modelec/PAMI-2025
1
0
Fork 0
mirror of https://github.com/modelec/PAMI-2025.git synced 2026-01-18 16:27:30 +01:00
Code Issues Packages Projects Releases Wiki Activity

amélioration trajectoire

Browse Source
This commit is contained in:
dd060606
2025-05-30 17:47:22 +02:00
parent 91048dc317
commit 3d5cd6b67f
1 changed files with 11 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
src/main.cpp
View File

@@ -5,9 +5,9 @@
#include "utils.h"
// Côté bleu = 1 et Côté jaune = 2
#define PAMI_SIDE 1
#define PAMI_SIDE 2
// Numéro du pami pour les différents robots car chemins différents
#define PAMI_NUM 3
#define PAMI_NUM 2
#define START_DELAY 5000
uint32_t startTime = 0;
@@ -29,16 +29,15 @@ bool movementInProgress = false;
Step scenario[] = {
{STEP_FORWARD, 105, 2500},
{STEP_ROTATE, PAMI_SIDE == 1 ? -90 : 90, 1000}, // Tourner à gauche si côté bleu, droite si jaune
{STEP_FORWARD_UNTIL_END, 50, 2500}};
{STEP_FORWARD_UNTIL_END, 50, 2000}};
#else
Step scenario[] = {
{STEP_FORWARD, 40, 2500},
{STEP_ROTATE, PAMI_SIDE == 1 ? -90 : 90, 1000},
{STEP_FORWARD, 35, 3000},
{STEP_ROTATE, PAMI_SIDE == 1 ? 90 : -90, 1000},
{STEP_FORWARD, 75 + 10 * (4 - PAMI_NUM), 2500},
{STEP_ROTATE, PAMI_SIDE == 1 ? -90 : 90, 1000},
{STEP_BACKWARD, 10 + 10 * PAMI_SIDE, 500}};
{STEP_FORWARD, 35, 2500},
{STEP_ROTATE, PAMI_SIDE == 1 ? -45 + 10 * (PAMI_NUM - 2) : 45 - 10 * (PAMI_NUM - 2), 500},
{STEP_FORWARD, 130 - 15 * PAMI_NUM, 3000},
{STEP_ROTATE, PAMI_SIDE == 1 ? 45 - 10 * (PAMI_NUM - 2) : -45 + 10 * (PAMI_NUM - 2), 500},
{STEP_ROTATE, PAMI_SIDE == 1 ? -90 : 90, 500},
{STEP_BACKWARD, 100 - 15 * PAMI_NUM, 500}};
#endif
const int scenarioLength = sizeof(scenario) / sizeof(Step);
@@ -242,7 +241,7 @@ void detectObstacles()
}
}
// Si les PAMIs du bas arrivent sur leur phase finale et détecte un robot, alors on s'arrête et se met en position finale
if (PAMI_NUM > 1 && currentScenarioStep == 4)
if (PAMI_NUM > 1 && currentScenarioStep == 2)
{
recherchePlace = true;
Serial.println("Début recherche de place...");
@@ -361,7 +360,7 @@ void loop()
else if (digitalRead(TIRETTE_PIN) == HIGH && tirettePose)
{
// Tirette activée
uint32_t startDelay = START_DELAY + (PAMI_NUM - 1) * 3000;
uint32_t startDelay = START_DELAY + (PAMI_NUM - 1) * 2000;
delay(startDelay);
uint32_t startTime = millis();