diff --git a/G3_TP1_labyrinth_etu/src/labyrinth.c b/G3_TP1_labyrinth_etu/src/labyrinth.c
index 4de45025ad4e508ba27b373fe7fbc7ea354ffc73..ab7340d39efb3dd0d92a1832eb7907496ef19742 100644
--- a/G3_TP1_labyrinth_etu/src/labyrinth.c
+++ b/G3_TP1_labyrinth_etu/src/labyrinth.c
@@ -123,7 +123,7 @@ int main(void)
xTaskCreate(Algo_main_ball, (signed portCHAR *)"Masterball",
configMINIMAL_STACK_SIZE, &ball_param_th[0], tskIDLE_PRIORITY+1,
NULL);
- xTaskCreate(Algo_bots, (signed portCHAR *)"libreball1",
+ /*xTaskCreate(Algo_bots, (signed portCHAR *)"libreball1",
configMINIMAL_STACK_SIZE, &ball_param_th[2], tskIDLE_PRIORITY+1,
NULL);
xTaskCreate(Algo_bots, (signed portCHAR *)"libreball2",
@@ -131,7 +131,7 @@ int main(void)
NULL);
xTaskCreate(Algo_bots, (signed portCHAR *)"libreball3",
configMINIMAL_STACK_SIZE, &ball_param_th[4], tskIDLE_PRIORITY+1,
- NULL);
+ NULL);*/
vTaskStartScheduler(); // launch scheduler
LPC_TIM0->TCR = 1;
@@ -144,39 +144,65 @@ void Algo_main_ball(void *params){
ball_param_th_t *ball = (ball_param_th_t *)params;
accel_t ball_acc;
int un_ou_moins_un_x = 1, un_ou_moins_un_y = 1;
+ //bool collision_prev=false;
while(1){
lcd_filled_circle(ball->ball.pos.x, ball->ball.pos.y, ball->ball.radius, LCD_BLACK);
int CollisionState = test_collision(&ball->ball);
if(CollisionState != NO_COLLISION){
//ralentissement de 10% de la vitesse de la balle
- ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
- ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
+ //ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
+ //ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
if(CollisionState & TOUCH_LEFT){
un_ou_moins_un_x = -1;
- ball->ball.pos.x += ball->ball.radius/3;
- }
- if(CollisionState & TOUCH_RIGHT){
- un_ou_moins_un_x = -1;
- ball->ball.pos.x -= ball->ball.radius/3;
+ ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
+ //ball->ball.speed.x *= -REBOUND_FACTOR;
+ //ball->ball.pos.x += ball->ball.radius*0.4; //round
+ ball->ball.pos.x += 2;
}
if(CollisionState & TOUCH_UP){
un_ou_moins_un_y = -1;
- ball->ball.pos.y += ball->ball.radius/3;
+ ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
+ //ball->ball.speed.y *= -REBOUND_FACTOR;
+ //ball->ball.pos.y += ball->ball.radius*0.4; //round()
+ ball->ball.pos.y += 2;
+ }
+ if(CollisionState & TOUCH_RIGHT){
+ un_ou_moins_un_x = -1;
+ ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
+ //ball->ball.speed.x *= -REBOUND_FACTOR;
+ //ball->ball.pos.x -= ball->ball.radius*0.4; //round()
+ ball->ball.pos.x -= 2;
}
if(CollisionState & TOUCH_DOWN){
un_ou_moins_un_y = -1;
- ball->ball.pos.y -= ball->ball.radius/3;
+ ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
+ //ball->ball.speed.y *= -REBOUND_FACTOR;
+ //ball->ball.pos.y -= ball->ball.radius*0.4; //round()
+ ball->ball.pos.y -= 2;
}
+ ball->ball.pos.x = round(ball->ball.pos.x);
+ ball->ball.pos.y = round(ball->ball.pos.y);
+ //collision_prev = true;
}else{
accel_read(&ball_acc);
- ball->ball.speed.x = ((ball_acc.accel_x*0.1)+ball->ball.speed.x)*(un_ou_moins_un_x);
- ball->ball.speed.y = ((ball_acc.accel_y*0.1)+ball->ball.speed.y)*(un_ou_moins_un_y);
+ ball->ball.speed.x =((ball_acc.accel_x*0.4)+ball->ball.speed.x)*(un_ou_moins_un_x);
+ ball->ball.speed.y = ((ball_acc.accel_y*0.4)+ball->ball.speed.y)*(un_ou_moins_un_y);
+
+ ball->ball.speed.x = (ball->ball.speed.x >= SPEED_MAX) ? SPEED_MAX: ball->ball.speed.x;
+ ball->ball.speed.y = (ball->ball.speed.y >= SPEED_MAX) ? SPEED_MAX: ball->ball.speed.y;
+ ball->ball.speed.x = (ball->ball.speed.x <= -SPEED_MAX) ? -SPEED_MAX: ball->ball.speed.x;
+ ball->ball.speed.y = (ball->ball.speed.y <= -SPEED_MAX) ? -SPEED_MAX: ball->ball.speed.y;
ball->ball.pos.x = ball->ball.pos.x + ball->ball.speed.x*(un_ou_moins_un_x);
ball->ball.pos.y = ball->ball.pos.y + ball->ball.speed.y*(un_ou_moins_un_y);
un_ou_moins_un_y = 1;
un_ou_moins_un_x = 1;
+ //if(collision_prev){
+ ball->ball.pos.x = round(ball->ball.pos.x);
+ ball->ball.pos.y = round(ball->ball.pos.y);
+ //collision_prev = false;
+ //}
}
//détection des collisions sur les bords de l'ecran LCD
@@ -186,15 +212,14 @@ void Algo_main_ball(void *params){
if(ball->ball.pos.y <= ball->ball.radius){
ball->ball.pos.y = ball->ball.radius+1;
}
- if(ball->ball.pos.x >= LCD_MAX_WIDTH-ball->ball.radius){
- ball->ball.pos.x = LCD_MAX_WIDTH-ball->ball.radius;
+ if(ball->ball.pos.x >= (LCD_MAX_WIDTH - (ball->ball.radius))){
+ ball->ball.pos.x = (LCD_MAX_WIDTH - (ball->ball.radius+1));
}
- if(ball->ball.pos.y >= LCD_MAX_HEIGHT-ball->ball.radius){
- ball->ball.pos.y = LCD_MAX_HEIGHT-ball->ball.radius;
+ if(ball->ball.pos.y >= (LCD_MAX_HEIGHT - (ball->ball.radius))){
+ ball->ball.pos.y = (LCD_MAX_HEIGHT - (ball->ball.radius+1));
}
lcd_filled_circle(ball->ball.pos.x, ball->ball.pos.y, ball->ball.radius, ball->ball.color);
vTaskDelay((portTickType)20/portTICK_RATE_MS);
-
}
}
@@ -235,23 +260,22 @@ void Algo_bots(void *params){
ball->ball.pos.y = ball->ball.pos.y + ball->ball.speed.y*(un_ou_moins_un_y);
un_ou_moins_un_y = 1;
un_ou_moins_un_x = 1;
- }
- //}
- if(ball->ball.pos.x <= ball->ball.radius){
- ball->ball.pos.x = ball->ball.radius+1;
- }
- if(ball->ball.pos.y <= ball->ball.radius){
- ball->ball.pos.y = ball->ball.radius+1;
- }
- if(ball->ball.pos.x >= LCD_MAX_WIDTH-ball->ball.radius){
- ball->ball.pos.x = LCD_MAX_WIDTH-ball->ball.radius;
- }
- if(ball->ball.pos.y >= LCD_MAX_HEIGHT-ball->ball.radius){
- ball->ball.pos.y = LCD_MAX_HEIGHT-ball->ball.radius;
+
+ if(ball->ball.pos.x <= ball->ball.radius){
+ ball->ball.pos.x = ball->ball.radius+1;
+ }
+ if(ball->ball.pos.y <= ball->ball.radius){
+ ball->ball.pos.y = ball->ball.radius+1;
+ }
+ if(ball->ball.pos.x >= LCD_MAX_WIDTH-ball->ball.radius){
+ ball->ball.pos.x = LCD_MAX_WIDTH-ball->ball.radius;
+ }
+ if(ball->ball.pos.y >= LCD_MAX_HEIGHT-ball->ball.radius){
+ ball->ball.pos.y = LCD_MAX_HEIGHT-ball->ball.radius;
+ }
}
lcd_filled_circle(ball->ball.pos.x, ball->ball.pos.y, ball->ball.radius, ball->ball.color);
vTaskDelay((portTickType)20/portTICK_RATE_MS);
-
}
}
@@ -262,10 +286,4 @@ void RandAccel(accel_t *accel){
float y = (float)(rnd32()%100)-50;
accel->accel_x = x/100;
accel->accel_y = y/100;
- //accel->accel_z = (float)(rnd32()%500)/100;
-
- accel->magneto_x = 0;
- accel->magneto_y = 0;
- accel->magneto_z = 0;
- accel->temperature = 0;
}