From d928db45b3769f18e0b97141b886518111ffad05 Mon Sep 17 00:00:00 2001
From: "remi.greub" <remi.greub@hes-so.ch>
Date: Wed, 19 Mar 2025 20:00:00 +0100
Subject: [PATCH] ajout d'une balle random
---
G3_TP1_labyrinth_etu/src/labyrinth.c | 81 ++++++++++++++++++++++++++++
1 file changed, 81 insertions(+)
diff --git a/G3_TP1_labyrinth_etu/src/labyrinth.c b/G3_TP1_labyrinth_etu/src/labyrinth.c
index 7ae9a94..1d811b7 100644
--- a/G3_TP1_labyrinth_etu/src/labyrinth.c
+++ b/G3_TP1_labyrinth_etu/src/labyrinth.c
@@ -45,6 +45,8 @@
#define GOAL_H_WALL (LCD_MAX_WIDTH-(2*BALL_RADIUS+1+WALL_WIDTH))
#define GOAL_V_WALL (LCD_MAX_HEIGHT-(2*BALL_RADIUS+1+WALL_WIDTH)-1)
+#define NUM_THREADS 5
+
// Ball identifiers
enum {
NONE = -1, // NONE is used if ball has reached the goal (winner field)
@@ -86,6 +88,8 @@ void slave_info_rx(void *data, int len)
}
void Algo_main_ball(void *params);
+void Algo_bots(void *params);
+void RandAccel(accel_t *accel);
int main(void)
{
@@ -113,9 +117,15 @@ int main(void)
accel_read(&ball_accel); // example: reading of the accelerometer
// creating tasks...
+ /*for(int i = 0; i<NUM_THREADS; i++){
+
+ }*/
xTaskCreate(Algo_main_ball, (signed portCHAR *)"Masterball",
configMINIMAL_STACK_SIZE, &ball_param_th[0], tskIDLE_PRIORITY+1,
NULL);
+ xTaskCreate(Algo_bots, (signed portCHAR *)"libreball1",
+ configMINIMAL_STACK_SIZE, &ball_param_th[2], tskIDLE_PRIORITY+1,
+ NULL);
vTaskStartScheduler(); // launch scheduler
LPC_TIM0->TCR = 1;
@@ -181,3 +191,74 @@ void Algo_main_ball(void *params){
}
}
+
+void Algo_bots(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);
+ 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.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);
+
+ }
+}
+
+void RandAccel(accel_t *accel){
+ float x = rnd32()%500;
+ float y = rnd32()%500;
+ 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;
+}
--
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