CRAC Team / CRAC-Strat_2017-19-05-2017

strat des robots

Fork of CRAC-Strat_2017 by CRAC Team

Telemetre/Telemetre.cpp@14:c8fc06c4887f, 2017-03-31 (annotated)

Committer:
ClementBreteau
Date:
Fri Mar 31 16:20:26 2017 +0000
Revision:
14:c8fc06c4887f
Child:
15:c2fc239e85df
code strategie du robot, version 31 mars 2017

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 14:c8fc06c4887f 1 # include "Telemetre.h"
ClementBreteau 14:c8fc06c4887f 2
ClementBreteau 14:c8fc06c4887f 3 #define TELEMETRE_PROFONDEUR 50
ClementBreteau 14:c8fc06c4887f 4
ClementBreteau 14:c8fc06c4887f 5 T_LISTE_MODULES listeModules;
ClementBreteau 14:c8fc06c4887f 6
ClementBreteau 14:c8fc06c4887f 7 /*********************************************************************************************************/
ClementBreteau 14:c8fc06c4887f 8 /* FUNCTION NAME: SendTelemetreID */
ClementBreteau 14:c8fc06c4887f 9 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
ClementBreteau 14:c8fc06c4887f 10 /*********************************************************************************************************/
ClementBreteau 14:c8fc06c4887f 11 void SendTelemetreID (unsigned short id)
ClementBreteau 14:c8fc06c4887f 12 {
ClementBreteau 14:c8fc06c4887f 13 CANMessage msgTx=CANMessage();
ClementBreteau 14:c8fc06c4887f 14 msgTx.id=id;
ClementBreteau 14:c8fc06c4887f 15 msgTx.len=0;
ClementBreteau 14:c8fc06c4887f 16 can1.write(msgTx);
ClementBreteau 14:c8fc06c4887f 17 wait_us(200);
ClementBreteau 14:c8fc06c4887f 18 }
ClementBreteau 14:c8fc06c4887f 19
ClementBreteau 14:c8fc06c4887f 20 /*********************************************************************************************************/
ClementBreteau 14:c8fc06c4887f 21 /* FUNCTION NAME: EspaceLibre */
ClementBreteau 14:c8fc06c4887f 22 /* DESCRIPTION : Calcule si la place et libre pour poser un module */
ClementBreteau 14:c8fc06c4887f 23 /*********************************************************************************************************/
ClementBreteau 14:c8fc06c4887f 24 bool EspaceLibre (signed short xModule, signed short yModule, signed short xRobot, signed short yRobot){
ClementBreteau 14:c8fc06c4887f 25 return true;
ClementBreteau 14:c8fc06c4887f 26
ClementBreteau 14:c8fc06c4887f 27 }
ClementBreteau 14:c8fc06c4887f 28
ClementBreteau 14:c8fc06c4887f 29 /*********************************************************************************************************/
ClementBreteau 14:c8fc06c4887f 30 /* FUNCTION NAME: BonnePlace */
ClementBreteau 14:c8fc06c4887f 31 /* DESCRIPTION : Calcule si le module est bien placé */
ClementBreteau 14:c8fc06c4887f 32 /*********************************************************************************************************/
ClementBreteau 14:c8fc06c4887f 33 bool BonnePlace(signed short xModule, signed short yModule, signed short xRobot, signed short yRobot){
ClementBreteau 14:c8fc06c4887f 34 bool bienPlace = false;
ClementBreteau 14:c8fc06c4887f 35 double distance = abs(xModule - xRobot)*abs(yModule - yRobot) + abs(yModule - yRobot)*abs(yModule - yRobot);
ClementBreteau 14:c8fc06c4887f 36
ClementBreteau 14:c8fc06c4887f 37 distance = sqrt(distance);
ClementBreteau 14:c8fc06c4887f 38
ClementBreteau 14:c8fc06c4887f 39
ClementBreteau 14:c8fc06c4887f 40 if ((TELEMETRE_PROFONDEUR - 10 < TELEMETRE_PROFONDEUR )||( TELEMETRE_PROFONDEUR + 10 > TELEMETRE_PROFONDEUR)){
ClementBreteau 14:c8fc06c4887f 41 bienPlace = true;
ClementBreteau 14:c8fc06c4887f 42 }
ClementBreteau 14:c8fc06c4887f 43 return bienPlace;
ClementBreteau 14:c8fc06c4887f 44 }
ClementBreteau 14:c8fc06c4887f 45
ClementBreteau 14:c8fc06c4887f 46 void initModules(void){
ClementBreteau 14:c8fc06c4887f 47
ClementBreteau 14:c8fc06c4887f 48
ClementBreteau 14:c8fc06c4887f 49 /*listeModules ={true, 1350, 0},
ClementBreteau 14:c8fc06c4887f 50 {true, 0, 1150}};*/
ClementBreteau 14:c8fc06c4887f 51
ClementBreteau 14:c8fc06c4887f 52 listeModules.module1.x=600;
ClementBreteau 14:c8fc06c4887f 53 listeModules.module1.y=1000;
ClementBreteau 14:c8fc06c4887f 54 listeModules.module1.existe = true;
ClementBreteau 14:c8fc06c4887f 55 listeModules.module1.timeout = 0;
ClementBreteau 14:c8fc06c4887f 56
ClementBreteau 14:c8fc06c4887f 57 listeModules.module2.x=600;
ClementBreteau 14:c8fc06c4887f 58 listeModules.module2.y=200;
ClementBreteau 14:c8fc06c4887f 59 listeModules.module2.existe = true;
ClementBreteau 14:c8fc06c4887f 60 listeModules.module2.timeout = 0;
ClementBreteau 14:c8fc06c4887f 61
ClementBreteau 14:c8fc06c4887f 62 listeModules.module3.x=1100;
ClementBreteau 14:c8fc06c4887f 63 listeModules.module3.y=500;
ClementBreteau 14:c8fc06c4887f 64 listeModules.module3.existe = true;
ClementBreteau 14:c8fc06c4887f 65 listeModules.module3.timeout = 0;
ClementBreteau 14:c8fc06c4887f 66
ClementBreteau 14:c8fc06c4887f 67 listeModules.module4.x=1400;
ClementBreteau 14:c8fc06c4887f 68 listeModules.module4.y=900;
ClementBreteau 14:c8fc06c4887f 69 listeModules.module4.existe = true;
ClementBreteau 14:c8fc06c4887f 70 listeModules.module4.timeout = 0;
ClementBreteau 14:c8fc06c4887f 71
ClementBreteau 14:c8fc06c4887f 72 listeModules.module5.x=1850;
ClementBreteau 14:c8fc06c4887f 73 listeModules.module5.y=800;
ClementBreteau 14:c8fc06c4887f 74 listeModules.module5.existe = true;
ClementBreteau 14:c8fc06c4887f 75 listeModules.module5.timeout = 0;
ClementBreteau 14:c8fc06c4887f 76
ClementBreteau 14:c8fc06c4887f 77 listeModules.fusee1.x = 1350;
ClementBreteau 14:c8fc06c4887f 78 listeModules.fusee1.y = 0;
ClementBreteau 14:c8fc06c4887f 79 listeModules.fusee1.nb_module = 4;
ClementBreteau 14:c8fc06c4887f 80 listeModules.fusee1.timeout = 0 ;
ClementBreteau 14:c8fc06c4887f 81
ClementBreteau 14:c8fc06c4887f 82 listeModules.fusee2.x = 0;
ClementBreteau 14:c8fc06c4887f 83 listeModules.fusee2.y = 1150;
ClementBreteau 14:c8fc06c4887f 84 listeModules.fusee2.nb_module = 4;
ClementBreteau 14:c8fc06c4887f 85 listeModules.fusee2.timeout = 0;
ClementBreteau 14:c8fc06c4887f 86
ClementBreteau 14:c8fc06c4887f 87 }
ClementBreteau 14:c8fc06c4887f 88
ClementBreteau 14:c8fc06c4887f 89
ClementBreteau 14:c8fc06c4887f 90 void processData(int objectType, signed short x, signed short y, int nb_module){
ClementBreteau 14:c8fc06c4887f 91 switch(objectType){
ClementBreteau 14:c8fc06c4887f 92 case CYLINDRE:
ClementBreteau 14:c8fc06c4887f 93 //
ClementBreteau 14:c8fc06c4887f 94 break;
ClementBreteau 14:c8fc06c4887f 95
ClementBreteau 14:c8fc06c4887f 96 case MODULE:
ClementBreteau 14:c8fc06c4887f 97 //
ClementBreteau 14:c8fc06c4887f 98 if( (x == listeModules.module1.x) && (y == listeModules.module1.y) ){
ClementBreteau 14:c8fc06c4887f 99 printf("module 1");
ClementBreteau 14:c8fc06c4887f 100 listeModules.module1.timeout ++;
ClementBreteau 14:c8fc06c4887f 101 }
ClementBreteau 14:c8fc06c4887f 102 break;
ClementBreteau 14:c8fc06c4887f 103
ClementBreteau 14:c8fc06c4887f 104 case BALLE:
ClementBreteau 14:c8fc06c4887f 105 //
ClementBreteau 14:c8fc06c4887f 106 break;
ClementBreteau 14:c8fc06c4887f 107 }
ClementBreteau 14:c8fc06c4887f 108
ClementBreteau 14:c8fc06c4887f 109 }