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Commit fbb8fee3 authored by remi.greub's avatar remi.greub
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derniere version

parent 0bd89e8e
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G3_TP1_labyrinth_etu/src/labyrinth.c
+ 64
− 42
View file @ fbb8fee3
......@@ -117,13 +117,10 @@ 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",
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 +128,7 @@ 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;
......@@ -144,9 +141,8 @@ 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);
lcd_filled_circle(round(ball->ball.pos.x), round(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
......@@ -159,6 +155,7 @@ void Algo_main_ball(void *params){
//ball->ball.speed.x *= -REBOUND_FACTOR;
//ball->ball.pos.x += ball->ball.radius*0.4; //round
ball->ball.pos.x += 2;
//ball->ball.pos.x = ceil(ball->ball.pos.x);
}
if(CollisionState & TOUCH_UP){
un_ou_moins_un_y = -1;
......@@ -166,6 +163,7 @@ void Algo_main_ball(void *params){
//ball->ball.speed.y *= -REBOUND_FACTOR;
//ball->ball.pos.y += ball->ball.radius*0.4; //round()
ball->ball.pos.y += 2;
//ball->ball.pos.y = ceil(ball->ball.pos.y);
}
if(CollisionState & TOUCH_RIGHT){
un_ou_moins_un_x = -1;
......@@ -173,6 +171,7 @@ void Algo_main_ball(void *params){
//ball->ball.speed.x *= -REBOUND_FACTOR;
//ball->ball.pos.x -= ball->ball.radius*0.4; //round()
ball->ball.pos.x -= 2;
//ball->ball.pos.x = floor(ball->ball.pos.x);
}
if(CollisionState & TOUCH_DOWN){
un_ou_moins_un_y = -1;
......@@ -180,14 +179,14 @@ void Algo_main_ball(void *params){
//ball->ball.speed.y *= -REBOUND_FACTOR;
//ball->ball.pos.y -= ball->ball.radius*0.4; //round()
ball->ball.pos.y -= 2;
//ball->ball.pos.y = floor(ball->ball.pos.y);
}
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*0.4)+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_acc.accel_x*0.3)+ball->ball.speed.x)*(un_ou_moins_un_x);
ball->ball.speed.y = ((ball_acc.accel_y*0.3)+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;
......@@ -198,27 +197,24 @@ void Algo_main_ball(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(collision_prev){
ball->ball.pos.x = round(ball->ball.pos.x);
ball->ball.pos.y = round(ball->ball.pos.y);
//collision_prev = false;
//}
//ball->ball.pos.x = round(ball->ball.pos.x);
//ball->ball.pos.y = round(ball->ball.pos.y);
}
//détection des collisions sur les bords de l'ecran LCD
if(ball->ball.pos.x <= ball->ball.radius){
if(round(ball->ball.pos.x) <= ball->ball.radius){
ball->ball.pos.x = ball->ball.radius+1;
}
if(ball->ball.pos.y <= ball->ball.radius){
if(round(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))){
if(round(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))){
if(round(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);
lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, ball->ball.color);
vTaskDelay((portTickType)20/portTICK_RATE_MS);
}
}
......@@ -228,53 +224,79 @@ void Algo_bots(void *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);
lcd_filled_circle(round(ball->ball.pos.x), round(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/2;
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 += 3;
//ball->ball.pos.x = ceil(ball->ball.pos.x);
}
if(CollisionState & TOUCH_UP){
un_ou_moins_un_y = -1;
ball->ball.pos.y += ball->ball.radius/2;
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 += 3;
//ball->ball.pos.y = ceil(ball->ball.pos.y);
}
if(CollisionState & TOUCH_RIGHT){
un_ou_moins_un_x = -1;
ball->ball.pos.x -= ball->ball.radius/2;
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 -= 3;
//ball->ball.pos.x = floor(ball->ball.pos.x);
}
if(CollisionState & TOUCH_DOWN){
un_ou_moins_un_y = -1;
ball->ball.pos.y -= ball->ball.radius/2;
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 -= 3;
//ball->ball.pos.y = floor(ball->ball.pos.y);
}
ball->ball.pos.x = round(ball->ball.pos.x);
ball->ball.pos.y = round(ball->ball.pos.y);
}else{
RandAccel(&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;
//ball->ball.pos.x = round(ball->ball.pos.x);
//ball->ball.pos.y = round(ball->ball.pos.y);
}
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;
}
//détection des collisions sur les bords de l'ecran LCD
if(round(ball->ball.pos.x) <= ball->ball.radius){
ball->ball.pos.x = ball->ball.radius+1;
}
if(round(ball->ball.pos.y) <= ball->ball.radius){
ball->ball.pos.y = ball->ball.radius+1;
}
if(round(ball->ball.pos.x) >= (LCD_MAX_WIDTH - (ball->ball.radius))){
ball->ball.pos.x = (LCD_MAX_WIDTH - (ball->ball.radius+1));
}
if(round(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);
lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, ball->ball.color);
vTaskDelay((portTickType)20/portTICK_RATE_MS);
}
}
......
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