Diff: main.cpp

Revision:

37:da3a2c781672

Parent:

36:2d7357a385bc

Child:

39:309f38d1e49c

Child:

40:ca4dd3faffa8

--- a/main.cpp	Sun Jan 31 16:11:32 2016 +0000
+++ b/main.cpp	Sat Feb 06 10:11:28 2016 +0000
@@ -12,10 +12,8 @@
 DigitalOut led(LED1);
 Ticker ticker;
 //Serial pc(USBTX, USBRX);
-Serial pc(PA_9, PA_10);
 Serial logger (PA_9, PA_10);
 RoboClaw roboclaw(460800, PA_11, PA_12);
-/* Changement entraxe : 252->253 */
 Odometry odo(63.2, 63.3, ENTRAXE, 4096, roboclaw);
 
 int i = 0;
@@ -28,12 +26,13 @@
 /** Debut du programme */
 int main(void)
 {
-    double angle_v = 2*PI/5;
+    init();
+    /*double angle_v = 2*PI/5;
     double distance_v = 200.0;
     std::vector<SimplePoint> path;
     Map map;
     
-    init();
+    
     //Construction des obstacles
     map.build();
     
@@ -60,31 +59,57 @@
     //odo.GotoThet(PI);
     odo.GotoThet(0);
     //odo.TestEntraxe(3);
-   /*
-    odo.GotoXYT(1000, 1000, 0);
-    odo.GotoXYT(0, 1000, PI);
-    odo.GotoThet(0);*/
     
     //odo.GotoThet(-PI/2);
     wait(2000);
-    //odo.GotoXYT(2250,500,0);
-    while(1);
+    //odo.GotoXYT(2250,500,0);*/
+    while(1)
+    {
+        while(logger.readable()) 
+        {
+            char c = logger.getc();
+            if(c=='z')
+            {
+                roboclaw.SpeedAccelM1M2(ADR, accel_angle, speed_angle, accel_angle, speed_angle);
+            }
+            else if(c == 's')
+            {
+                roboclaw.ForwardM1(ADR, 0);
+                roboclaw.ForwardM2(ADR, 0);
+            }
+            else if(c == 'd')
+            {
+                roboclaw.SpeedAccelM1M2(ADR, accel_angle, -speed_angle, accel_angle, speed_angle);
+            }
+            else if(c == 'q')
+            {
+                roboclaw.SpeedAccelM1M2(ADR, accel_angle, speed_angle, accel_angle, -speed_angle);
+            }
+            else if(c == 'x')
+            {
+                roboclaw.SpeedAccelM1M2(ADR, accel_angle, -speed_angle, accel_angle, -speed_angle);
+            }
+        }
+        roboclaw.ForwardM1(ADR, 0);
+        roboclaw.ForwardM2(ADR, 0);
+    }
 }
 
 void init(void)
 {
-    pc.baud(9600);
-    pc.printf("Hello from main !\n\r");
+    roboclaw.ForwardM1(ADR, 0);
+    roboclaw.ForwardM2(ADR, 0);
+    logger.baud(9600);
+    logger.printf("Hello from main !\n\r");
     wait_ms(500);
     
     odo.setPos(0, 1000, 0);
-    roboclaw.ForwardM1(ADR, 0);
-    roboclaw.ForwardM2(ADR, 0);
-    
+        
     while(button);
     wait(1);
     mybutton.fall(&pressed);
-    mybutton.rise(&unpressed);
+    mybutton.rise(&unpr
+    essed);
     ticker.attach_us(&update_main,dt); // 100 Hz
 }