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Dependencies:   mbed

Map/Objectifs/Obj_depot.cpp@0:b127c787a51b, 2015-05-24 (annotated)

Committer:
Jagang
Date:
Sun May 24 12:30:47 2015 +0000
Revision:
0:b127c787a51b
Nettoyage du code d'asserv.; L'asserv ne fonctionne plus, juste test, moteurs ? 20% sur 1m

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:b127c787a51b 1 #include "Obj_depot.h"
Jagang 0:b127c787a51b 2
Jagang 0:b127c787a51b 3 extern Motor motorL;
Jagang 0:b127c787a51b 4 extern Motor motorR;
Jagang 0:b127c787a51b 5 extern bool interruption;
Jagang 0:b127c787a51b 6
Jagang 0:b127c787a51b 7 Obj_depot::Obj_depot(float x, float y, float theta, AX12 *ax12_pince)
Jagang 0:b127c787a51b 8 :Objectif(x,y,theta)
Jagang 0:b127c787a51b 9 {
Jagang 0:b127c787a51b 10 this->ax12_pince = ax12_pince;
Jagang 0:b127c787a51b 11 desactivate();
Jagang 0:b127c787a51b 12 }
Jagang 0:b127c787a51b 13
Jagang 0:b127c787a51b 14 void Obj_depot::run()
Jagang 0:b127c787a51b 15 {
Jagang 0:b127c787a51b 16 ax12_pince->setMaxTorque(MAX_TORQUE);
Jagang 0:b127c787a51b 17 wait(0.1);
Jagang 0:b127c787a51b 18 ax12_pince->setGoal(PINCE_OUVERTE);
Jagang 0:b127c787a51b 19 wait(1);
Jagang 0:b127c787a51b 20
Jagang 0:b127c787a51b 21 if(!interruption)
Jagang 0:b127c787a51b 22 {
Jagang 0:b127c787a51b 23 motorL.setSpeed(-0.3);
Jagang 0:b127c787a51b 24 motorR.setSpeed(-0.3);
Jagang 0:b127c787a51b 25 wait(0.5);
Jagang 0:b127c787a51b 26 motorL.setSpeed(0);
Jagang 0:b127c787a51b 27 motorR.setSpeed(0);
Jagang 0:b127c787a51b 28 }
Jagang 0:b127c787a51b 29
Jagang 0:b127c787a51b 30 done = true;
Jagang 0:b127c787a51b 31 }
Jagang 0:b127c787a51b 32
Jagang 0:b127c787a51b 33 int Obj_depot::isActive()
Jagang 0:b127c787a51b 34 {
Jagang 0:b127c787a51b 35 if(!active)
Jagang 0:b127c787a51b 36 return false;
Jagang 0:b127c787a51b 37
Jagang 0:b127c787a51b 38 if(ax12_pince->getGoal() == PINCE_OUVERTE)
Jagang 0:b127c787a51b 39 return false;
Jagang 0:b127c787a51b 40
Jagang 0:b127c787a51b 41 return true;
Jagang 0:b127c787a51b 42 }