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Vidéo de la pseudo-homologation avant la CARAR

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Samuel 2025-04-02 22:10:47 +02:00
parent 4de29cd37c
commit ebcadc1af5
1 changed files with 38 additions and 8 deletions
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46
Cerveau/Cerveau.ino
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@ -92,7 +92,7 @@ int index_Maitre = 0;
bool Mvt_tolerance_OK =false;
bool Balises_OK = 0;
int tolerance_position =100;
float tolerance_orientation =0.05; // 3°
float tolerance_orientation =0.03; // 2°
char* tableau[] = {"Lecture serveur", "Prise position", "Verif mvmt end ou cmd", "Compar position", "Deplacement absolu"};
@ -361,7 +361,9 @@ void gestion_match(){
enum etat_action_t Strategie(void){
static enum {
STRAT_RECULE_BANDEROLE, // Deplacement relatif
STRAT_ALLER_GRADINS_1, // Déplacement absolu
STRAT_ALLER_GRADINS_1_A, // Déplacement absolu
STRAT_ALLER_GRADINS_1_B, // Déplacement relatif
STRAT_ALLER_GRADINS_1_C, // Déplacement relatif
STRAT_ALLER_PREPA_BACKSTAGE, // Déplacement absolu
STRAT_ALLER_BACKSTAGE // Déplacement relatif
@ -378,18 +380,45 @@ enum etat_action_t Strategie(void){
rotation_rad = 0;
etat_action = deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_ALLER_GRADINS_1;
etat_strategie = STRAT_ALLER_GRADINS_1_A;
}
break;
case STRAT_ALLER_GRADINS_1:
case STRAT_ALLER_GRADINS_1_A:
etat_action = deplacement_absolu(800, 800, -M_PI/2., 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_ALLER_GRADINS_1_B;
}
break;
case STRAT_ALLER_GRADINS_1_B:
etat_action = deplacement_relatif(300, 0, 0, 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_ALLER_GRADINS_1_C;
}
break;
case STRAT_ALLER_GRADINS_1_C:
etat_action = deplacement_relatif(-250, 0, 0, 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_ALLER_PREPA_BACKSTAGE;
}
break;
case STRAT_ALLER_PREPA_BACKSTAGE:
etat_action = deplacement_absolu(550, 1150, M_PI/2., 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_ALLER_BACKSTAGE;
}
break;
case STRAT_ALLER_BACKSTAGE:
etat_action = deplacement_relatif(500, 0, 0, 0);
if(etat_action == ACTION_TERMINEE){
etat_strategie = STRAT_RECULE_BANDEROLE;
return ACTION_TERMINEE;
}
break;
}
return ACTION_EN_COURS;
@ -438,14 +467,15 @@ void compar_cinematique(int consigne_x_mm, int consigne_y_mm, float consigne_ori
}
}
enum etat_action_t deplacement_absolu(int consigne_x_mm, int consigne_y_mm, int consigne_orientation_rad, int evitement){
enum etat_action_t deplacement_absolu(int consigne_x_mm, int consigne_y_mm, float consigne_orientation_rad, int evitement){
static enum{
DA_INIT,
DA_COMPARE_POSITIONS,
DA_MVT_EN_COURS,
DA_ATTENTE,
} etat_deplacement = DA_INIT;
static int mem_consigne_x_mm, mem_consigne_y_mm, mem_consigne_orientation_rad;
static int mem_consigne_x_mm, mem_consigne_y_mm;
static float mem_consigne_orientation_rad;
static struct chassis_emission_t chassis_emission;
struct triangulation_reception_t triangulation_reception;
enum etat_action_t etat_deplacement_relatif;