From 8b8e45968a1fa4f3f71f5923d37f869eb857a7d7 Mon Sep 17 00:00:00 2001
From: "remi.greub" <remi.greub@hes-so.ch>
Date: Wed, 19 Mar 2025 18:46:17 +0100
Subject: [PATCH] masterball fonctionnelle avec quelques corrections a faire
encore
---
G3_TP1_labyrinth_etu/src/labyrinth.c | 68 +++++++++++++++++++++++++++-
1 file changed, 66 insertions(+), 2 deletions(-)
diff --git a/G3_TP1_labyrinth_etu/src/labyrinth.c b/G3_TP1_labyrinth_etu/src/labyrinth.c
index 9e0d083..7ae9a94 100644
--- a/G3_TP1_labyrinth_etu/src/labyrinth.c
+++ b/G3_TP1_labyrinth_etu/src/labyrinth.c
@@ -85,6 +85,8 @@ void slave_info_rx(void *data, int len)
// code executed when the slave sends an ethernet frame
}
+void Algo_main_ball(void *params);
+
int main(void)
{
accel_t ball_accel;
@@ -111,9 +113,71 @@ int main(void)
accel_read(&ball_accel); // example: reading of the accelerometer
// creating tasks...
- // xTaskCreate(...);
- // vTaskStartScheduler(); // launch scheduler
+ xTaskCreate(Algo_main_ball, (signed portCHAR *)"Masterball",
+ configMINIMAL_STACK_SIZE, &ball_param_th[0], tskIDLE_PRIORITY+1,
+ NULL);
+ vTaskStartScheduler(); // launch scheduler
+ LPC_TIM0->TCR = 1;
+
while(1);
return 1;
}
+
+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;
+ 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);
+
+ if(CollisionState & TOUCH_LEFT){
+ 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_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);
+
+ 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(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.y == LCD_MAX_HEIGHT-ball->ball.radius){
+ ball->ball.pos.y -= 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);
+
+ }
+}
--
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