corrections de l'acceleration random bot + detection end of LCD

G3_TP1_labyrinth_etu/src/labyrinth.c

@@ -150,20 +150,19 @@ void Algo_main_ball(void *params){
 				un_ou_moins_un_x = -1;
 				ball->ball.pos.x += ball->ball.radius/2;
 			}
-			if(CollisionState & TOUCH_UP){
-				un_ou_moins_un_y = -1;
-				ball->ball.pos.y += ball->ball.radius/2;
-			}
 			if(CollisionState & TOUCH_RIGHT){
 				un_ou_moins_un_x = -1;
 				ball->ball.pos.x -= ball->ball.radius/2;
 			}
+			if(CollisionState & TOUCH_UP){
+				un_ou_moins_un_y = -1;
+				ball->ball.pos.y += ball->ball.radius/2;
+			}
 			if(CollisionState & TOUCH_DOWN){
 				un_ou_moins_un_y = -1;
 				ball->ball.pos.y -= ball->ball.radius/2;
 			}
 		}else{
-			//lcd_filled_circle(ball->ball.pos.x, ball->ball.pos.y, ball->ball.radius, LCD_BLACK);
 			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);
@@ -173,18 +172,19 @@ void Algo_main_ball(void *params){
 			un_ou_moins_un_y = 1;
 			un_ou_moins_un_x = 1;
 		}
-		//}
+
+		//détection des collisions sur les bords de l'ecran LCD
 		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 -= ball->ball.radius;
+		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 -= 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);
@@ -221,10 +221,9 @@ void Algo_bots(void *params){
 				ball->ball.pos.y -= ball->ball.radius/2;
 			}
 		}else{
-			//lcd_filled_circle(ball->ball.pos.x, ball->ball.pos.y, ball->ball.radius, LCD_BLACK);
 			RandAccel(&ball_acc);
-			ball->ball.speed.x = ((ball_acc.accel_x*0.08)+ball->ball.speed.x)*(un_ou_moins_un_x);
-			ball->ball.speed.y = ((ball_acc.accel_y*0.08)+ball->ball.speed.y)*(un_ou_moins_un_y);
+			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.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);
@@ -238,11 +237,11 @@ void Algo_bots(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 -= ball->ball.radius;
+		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 -= 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);
@@ -250,12 +249,14 @@ void Algo_bots(void *params){
 	}
 }
 
+
+//random d'accélérations
 void RandAccel(accel_t *accel){
-	float x = rnd32()%500;
-	float y = rnd32()%500;
+	float x = (float)(rnd32()%100)-50;
+	float y = (float)(rnd32()%100)-50;
 	accel->accel_x = x/100;
 	accel->accel_y = y/100;
-	accel->accel_z = (float)(rnd32()%500)/100;
+	//accel->accel_z = (float)(rnd32()%500)/100;
 
 	accel->magneto_x = 0;
 	accel->magneto_y = 0;