diff --git a/PAR 153/car_interface.py b/PAR 153/car_interface.py
new file mode 100644
index 0000000000000000000000000000000000000000..d11cbdc5e0357ed20534505786add3d4a522a126
--- /dev/null
+++ b/PAR 153/car_interface.py
@@ -0,0 +1,23 @@
+import serial #Importation de la bibliothèque « pySerial »
+import time
+
+def get_ser():
+ ser = serial.Serial(port="COM3", baudrate=115200, timeout=0.1,write_timeout=0.2) #Création du port lié au COM6 a une vitesse de 115200 bauds et un timout d’une seconde
+ #time.sleep(3)
+ return ser
+
+def start_ser(ser):
+ ser.close() #Cloture du port pour le cas ou il serait déjà ouvert ailleurs
+ ser.open() #Ouverture du port
+
+def close_ser(ser):
+ ser.close()
+
+def send_infos(ser, a,b,c):
+ n = f"['{a} {b} {c}']"
+ #print("input: "+str(n))
+ ser.write((str(n)+'\n').encode("utf-8"))
+ cc=str(ser.readline())
+ #print("output: "+cc[2:][:-5])
+ #print("Success")
+ return cc[2:][:-5]
\ No newline at end of file
diff --git a/PAR 153/discretisation.py b/PAR 153/discretisation.py
new file mode 100644
index 0000000000000000000000000000000000000000..62458cca93679df75fa2fee17610e7dd26a8a792
--- /dev/null
+++ b/PAR 153/discretisation.py
@@ -0,0 +1,125 @@
+import matplotlib.pyplot as plt
+from shapely.geometry import Point, LineString
+from time import sleep, time
+
+from car_interface import get_ser, start_ser, close_ser, send_infos
+import track_2_generator as tg
+from pid_controller import PidController
+from mesure_discret_to_adim import pol2xy
+import json
+
+def update_pos(x,y,cp):
+ m = tg.create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
+ c = tg.get_cone_map()
+ p = tg.checkpoints(cp)
+ plt.plot([x for x,y in m], [y for x,y in m], '--g')
+ plt.plot(x,y, "r+")
+ plt.plot([x for x,y in c], [y for x,y in c], 'ob')
+ plt.plot([x for x,y in p], [y for x,y in p], '--r')
+ plt.axis("equal")
+ plt.show()
+ return
+
+
+if __name__=="__main__":
+
+ essai_number = input("Numero de l'essai")
+
+ p,i,d = 1000,100,1000
+ """initilize PID"""
+ pid = PidController(p,i,d)
+
+ """initialize CP"""
+ cp=0
+
+ data = {"PID": {"P":p,"I":i,"D":d}, 'run': []}
+
+ """loop"""
+ t = True
+ while t:
+ step_data = {}
+ """set new pos"""
+ r, theta = input('cercle, r, theta: d ').split(' ')
+ c = "d"
+ #c, r, theta = "d", "1.2", "0"
+ if c=="s":
+ break
+
+ """loading communication"""
+ #ser = get_ser()
+ #start_ser(ser)
+
+ r, theta = float(r), float(theta)
+
+ step_data["input"] = {"cercle":c, "r":r, "theta":theta}
+
+ #x,y = input("x,y: ").split(' ')
+ x,y = pol2xy(c, r, theta)
+
+ step_data["pos"] = {"x":x, "y":y}
+
+ """get distance"""
+ current_cp = LineString(tg.checkpoints(cp))
+ n_cp=cp+1
+ if cp==4:
+ n_cp=1
+
+ next_cp = LineString(tg.checkpoints(n_cp))
+ pos = Point(x,y)
+ d1 = current_cp.distance(pos)
+ d2 = next_cp.distance(pos)
+ d=d1
+ if d1>d2:
+ cp=n_cp
+ d = d2
+
+ step_data["dist"] = d
+ step_data["cp"] = cp
+
+ print(f"d: {d}")
+
+ """display"""
+ update_pos(x,y,cp)
+
+ """get new order"""
+ speed = 10
+ direction = pid.get_control(d)
+ g = tg.is_in_track(x, y)
+ if x<1:
+ g = not g
+ if not g:
+ direction*=-1
+
+ dec = 60
+ braquage = 150
+ direction = direction+dec#decallage
+ if abs(direction-dec)>braquage:
+ direction = direction/abs(direction)*braquage+dec
+ print("Max turn")
+
+ direction = int(direction)
+
+ step_data["order"] = {"speed":speed, "direction":direction}
+
+ #direction = 100
+ print(f"direction: {direction}")
+
+ """set new order"""
+ t_end = time() + 3
+ while time() < t_end:
+ #a = send_infos(ser, speed, direction, 0)
+ #print(f"capteurs: {a}")
+ pass
+
+ """stop"""
+ t_end = time() + 2
+ while time() < t_end:
+ #send_infos(ser, 0, direction, 0)
+ pass
+
+ data["run"].append(step_data)
+
+ #close_ser(ser)
+
+ with open(f'essai_{essai_number}.json', 'w') as outfile:
+ json.dump(data, outfile)
\ No newline at end of file
diff --git a/PAR 153/mesure_discret_to_adim.py b/PAR 153/mesure_discret_to_adim.py
new file mode 100644
index 0000000000000000000000000000000000000000..c17ec246d6a8eb77fa004089940f0837c4f476bb
--- /dev/null
+++ b/PAR 153/mesure_discret_to_adim.py
@@ -0,0 +1,17 @@
+import math
+
+def pol2xy(cercle,rayon,angle):
+ distance_norm=rayon/2.4 #18.25 distance entre les deux cercles, égale à 1 ici
+ print(distance_norm)
+ # Angle mesuré depuis le centre du cercle choisi vers le point (1,1) dans le sens Trigo
+ angle_rad=math.pi*angle/180
+ if cercle=="g":
+ x=0.5+distance_norm*math.cos(angle_rad)
+ y=0.5+distance_norm*math.sin(angle_rad)
+ else:
+ x=1.5-distance_norm*math.cos(angle_rad)
+ y=0.5-distance_norm*math.sin(angle_rad)
+ return(x,y)
+
+if __name__=="__main__":
+ print(pol2xy("droite",1.2,-90))
\ No newline at end of file
diff --git a/PAR 153/pid_controller.py b/PAR 153/pid_controller.py
new file mode 100644
index 0000000000000000000000000000000000000000..74483f308415ef31a1bf51c068dc8cd413b9b2f4
--- /dev/null
+++ b/PAR 153/pid_controller.py
@@ -0,0 +1,18 @@
+import numpy as np
+
+
+class PidController:
+ def __init__(self, p_gain, i_gain, d_gain, set_point=0):
+ self.p_gain = p_gain
+ self.i_gain = i_gain
+ self.d_gain = d_gain
+ self.set_point = set_point
+ self.integrated_error = 0
+ self.previous_error = 0
+
+ def get_control(self, process_value):
+ error = self.set_point - process_value
+ control = self.p_gain * error + self.i_gain * self.integrated_error + self.d_gain * (error - self.previous_error)
+ self.previous_error = error
+ self.integrated_error += error
+ return np.sign(control) * abs(control)
diff --git a/PAR 153/pilote.py b/PAR 153/pilote.py
new file mode 100644
index 0000000000000000000000000000000000000000..47723ca682b02a56482501e0157cda5702011fa1
--- /dev/null
+++ b/PAR 153/pilote.py
@@ -0,0 +1,14 @@
+import keyboard
+
+def get_command():
+ forward = 0
+ direction = 30
+ if keyboard.is_pressed('q'):
+ direction=-50
+ elif keyboard.is_pressed('d'):
+ direction=110
+ if keyboard.is_pressed('z'):
+ forward = 10
+ if keyboard.is_pressed('s'):
+ forward = -10
+ return forward, direction, 0
\ No newline at end of file
diff --git a/PAR 153/track_2_generator.py b/PAR 153/track_2_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..a612e72ce4892beef32263275a930757ebcdf2ff
--- /dev/null
+++ b/PAR 153/track_2_generator.py
@@ -0,0 +1,112 @@
+from math import cos, sin, pi
+import matplotlib.pyplot as plt
+from shapely.geometry import Point, Polygon
+
+def create_track(r, start_point_distance_y, end_point_distance_y, tot_shift):
+ laps = 1 #nombre de tours
+ resolution_circle = 10 #resolution du cercle en degre
+ resolution_line = 10
+
+ #contruire les points qui vont former le chemin
+ points = [(0, start_point_distance_y)]
+ current_x, current_y = 0, start_point_distance_y
+ if current_y<0:
+ #faire les points de la première ligne droite
+ while current_y<0:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+ #faire les points des cercles
+ current_angle = 0 #angle en degree
+ for i in range(laps):
+ while current_angle<720:
+ rad = current_angle/360*2*pi
+ if 0<current_angle<360:
+ current_x, current_y = r-r*cos(rad), r*sin(rad)
+ else:
+ current_x, current_y = -(r-r*cos(rad)), r*sin(rad)
+ current_angle+=resolution_circle
+ points.append((current_x, current_y))
+
+ if current_y<end_point_distance_y:
+ current_x=0
+ while current_y<end_point_distance_y:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+
+ #on decale les points
+ shift_x = -min([x[0] for x in points])
+ shift_y = -min([x[1] for x in points])
+
+ points = [(x+shift_x+tot_shift[0],y+shift_y+tot_shift[1]) for x,y in points]
+
+ #print(points)
+ return points
+
+def create_double_circles(r, left_center, right_center):
+ resolution_circle = 10 #resolution du cercle en degre
+ current_angle=0
+ l_l = []
+ l_r = []
+ while current_angle<360:
+ rad = current_angle/360*2*pi
+ current_x_left, current_y_left = left_center[0]+r*cos(rad), left_center[1]+r*sin(rad)
+ current_x_right, current_y_right = right_center[0]+r*cos(rad), right_center[1]+r*sin(rad)
+ #if current_x_left<(left_center[0]+right_center[0])/2:
+ l_l.append((current_x_left, current_y_left))
+ #if current_x_right>(left_center[0]+right_center[0])/2:
+ l_r.append((current_x_right, current_y_right))
+ current_angle+=resolution_circle
+
+ return l_l+l_r
+
+def get_cone_map():
+ pixel_x_ext, pixel_y_ext = [242, 220, 165, 110, 63, 33, 22, 34, 63, 110, 165, 220, 243, 310, 334, 388, 443, 490, 521, 531, 520, 489, 443, 388, 333, 310], [76, 64, 52, 64, 95, 141, 196, 252, 298, 330, 340, 328, 318, 316, 328, 339, 329, 298, 251, 196, 142, 95, 64, 53, 64, 77]
+ pixel_x_int, pixel_y_int = [245, 238, 222, 196, 166, 134, 108, 91, 85, 90, 109, 134, 165, 196, 222, 239, 308, 314, 332, 358, 388, 419, 445, 462, 468, 462, 445, 419, 388, 359, 332, 314], [201, 167, 140, 123, 116, 123, 140, 165, 195, 228, 253, 270, 277, 270, 253, 227, 200, 226, 253, 270, 277, 270, 253, 228, 197, 166, 140, 122, 117, 123, 140, 166]
+ diametre = 225
+ centre_x, centre_y = 278,200
+
+ coord_ext = [((i-centre_x)/diametre+1 , (j-centre_y)/diametre+0.5) for i,j in zip(pixel_x_ext, pixel_y_ext)]
+ coord_int = [((i-centre_x)/diametre+1 , (j-centre_y)/diametre+0.5) for i,j in zip(pixel_x_int, pixel_y_int)]
+ return coord_int+coord_ext
+
+def checkpoints(n):
+ points = create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
+ if n==0:
+ return points[:11]
+ elif n==1:
+ return points[11:29]
+ elif n==2:
+ return points[29:47]
+ elif n==3:
+ return points[47:65]
+ elif n==4:
+ return points[65:]+points[1:11]
+ return points
+
+def is_in_track(x,y):
+ t = Polygon(create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)])
+ p = Point(x,y)
+ return t.contains(p)
+
+if __name__ =="__main__":
+ points = create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
+ cp_points = checkpoints(1)
+ plt.plot([x for x,y in cp_points], [y for x,y in cp_points], 'or')
+ plt.plot([x for x,y in points], [y for x,y in points])
+ """
+ #construire le svg
+ mid = ""
+ #prendre le code autour du chemin
+ f = open("basic_track.svg", "r")
+ t = f.read().split('CUT_HERE')
+ for i,point in enumerate(points):
+ mid += f'<circle \n id="path{i}" \n style="fill:#000000;stroke:none" \n cx="{point[0]}" \n cy="{point[1]}" \n r="0.1" /> \n'
+ t = t[0]+mid+t[1]
+
+ f = open("track_11.svg", "w")
+ f.write(t)
+ f.close()
+ """
+
\ No newline at end of file