void repeatSongSelection()
{
AUDIO_PlayFile(VOIX_REPEAT);
LCD_ClearAndPrint("Bonne chance!\n");
LCD_Printf("1\n");
THREAD_MSleep(1000);
LCD_Printf("2\n");
THREAD_MSleep(1000);
LCD_Printf("3\n");
THREAD_MSleep(1000);
LCD_Printf("GO!!!\n");
//Random number to select the song to play
int songSelect = rand()%4 + 1;
switch (songSelect)
{
case 1:
repeat(PATH_CLAIRE_FONTAINE);
break;
case 2:
repeat(PATH_HYMNE_A_LA_JOIE);
break;
case 3:
repeat(PATH_STAR_WARS);
break;
case 4:
repeat(PATH_RENNE_NEZ_ROUGE);
break;
default:
break;
}
}
void set_expected_encoder_reads(int motor_speed){
int average_encoder_read_right = 0, average_encoder_read_left = 0, total_encoder_read_right = 0, total_encoder_read_left = 0;
int calculation_period = 3000;
prompt_bumpers();
reset_encoders();
set_motors_speed(motor_speed);
LCD_ClearAndPrint("Testing and setting encoder expected reads for %d ms...", calculation_period);
THREAD_MSleep(calculation_period);
total_encoder_read_right += ENCODER_Read(ENCODER_RIGHT);
total_encoder_read_left += ENCODER_Read(ENCODER_LEFT);
stop();
EXPECTED_ENCODER_READ_LEFT = (int)floor(total_encoder_read_left/(calculation_period/__PID_TIME_INTERVAL__));
EXPECTED_ENCODER_READ_RIGHT = (int)floor(total_encoder_read_right/(calculation_period/__PID_TIME_INTERVAL__));
LCD_ClearAndPrint("Done!\nExpected encoder reads are:\nRight: %d\nLeft: %d\nPress any bumper to continue!",EXPECTED_ENCODER_READ_RIGHT,EXPECTED_ENCODER_READ_LEFT);
prompt_bumpers();
reset_encoders();
}
void testCouleur()
{
//TODO: un 'if' qui prend la couleur avec le i2c ou analogue dependant du robot
//le robot 43 a une pin entre le digital 9 et le Vcc
bool estRobot43 = (DIGITALIO_Read(9) == 1);
//initialiser le capteur cest important quand on s'appelle robot 43
if(estRobot43)
initCapteurI2C();
//ofstream fichier;
//fichier.open("couleur.txt");
while(1)
{
RgbColor readColor;
//step 1
if(estRobot43)
readColor = getColorI2C();
else
readColor = getColorAnalog();
LCD_ClearAndPrint("\nR=%i, G=%i, B=%i", readColor.r, readColor.g, readColor.b);
//fichier << "background-color: rgb(" <<readColor.r<<","<<readColor.g<<","<<readColor.b<<")"<< endl;
//step 2
HsbColor colorsHSB = RGBtoHSB(readColor);
LCD_Printf("\nH=%.4f, S=%.4f, B=%.4f ", colorsHSB.hue, colorsHSB.saturation, colorsHSB.brightness);
int laCouleur = currentFloorColor(colorsHSB,estRobot43);
LCD_Printf("\n");
switch(laCouleur){
case 0:
LCD_Printf("BLANC");break;
case 1:
LCD_Printf("BLEU");break;
case 2:
LCD_Printf("ROUGE");break;
case 3:
LCD_Printf("VERT");break;
case 4:
LCD_Printf("JAUNE");break;
case 5:
LCD_Printf("WTF");break;
case 6:
LCD_Printf("Noir");break;
default:
LCD_Printf("default");break;
}
//LCD_Printf("%s",laCouleur.c_str());
/*if(estRobot43)
laCouleur = currentFloorColor(colorsHSB);*/
//else
//laCouleur = currentFloorColorAnalog(colorsHSB);
//LCD_Printf("%s",laCouleur.c_str());
}
}
void freePlay()
{
AllLED(VERT);
AUDIO_PlayFile(VOIX_FREE);
LCD_ClearAndPrint("Je t'ecoute!\n");
LCD_ClearAndPrint("Appuie sur un des trois boutons pour revenir au menu.\n");
THREAD_MSleep(3000);
PianoStream stream;
stream.size = PIANO_SIZE;
stream.streamID = -1;
stream.currentNote = -1;
Note notes[PIANO_SIZE] = {{false, true, VAL_DO1},
{false, true, VAL_RE},
{false, true, VAL_MI},
{false, true, VAL_FA},
{false, true, VAL_SOL},
{false, true, VAL_LA},
{false, true, VAL_SI},
{false, true, VAL_DO2}};
stream.notes = notes;
AUDIO_SetVolume(50);
//Infinite loop until the buttons call break
while(1)
{
CheckPressedKeys(&stream);
PlayAndStopNotes(&stream);
THREAD_MSleep(10);
if(ButtonStatus(1) == 1 || ButtonStatus(2) == 1 || ButtonStatus(3) == 1)
break;
}
//Assure the piano has stopped playing sounds
ResetStream(&stream);
PlayAndStopNotes(&stream);
}
void testDistance(){
LCD_Printf("lol");
bool IRgauche, IRdroite;
while(1){
switch(IR_Detect(IR_FRONT))
{
case 0: IRgauche=false;IRdroite=false;break;
case 1: IRdroite=true;IRgauche=false;break;
case 2: IRdroite=false;IRgauche=true;break;
case 3: IRdroite=true;IRgauche=true;break;
}
//----------------------------------------------
//tourne a droite si obstacle a gauche
if(IRgauche==false && IRdroite == false)
{
LCD_ClearAndPrint("Rien");
}
else if(IRgauche==true && IRdroite == false)
{
LCD_ClearAndPrint("Gauche");
}
else if(IRdroite==true && IRgauche == false)
{
LCD_ClearAndPrint("Droite");
}
else // 2 dÈtecteurs activÈs
{
LCD_ClearAndPrint("Deux");
}
}
}
void testInfrarouge()
{
LCD_ClearAndPrint("Test Infrarouge\n");
int sortie = 0;
sortie = IR_Detect(IR_FRONT);
switch(sortie)
{
case 0: LCD_Printf("RIEN\n");break;
case 1: LCD_Printf("DROITE\n");break;
case 2: LCD_Printf("GAUCHE\n");break;
case 3: LCD_Printf("DROITE ET GAUCHE\n");break;
}
THREAD_MSleep(100);
}
