Ajout des copyrights
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Main.ino
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Main.ino
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#include "IO.hpp"
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#include "Ressources.hpp"
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// Unit tests activation
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#define UNIT_TESTS
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/*
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Etapes :
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- 1ere etape : avancer jusqu'a la montée / condition : si montée detecté : etape suivante
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- 2eme etape : avancer j'usqua la fin de la montée / condition : si fin de montée detecté : etape suivante
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- 3eme etape : tourner de 90* / condition : si action terminé : etape suivante
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- 4eme etape : avancer jusqu'au bors du plateau / condition : si choc de fin detecté : etape suivante
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- 5eme etape : faire tourner actionneurs pour figurine
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*/
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/*
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Modules necessaires :
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- angle // Asservissement et control du robot
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- choc // Controle du robot (fin !)
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(?)- accelerometre // Asservissement
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*/
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// Movement states
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enum class State {
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WaitingForTirette,
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WaitingTimer,
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ForwardToRamp,
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ForwardToScene,
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Turn90Blue, // If blue team
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Turn90Yellow, // If yellow team => this is the only action where you have to do something different depending on your team
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ForwardToSceneEdge,
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Dancing
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};
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// CodeCell implementation
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CodeCell code_cell;
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IO my_IO {&code_cell};
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void setup()
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{
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// Initialise serial
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Serial.begin(115200);
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Serial.println("Starting Initialisation");
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// Initialise the CodeCell for angle and tap detectIOn
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code_cell.Init(MOTION_ROTATION);
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// Initialise IO
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int nb_errors = my_IO.init();
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if(nb_errors)
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{
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Serial.printf("%d errors occured during IO init.", nb_errors);
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while(true);
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}
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my_IO.getScreen()->drawBitmap(38, 0, Res::Imgs::riombotique, 52, 64, WHITE);
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//my_IO.getScreen()->drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE);
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Serial.println("Initalisation Finished");
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my_IO.motorControlOn();
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#ifdef UNIT_TESTS
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Serial.println("UNIT_TESTS");
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#endif
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}
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#ifdef UNIT_TESTS
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void loop()
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{
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my_IO.update();
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//Serial.printf("Is Selected Color Blue : %d\n", my_IO.isSelectedColorBlue());
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//Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled());
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my_IO.setDir(0);
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my_IO.setSpeed(2048.0f);
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}
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#else
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void loop()
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{
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static State actual_state {State::ForwardToRamp};
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switch(actual_state)
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{
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case State::WaitingForTirette:
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if(my_IO.isTirettePulled())
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{
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actual_state = State::WaitingTimer;
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}
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break;
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case State::WaitingTimer:
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static unsigned long initial_time = millis();
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if(millis() - initial_time >= 90000)
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{
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actual_state = State::ForwardToRamp;
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}
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break;
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case State::ForwardToRamp:
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my_IO.forward();
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if(my_IO.getAngle(Axes::Y) > 9)
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{
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actual_state = State::ForwardToScene;
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}
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break;
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case State::ForwardToScene:
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IO::motors.forward();
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if(IO::gyro.getAngle(Axes::Y) < 2)
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{
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actual_state = IO::ext_controls.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
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}
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break;
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case State::Turn90Blue:
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IO::motors.setDir(90);
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if(IO::gyro.getAngle() > 90)
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{
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actual_state = State::ForwardToSceneEdge;
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}
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break;
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case State::Turn90Yellow:
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IO::motors.setAngle(-90);
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if(IO::gyro.getAngle() < -90)
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{
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actual_state = State::ForwardToSceneEdge;
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}
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break;
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case State::ForwardToSceneEdge:
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IO::motors.forward();
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if(IO::gyro.getAngle() < 0)
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{
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actual_state = State::Dancing;
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}
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break;
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case State::Dancing:
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IO::ext_controls.startSpecialAction();
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break;
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}
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}
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#endif
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/*
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Copyright 2025
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Thibaut Ferrand / Ulysse Cura
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*/
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#include "IO.hpp"
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#include "Ressources.hpp"
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// Unit tests activation
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#define UNIT_TESTS
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/*
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Etapes :
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- 1ere etape : avancer jusqu'a la montée / condition : si montée detecté : etape suivante
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- 2eme etape : avancer j'usqua la fin de la montée / condition : si fin de montée detecté : etape suivante
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- 3eme etape : tourner de 90* / condition : si action terminé : etape suivante
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- 4eme etape : avancer jusqu'au bors du plateau / condition : si choc de fin detecté : etape suivante
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- 5eme etape : faire tourner actionneurs pour figurine
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*/
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/*
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Modules necessaires :
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- angle // Asservissement et control du robot
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- choc // Controle du robot (fin !)
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(?)- accelerometre // Asservissement
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*/
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// Movement states
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enum class State {
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WaitingForTirette,
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WaitingTimer,
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ForwardToRamp,
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ForwardToScene,
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Turn90Blue, // If blue team
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Turn90Yellow, // If yellow team => this is the only action where you have to do something different depending on your team
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ForwardToSceneEdge,
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Dancing
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};
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// CodeCell implementation
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CodeCell code_cell;
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IO my_IO {&code_cell};
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void setup()
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{
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// Initialise serial
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Serial.begin(115200);
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Serial.println("Starting Initialisation");
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// Initialise the CodeCell for angle and tap detectIOn
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code_cell.Init(MOTION_ROTATION);
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// Initialise IO
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int nb_errors = my_IO.init();
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if(nb_errors)
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{
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Serial.printf("%d errors occured during IO init.", nb_errors);
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while(true);
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}
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my_IO.getScreen()->drawBitmap(38, 0, Res::Imgs::riombotique, 52, 64, WHITE);
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//my_IO.getScreen()->drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE);
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Serial.println("Initalisation Finished");
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my_IO.motorControlOn();
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#ifdef UNIT_TESTS
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Serial.println("UNIT_TESTS");
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#endif
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}
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#ifdef UNIT_TESTS
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void loop()
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{
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my_IO.update();
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//Serial.printf("Is Selected Color Blue : %d\n", my_IO.isSelectedColorBlue());
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//Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled());
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my_IO.setDir(0);
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my_IO.setSpeed(2048.0f);
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}
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#else
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void loop()
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{
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static State actual_state {State::ForwardToRamp};
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switch(actual_state)
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{
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case State::WaitingForTirette:
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if(my_IO.isTirettePulled())
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{
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actual_state = State::WaitingTimer;
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}
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break;
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case State::WaitingTimer:
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static unsigned long initial_time = millis();
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if(millis() - initial_time >= 90000)
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{
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actual_state = State::ForwardToRamp;
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}
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break;
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case State::ForwardToRamp:
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my_IO.forward();
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if(my_IO.getAngle(Axes::Y) > 9)
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{
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actual_state = State::ForwardToScene;
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}
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break;
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case State::ForwardToScene:
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IO::motors.forward();
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if(IO::gyro.getAngle(Axes::Y) < 2)
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{
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actual_state = IO::ext_controls.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
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}
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break;
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case State::Turn90Blue:
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IO::motors.setDir(90);
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if(IO::gyro.getAngle() > 90)
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{
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actual_state = State::ForwardToSceneEdge;
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}
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break;
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case State::Turn90Yellow:
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IO::motors.setAngle(-90);
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if(IO::gyro.getAngle() < -90)
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{
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actual_state = State::ForwardToSceneEdge;
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}
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break;
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case State::ForwardToSceneEdge:
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IO::motors.forward();
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if(IO::gyro.getAngle() < 0)
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{
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actual_state = State::Dancing;
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}
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break;
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case State::Dancing:
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IO::ext_controls.startSpecialAction();
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break;
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}
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}
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#endif
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