Machine à état et début de IO fonctionnel, classe Motor à finir

IO.hpp

@@ -0,0 +1,52 @@
+#define PIN_TIRETTE 7
+
+class Motor;
+
+class Caca {
+  Caca(int quatitee) : kg(quantitee)
+  {}
+
+  int kg;
+};
+
+Caca my_caca {21};
+
+class IO {
+ public:
+  int init()
+  {
+    pinMode(PIN_TIRETTE, INPUT_PULLUP);
+
+    for(int i {0}; i < 2; i++)
+    {
+      motors[i].init();
+    }
+
+    return 0;
+  }
+
+  int update()
+  {
+    bool m_is_tirette_pulled = (digitalRead(PIN_TIRETTE) == LOW);
+
+    return 0;
+  }
+
+  bool isTirettePulled()
+  {
+    return m_is_tirette_pulled;
+  }
+
+ private:
+  bool m_is_tirette_pulled {false};
+
+  Motor motors[2];
+};
+
+class Motor {
+  int init()
+  {
+    
+    return 0;
+  }
+};

Main.ino

@@ -0,0 +1,145 @@
+#include <stdexcept>
+#include <CodeCell.h>
+
+#include "IO.hpp"
+
+#define UNIT_TESTS
+
+/*
+  Etapes :
+   - 1ere etape : avancer jusqu'a la montée / condition : si montée detecté : etape suivante
+   - 2eme etape : avncer j'usqua la fin de la montée / condition : si fin de montée detecté : etape suivante
+   - 3eme etape : tourner de 90* / condition : si action terminé : etape suivante
+   - 4eme etape : avancer jusqu'au bors du plateau / condition : si choc de fin detecté : etape suivante
+   - 5eme etape : faire tourner actionneurs pour figurine
+*/
+
+/*
+  Modules necessaires :
+   - angle          // Asservissement et control du robot
+   - choc           // Controle du robot (fin !)
+(?)- accelerometre  // Asservissement
+ */
+
+// Movement states
+enum class State {
+  WaitingForTirette,
+  WaitingTimer,
+  ForwardToRamp,
+  ForwardToScene,
+  Turn90Blue, // If blue team
+  Turn90Yellow, // If yellow team => this is the only action where you have to do something different depending on your team
+  ForwardToSceneEdge,
+  Dancing
+};
+
+// CodeCell implementation
+CodeCell code_cell;
+IO my_IO {};
+
+void setup()
+{
+  // Initialise serial
+  Serial.begin(115200);
+
+  // Initialise the CodeCell for angle and tap detectIOn
+  code_cell.Init(MOTION_GYRO + MOTION_TAP_DETECTOR + MOTION_ACCELEROMETER);
+
+  Serial.println("CACA");
+
+  // Initialise
+  my_IO.init();
+}
+
+#ifdef UNIT_TESTS
+
+void loop()
+{
+  if(code_cell.Run())
+  {
+    my_IO.update();
+
+    my_IO.isTirettePulled();
+  }
+}
+
+#else
+
+void loop()
+{
+  static State actual_state {State::ForwardToRamp};
+
+  // Runs  every 100ms - Put your code here
+  if(code_cell.Run())
+  {
+    switch(actual_state)
+    {
+      case State::WaitingForTirette:
+        if(IO::ext_controls.isTirettePulled())
+        {
+          actual_state = State::WaitingTimer;
+        }
+        break;
+
+      case State::WaitingTimer:
+        static unsigned long initial_time = millis();
+
+        if(millis() - initial_time >= 90000)
+        {
+          actual_state = State::ForwardToRamp;
+        }
+        break;
+      
+      case State::ForwardToRamp:
+        IO::motors.forward();
+
+        if(IO::gyro.getAngle() > 9)
+        {
+          actual_state = State::ForwardToScene;
+        }
+        break;
+
+      case State::ForwardToScene:
+        IO::motors.forward();
+
+        if(IO::gyro.getAngle() < 1)
+        {
+          actual_state = IO::ext_controls.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
+        }
+        break;
+
+      case State::Turn90Blue:
+        IO::motors.turnLeft();
+
+        if(IO::gyro.getAngle() > 90)
+        {
+          actual_state = State::ForwardToSceneEdge;
+        }
+        break;
+
+      case State::Turn90Yellow:
+        IO::motors.turnRight();
+
+        if(IO::gyro.getAngle() > 90)
+        {
+          actual_state = State::ForwardToSceneEdge;
+        }
+        break;
+
+      case State::ForwardToSceneEdge:
+        IO::motors.forward();
+
+        if(IO::gyro.tapDetected())
+        {
+          actual_state = State::Dancing;
+        }
+        break;
+
+      case State::Dancing:
+        IO::ext_controls.startSpecialAction();
+        break;
+    }
+  }
+}
+
+#endif