File content as of revision 39:309f38d1e49c:

#include "Odometry/Odometry.h"
#include "Map/Map.h"

#define dt 10000
#define ATTENTE 0
#define GO 1
#define STOP 2

InterruptIn mybutton(USER_BUTTON);
DigitalIn button(USER_BUTTON);
DigitalOut led(LED1);
Ticker ticker;
//Serial pc(USBTX, USBRX);
Serial logger (PA_9, PA_10);
RoboClaw roboclaw(460800, PA_11, PA_12);
Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);

int i = 0;

void update_main(void);
void init(void);
void pressed(void);
void unpressed(void);

/** Debut du programme */
int main(void)
{
    init();
    /* Code AStar */
    
    double angle_v = 2*PI/5;
    double distance_v = 200.0;
    std::vector<SimplePoint> path;
    Map map;
    
    
    //Construction des obstacles
    map.build();
    
    float x=odo.getX();
    float y=odo.getY();
    float the = 0;
    
    map.AStar(x, y, 1600, 1000, 75);
    path = map.path;
    
    for(int i=0; i<path.size();i++) {
        the = (float) atan2((double) (path[i].y - odo.getY()), (double) (path[i].x - odo.getX())); 
        odo.GotoXYT(path[i].x, path[i].y, the);
    }
    
    map.AStar(odo.getX(), odo.getY(), 0, 1000, 75);
    path = map.path;
    
    for(int i=0; i<path.size();i++) {
        the = (float) atan2((double) (path[i].y - odo.getY()), (double) (path[i].x - odo.getX())); 
        odo.GotoXYT(path[i].x, path[i].y, the);
    }
    
    //odo.GotoThet(PI);
    odo.GotoThet(0);
    //odo.TestEntraxe(3);
    
    //odo.GotoThet(-PI/2);
    wait(2000);
    //odo.GotoXYT(2250,500,0);
    
    //odo.TestEntraxe(5);
    //odo.Forward(1000);
    
    /* Code JPO :
    roboclaw.ForwardM1(ADR, 0);
    roboclaw.ForwardM2(ADR, 0);
    int state = 0;
    while(1)
    {
       // while(logger.readable()) 
        //{
            char c = logger.getc();
            if(c=='z')
            {
                if (state != 1) {
                    state = 1;
                    logger.printf("Avant (Z) \r\n");
                    roboclaw.SpeedAccelM1(ADR, accel_angle, vitesse_angle);
                    roboclaw.SpeedAccelM2(ADR, accel_angle, vitesse_angle);
                }
            }
            else if(c == 's')
            {
                if (state != 2) {
                    state = 2;
                    logger.printf("Stop (S) \r\n");
                    roboclaw.ForwardM1(ADR, 0);
                    roboclaw.ForwardM2(ADR, 0);
                }
            }
            else if(c == 'd')
            {
                if (state != 3) {
                    state = 3;
                    logger.printf("Droite (D) \r\n");
                    roboclaw.SpeedAccelM1(ADR, accel_angle, vitesse_angle);
                    roboclaw.SpeedAccelM2(ADR, accel_angle, -vitesse_angle);
                }
            }
            else if(c == 'q')
            {
                if (state != 4) {
                    state = 4;
                    logger.printf("Gauche (Q)\r\n");
                    roboclaw.SpeedAccelM1(ADR, accel_angle, -vitesse_angle);
                    roboclaw.SpeedAccelM2(ADR, accel_angle, vitesse_angle);
                }
            }
            else if(c == 'x')
            {
                if (state != 5) {
                    state = 5;
                    roboclaw.SpeedAccelM1M2(ADR, accel_angle, -vitesse_angle, accel_angle, -vitesse_angle);
                }
            }
            else if (c == '\0') { ; }
            else {
                if (state != 0) {
                    roboclaw.SpeedAccelM1M2(ADR, accel_angle, 0, accel_angle, 0);
                    state = 0;
                }
            }
       // }
       // roboclaw.ForwardM1(ADR, 0);
       // roboclaw.ForwardM2(ADR, 0);
       
    }*/
}

void init(void)
{
    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);
        
    while(button);
    wait(1);
    mybutton.fall(&pressed);
    mybutton.rise(&unpressed);
    ticker.attach_us(&update_main,dt); // 100 Hz
    
    logger.printf("End init\n\r");
}

void update_main(void)
{
    odo.update_odo();
    //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", odo.getX(), odo.getY(), odo.getTheta()*180/PI);
    //if(pc.readable()) if(pc.getc()=='l') led = !led;
}

void pressed(void)
{
    if(i==0) {
        roboclaw.ForwardM1(ADR, 0);
        roboclaw.ForwardM2(ADR, 0);
        //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", odo.getX(), odo.getY(), odo.getTheta()*180/PI);
        i++;
    }
}

void unpressed(void)
{
    if(i==1) {
        i--;
    }
}