relaif
+    STRAT_ATTENTE_BACKSTAGE, // Attente
+    STRAT_ALLER_BACKSTAGE, // Déplacement relatif
+    STRAT_FIN
 
   }etat_strategie = STRAT_RECULE_BANDEROLE;
   enum etat_action_t etat_action;
   int translation_x_mm, translation_y_mm;
+  static unsigned long temps_timer;
   float rotation_rad;
 
   switch(etat_strategie){
+    case STRAT_INIT:
+      temps_timer = millis();
+      break;
     case STRAT_RECULE_BANDEROLE:
-      // Déplacement en X
-      translation_x_mm = -300;
-      translation_y_mm = 0;
-      rotation_rad = 0;
-      etat_action = deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 1);
-      if(etat_action == ACTION_TERMINEE){
-        etat_strategie = STRAT_ALLER_GRADINS_1_A;
+      if(millis() - temps_timer > 300){
+        // Déplacement en X
+        translation_x_mm = -300;
+        translation_y_mm = 0;
+        rotation_rad = 0;
+        etat_action = deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 1);
+        if(etat_action == ACTION_TERMINEE){
+          etat_strategie = STRAT_ALLER_GRADINS_1_A;
+        }
       }
       break;
 
     case STRAT_ALLER_GRADINS_1_A:
-      translation_x_mm = -500;
+      translation_x_mm = -450;
       rotation_rad = 0;
       if(couleur == COULEUR_JAUNE){
-        translation_y_mm = -500;
+        translation_y_mm = -450;
       }else{
-        translation_y_mm = 500;
+        translation_y_mm = 450;
       }
       etat_action = deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 1);
       if(etat_action == ACTION_TERMINEE){
@@ -480,7 +489,7 @@ enum etat_action_t Strategie(int couleur){
 
     case STRAT_ALLER_GRADINS_1_B:
       etat_action = gradin_approche();
-      if(etat_action == ACTION_TERMINEE){
+      if(etat_action == ACTION_TERMINEE || etat_action == ACTION_ECHEC){
         etat_strategie = STRAT_ALLER_GRADINS_1_C;
       }
       break;
@@ -511,22 +520,31 @@ enum etat_action_t Strategie(int couleur){
 
     case STRAT_ALLER_PREPA_BACKSTAGE:
       if(couleur == COULEUR_JAUNE){
-        etat_action = deplacement_absolu(550, 1150, M_PI/2., 0);
+        etat_action = deplacement_relatif(0, 0, 165. / 180 * M_PI, 0);
       }else{
-        etat_action = deplacement_absolu(3000 - 550, 1150, M_PI/2., 0);
+        etat_action = deplacement_relatif(0, 0, -165. / 180 * M_PI, 0);
       }
       if(etat_action == ACTION_TERMINEE){
+        etat_strategie = STRAT_ATTENTE_BACKSTAGE;
+      }
+      break;
+
+    case STRAT_ATTENTE_BACKSTAGE:
+      if (millis() - temps_timer > 95000){
         etat_strategie = STRAT_ALLER_BACKSTAGE;
       }
       break;
 
     case STRAT_ALLER_BACKSTAGE:
-      etat_action = deplacement_relatif(500, 0, 0, 0);
+      etat_action = deplacement_relatif(1140, 0, 0, 0);
       if(etat_action == ACTION_TERMINEE){
-        etat_strategie = STRAT_RECULE_BANDEROLE;
-        return ACTION_TERMINEE;
+        etat_strategie = STRAT_FIN;
       }
       break;
+
+    case STRAT_FIN:
+      return ACTION_TERMINEE;
+      break;
   }
 
   return ACTION_EN_COURS;
@@ -610,7 +628,6 @@ enum etat_action_t gradin_approche(void){
 
     case GA_GOTO_EN_FACE:
     case GA_GOTO_LARGE:
-      Detect_gradin(&detect_gradin);
       if(detect_gradin.status != 2){
         nb_erreur++;
         if(nb_erreur > 100){