Diff: main.cpp

Revision:

75:195dd2bb13a3

Parent:

74:07cdad6e861a

Child:

76:a862cb10559c

--- a/main.cpp	Thu May 05 05:49:41 2016 +0200
+++ b/main.cpp	Thu May 05 04:36:59 2016 +0000
@@ -1,5 +1,5 @@
 #include "func.h"
-#include "map.h"
+#include "Map/map.h"
 
 #include "ControlleurPince.h"
 
@@ -24,8 +24,8 @@
 DigitalOut blanc(PC_6);
 DigitalOut rouge(PC_8);
 
-//AX12 left_hand(PA_9, PA_10, 4, 250000);
-//AX12 right_hand(PA_9, PA_10, 1, 250000);
+AX12 left_hand(PA_9, PA_10, 3, 250000);
+AX12 right_hand(PA_9, PA_10, 2, 250000);
 
 /* Sharp */
 AnalogIn capt1(PA_4);
@@ -45,7 +45,7 @@
 DigitalIn EnZ(PB_14);
 DigitalIn EnL(PB_13);
 
-ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL);
+ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL,left_hand,right_hand);
 
 Ticker ticker;
 //Serial logger(USBTX, USBRX);
@@ -55,6 +55,7 @@
 
 int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
 bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false, SGauche = false, SDevant = false, SDroite = false;
+bool front_Sharp_activated = true;
 
 void init(void);
 void update_main(void);
@@ -63,7 +64,7 @@
 int main(void)
 {
     init();
-    map m(&odo, NULL, &controlleurPince, VERT, 1);
+    map m(&odo, NULL, &controlleurPince, VIOLET, 1);
     m.Execute(0);
     m.Execute();
     /*drapeau = 0;
@@ -97,6 +98,9 @@
     logger.baud(9600);
     logger.printf("Hello from main !\n\r");
 
+    wait(0.5);
+    controlleurPince.init();
+    wait(0.5);
     controlleurPince.home();
     
     //depart();
@@ -112,5 +116,6 @@
 void update_main(void)
 {
     odo.update_odo();
-    checkAround();
+    if (front_Sharp_activated)
+        checkAround();
 }
\ No newline at end of file