void pwm_leftback(u8 highpwm) //
{
if (highpwm !=0)
pwm_left(0);
PWMn_Update(PCA2,highpwm);
}
void strat_manage(struct strategy * strat){
static uint24_t starttime;
if( beudatraj.state==READY){
switch(Strat_State){
case STRAT_GET_ELT_ON_TABLE:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on table\r\n");
#endif
strat_go_get_elts_on_table(strat);
break;
case STRAT_CONSTRUCT_TEMPLE_3:
#ifdef DEBUG_STRAT
UART_CPutString("strat> hav to build a temple 3\r\n");
#endif
strat_construct_temple(strat,3,0); //0 it depends on our color
break;
case STRAT_GET_LINT_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get lint area 1\r\n");
#endif
strat_go_get_lint(strat,LINT_DISP_L1);
break;
case STRAT_GET_LINT_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get lint area 2\r\n");
#endif
strat_go_get_lint(strat,LINT_DISP_L2);
break;
case STRAT_GET_ELT_ON_FIXED_DISP:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on fixed disp\r\n");
#endif
strat_go_get_elts_disp(strat,0);
break;
case STRAT_GET_ELT_ON_RAND_DISP_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on rand 1\r\n");
#endif
strat_go_get_elts_disp(strat,1);
break;
case STRAT_GET_ELT_ON_RAND_DISP_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on disp 2\r\n");
#endif
strat_go_get_elts_disp(strat,2);
break;
case STRAT_CONSTRUCT_TEMPLE_2_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 2 1\r\n");
#endif
strat_construct_temple(strat,2,1);
break;
case STRAT_CONSTRUCT_TEMPLE_2_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 2 2\r\n");
#endif
strat_construct_temple(strat,2,2);
break;
case STRAT_CONSTRUCT_TEMPLE_1_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 1\r\n");
#endif
strat_construct_temple(strat,1,1);
break;
case STRAT_CONSTRUCT_TEMPLE_1_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 2\r\n");
#endif
strat_construct_temple(strat,1,2);
break;
case STRAT_CONSTRUCT_TEMPLE_1_3:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 3\r\n");
#endif
strat_construct_temple(strat,1,3);
break;
case STRAT_CONSTRUCT_TEMPLE_1_4:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 4\r\n");
#endif
strat_construct_temple(strat,1,4);
break;
case STRAT_EMERGENCY_BEHAVIOUR:
#ifdef DEBUG_STRAT
UART_CPutString("strat> emergency behaviour on\r\n");
#endif
strat_do_emergency_behaviour();
PRT2DR ^=0x80;
break;
case STRAT_EXIT:
#ifdef DEBUG_STRAT
UART_CPutString("strat> exit\r\n");
#endif
pwm_left(0);
pwm_right(0);
//ordre i2c pour sortir et ouvrir la pince
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR, I2C_TAPIS_EJECT);
i2c_send_only(I2C_LINTO_ADDR,I2C_LINT_DROP);
i2c_send_only(I2C_PINCE_ADDR,I2C_PINCE_DROP);
starttime = gettime();
while(gettime() < (starttime + DELAY_TAPIS_EJECT));
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR, I2C_TAPIS_STOP);
clearBit(beudabot.events,EVENT_DO_STRAT);
while(1);
break;
}
}
}
/**************************停止*****************************/
void stop() {pwm_left(0); pwm_right(0); pwm_leftback(0);}
