Diff: main.cpp

Revision:

60:546d7b43333b

Parent:

57:ab13f4e7a2b2

Child:

62:454cd844fe1e

--- a/main.cpp	Thu Apr 09 16:46:48 2015 +0000
+++ b/main.cpp	Thu Apr 09 16:53:18 2015 +0000
@@ -36,15 +36,6 @@
     Timer t;
     
     AX12 test(PA_9,NC,0x03,250000);
-    test.SetMode(0); // Position
-    
-    while(1)
-    {
-        test.SetGoal(0);
-        wait(1);
-        test.SetGoal(90);
-        wait(1);
-    }
     
     AnalogIn ain0(PA_0);
     AnalogIn ain1(PA_1);
@@ -57,8 +48,19 @@
     QEI qei_right(PB_3,PA_10,NC,1024*4,QEI::X4_ENCODING);
     QEI qei_left(PB_4,PB_5,NC,1024*4,QEI::X4_ENCODING);
     Odometry odometry(&qei_left,&qei_right,63/2.,63/2.,280);
+    
     DigitalOut led(LED1);
     
+    test.SetMode(0); // Position
+    
+    while(1)
+    {
+        test.SetGoal(0);
+        wait(1);
+        test.SetGoal(90);
+        wait(1);
+    }
+    
     
     
     /*char dataOff[] = {0};
@@ -85,7 +87,7 @@
     //instanceAsserv.setGoal( (float)0,(float)0, (float)PI/2);        
     
     while(!testOdo)
-    {       
+    {
         //Asservissement :
         
         t.start();
@@ -118,7 +120,7 @@
         t.reset();
         t.start();                
     }
-        
+    
     
     /*int i=0;
     int nbrech = 100;