void fin(void) {
motors_stop();
while (1) {
allumer_del();
pause_ms(500);
eteindre_del();
pause_ms(500);
}
}
void io_init(void)
{
// "All port pins are defined as inputs after a Reset"
// Reglage du PORTA
//_TRISA0 = 1; // MOTOR_LEFT_CURRENT
//_TRISA1 = 1;
//_TRISA2 = 1; // MOTOR_SF
// Reglage du PORTB
//U1MODEbits.UARTEN = 0b0; // UART déconnecté
//_TRISB2 = 0;
_TRISB3 = 1;
_TRISB4 = 0; // Motor_enable
_RB4 = 1;
pause_ms(1);
_TRISB5 = 0; // DEL en mode output
_RB5 = 1; // On eteint la DEL par defaut
//_TRISB6 = 1; // Coder right B
//_TRISB7 = 1; // Coder right A
//_TRISB10 = 1; // Coder left B
//_TRISB11 = 1; // Coder left A
_TRISB12 = 0; // MOTEUR IN1 right
_RB12 = 0; // PWM en IO général si non-utilisé (au moins 2 broches sur 4)
_TRISB13 = 0; // MOTEUR IN2 right
_RB13 = 0;
_TRISB14 = 0; // MOTEUR IN1 left
_RB14 = 0;
_TRISB15 = 0; // MOTEUR IN2 left
_RB15 = 0;
}
void asservir()
{
if(consigne_alpha != 0)
{
asser_tourner(consigne_alpha);
pause_ms(200); // peut etre a changer
return;
}
else if(consigne_delta != 0)
{
asser_avancer(consigne_delta);
pause_ms(200); // peut etre a changer
return;
}
else
{
motors_stop();
}
}
void evitementObstacle(InfoMvt *infoMvt) {
if (getDistance(!(infoMvt->sensMvt)) > DISTANCE_PROXIMITE) { // On peut manœvrer
// On recule, on se tourne de 90° et on avance
// Angle currentAlpha = getAlphaAbs();
sendDelta(-DISTANCE_EVITEMENT);
sendAlpha(90);
if (getDistance(infoMvt->sensMvt) > DISTANCE_PROXIMITE) {
sendDelta(+DISTANCE_EVITEMENT);
} else {
// On est un peu coinsé !
}
} else {
// On tourne sur place
sendAlpha(45);
if (getDistance(infoMvt->sensMvt) > DISTANCE_PROXIMITE) {
pause_ms(1000);
}
}
}
int main() {
long int tickG = 0, tickD = 0;
long int vG=7900, vD=7900;
init();
while (tickG < 10 && tickD < 10)
{
vG += 20;
vD += 20;
tickG = 0;
tickD = 0;
motors_reset_qei();
motors_set_speed(echelle(vG), echelle(vD));
pause_ms(70);
motors_get_qei(&tickG, &tickD);
}
motors_set_speed(0, 0);
AD_minSpeed = (long int)((float)vG*1.1);
asser();
return 0;
}
/* endgame - checks if a constitutional amendment is ratified */
char ratify(int level,int lawview,int view,char congress,char canseethings)
{
if(canseethings)
{
music.play(MUSIC_ELECTIONS);
erase();
set_color(COLOR_WHITE,COLOR_BLACK,1);
move(0,0);
addstr("The Ratification Process:");
}
//THE STATE VOTE WILL BE BASED ON VIEW OF LAW
int mood=publicmood(lawview);
//OR OF A PARTICULAR ISSUE
if(view>=0) mood=attitude[view];
//CONGRESS
bool ratified=false;
int y=0;
if(congress)
{
ratified=true;
if(canseethings)
{
move(0,62);
addstr("House");
move(0,70);
addstr("Senate");
move(24,0);
addstr("Press any key to watch the Congressional votes unfold. ");
getkey();
}
bool yeswin_h=false,yeswin_s=false;
int yesvotes_h=0,yesvotes_s=0,vote,s=0;
for(int l=0;l<HOUSENUM;l++)
{
vote=house[l];
if(vote>=-1&&vote<=1) vote+=LCSrandom(3)-1;
if(level==vote) yesvotes_h++;
if(l==HOUSENUM-1) if(yesvotes_h>=HOUSESUPERMAJORITY) yeswin_h=true;
if(canseethings)
{
if(l==HOUSENUM-1&&yeswin_h) set_color(COLOR_WHITE,COLOR_BLACK,1);
else if(l==HOUSENUM-1) set_color(COLOR_BLACK,COLOR_BLACK,1);
else set_color(COLOR_WHITE,COLOR_BLACK,0);
move(2,62);
addstr(yesvotes_h);
addstr(" Yea");
if(l==HOUSENUM-1&&!yeswin_h) set_color(COLOR_WHITE,COLOR_BLACK,1);
else if(l==HOUSENUM-1) set_color(COLOR_BLACK,COLOR_BLACK,1);
else set_color(COLOR_WHITE,COLOR_BLACK,0);
move(3,62);
addstr(l+1-yesvotes_h);
addstr(" Nay");
}
if(l%4==0&&s<SENATENUM)
{
vote=senate[s++];
if(vote>=-1&&vote<=1) vote+=LCSrandom(3)-1;
if(level==vote) yesvotes_s++;
}
if(l==HOUSENUM-1&&yesvotes_s>=SENATESUPERMAJORITY) yeswin_s=true;
if(canseethings)
{
if(l==HOUSENUM-1&&yeswin_s) set_color(COLOR_WHITE,COLOR_BLACK,1);
else if(l==HOUSENUM-1) set_color(COLOR_BLACK,COLOR_BLACK,1);
else set_color(COLOR_WHITE,COLOR_BLACK,0);
move(2,70);
addstr(yesvotes_s);
addstr(" Yea");
if(l==HOUSENUM-1&&!yeswin_s) set_color(COLOR_WHITE,COLOR_BLACK,1);
else if(l==HOUSENUM-1) set_color(COLOR_BLACK,COLOR_BLACK,1);
else set_color(COLOR_WHITE,COLOR_BLACK,0);
move(3,70);
addstr(s-yesvotes_s);
addstr(" Nay");
if(l%5==0) pause_ms(10);
}
}
if(!yeswin_h||!yeswin_s) ratified=false;
y+=4;
}
else ratified=true;
if(level==3) level=-2; // special case for Stalinists: do this after Congress but before the states
//STATES
if(ratified)
{
ratified=false;
int yesstate=0;
if(canseethings)
{
set_color(COLOR_WHITE,COLOR_BLACK,1);
for(int s=0;s<50;s++)
{
if(s<17) move(5+s,0);
else if(s<34) move(5+s-17,27);
else move(5+s-34,54);
addstr(statename(s));
}
move(24,0);
addstr("Press any key to watch the State votes unfold. ");
getkey();
}
int vote,smood;
for(int s=0;s<STATENUM;s++)
{
smood=mood;
// State biases.
int multiplier = 5+LCSrandom(3);
switch(s)
{
case 0:smood-=3*multiplier;break; // Alabama
case 1:smood-=4*multiplier;break; // Alaska
case 2:smood-=1*multiplier;break; // Arkansas
case 3:smood-=2*multiplier;break; // Arizona
case 4:smood+=4*multiplier;break; // California
case 5:break; // Colorado
case 6:smood+=3*multiplier;break; // Connecticut
case 7:smood+=3*multiplier;break; // Delaware
case 8:break; // Florida
case 9:smood-=2*multiplier;break; // Georgia
case 10:smood+=4*multiplier;break; // Hawaii
case 11:smood-=5*multiplier;break; // Idaho
case 12:smood+=4*multiplier;break; // Illinois
case 13:smood-=1*multiplier;break; // Indiana
case 14:smood+=1*multiplier;break; // Iowa
case 15:smood-=3*multiplier;break; // Kansas
case 16:smood-=3*multiplier;break; // Kentucky
case 17:smood-=1*multiplier;break; // Louisiana
case 18:smood+=2*multiplier;break; // Maine
case 19:smood+=3*multiplier;break; // Maryland
case 20:smood+=6*multiplier;break; // Massachusetts
case 21:smood+=2*multiplier;break; // Michigan
case 22:smood+=2*multiplier;break; // Minnesota
case 23:smood-=4*multiplier;break; // Mississippi
case 24:smood-=1*multiplier;break; // Missouri
case 25:smood-=2*multiplier;break; // Montana
case 26:smood-=3*multiplier;break; // Nebraska
case 27:break; // Nevada
case 28:smood+=1*multiplier;break; // New Hampshire
case 29:smood+=3*multiplier;break; // New Jersey
case 30:smood+=1*multiplier;break; // New Mexico
case 31:smood+=5*multiplier;break; // New York
case 32:smood-=1*multiplier;break; // North Carolina
case 33:smood-=3*multiplier;break; // North Dakota
case 34:break; // Ohio
case 35:smood-=4*multiplier;break; // Oklahoma
case 36:smood+=3*multiplier;break; // Oregon
case 37:smood+=2*multiplier;break; // Pennsylvania
case 38:smood+=4*multiplier;break; // Rhode Island
case 39:smood-=5*multiplier;break; // South Carolina
case 40:smood-=3*multiplier;break; // South Dakota
case 41:smood-=2*multiplier;break; // Tennessee
case 42:smood-=4*multiplier;break; // Texas
case 43:smood-=6*multiplier;break; // Utah
case 44:smood+=5*multiplier;break; // Vermont
case 45:break; // Virginia
case 46:smood+=3*multiplier;break; // Washington
case 47:smood-=2*multiplier;break; // West Virginia
case 48:smood+=2*multiplier;break; // Wisconsin
case 49:smood-=5*multiplier;break; // Wyoming
}
vote=-2;
if(LCSrandom(100)<smood)vote++;
if(LCSrandom(100)<smood)vote++;
if(LCSrandom(100)<smood)vote++;
if(LCSrandom(100)<smood)vote++;
if(vote==1&&!LCSrandom(2)) vote=2;
if(vote==-1&&!LCSrandom(2)) vote=-2;
if(canseethings)
{
set_color(COLOR_WHITE,COLOR_BLACK,1);
if(s<17) move(5+s,22);
else if(s<34) move(5+s-17,49);
else move(5+s-34,76);
}
if(vote==level)
{
yesstate++;
if(canseethings) addstr("Yea");
}
else if(canseethings) addstr("Nay");
if(canseethings)
{
if(s==STATENUM-1&&yesstate>=STATESUPERMAJORITY) set_color(COLOR_WHITE,COLOR_BLACK,1);
else if(s==STATENUM-1) set_color(COLOR_BLACK,COLOR_BLACK,1);
else set_color(COLOR_WHITE,COLOR_BLACK,0);
move(23,50);
addstr(yesstate);
addstr(" Yea");
if(s==STATENUM-1&&yesstate<STATESUPERMAJORITY) set_color(COLOR_WHITE,COLOR_BLACK,1);
else if(s==STATENUM-1) set_color(COLOR_BLACK,COLOR_BLACK,1);
else set_color(COLOR_WHITE,COLOR_BLACK,0);
move(23,60);
addstr(s+1-yesstate);
addstr(" Nay");
pause_ms(50);
}
}
if(yesstate>=STATESUPERMAJORITY) ratified=true;
}
if(canseethings)
{
set_color(COLOR_WHITE,COLOR_BLACK,1);
move(23,0);
if(ratified) addstr("AMENDMENT ADOPTED.");
else addstr("AMENDMENT REJECTED.");
}
return ratified;
}
void pause_s(unsigned int n)
{
unsigned int i;
for(i=0; i<n; i++)
pause_ms(1000);
}
