File content as of revision 47:be4eebf40568:

#include "func.h"
#include "map.h"

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

/* Déclaration des différents éléments de l'IHM */
InterruptIn mybutton(USER_BUTTON);
DigitalIn button(USER_BUTTON);
DigitalOut led(LED1);
DigitalOut bleu(PC_5);
DigitalOut blanc(PC_6);
DigitalOut rouge(PC_8);

/* AX12 */
AX12 left_hand(PA_15, PB_7, 4, 250000);
AX12 right_hand(PA_15, PB_7, 1, 250000);

/* Sharp */
AnalogIn capt1(PA_4);
AnalogIn capt2(PB_0);
AnalogIn capt3(PC_1);
AnalogIn capt4(PC_0);

/* Moteurs pas à pas */
Stepper RMot(NC, PB_10, PA_8);
Stepper ZMot(NC, PB_5, PB_4);
Stepper LMot(NC, PB_3, PA_10);
/* Fins de course */
InterruptIn EndR(PB_15);
InterruptIn EndZ(PB_14);
InterruptIn EndL(PB_13);

Ticker ticker;

//Serial logger(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, state = 0;
bool EL = false, EZ = false, ER = false;

void init(void);

/* Debut du programme */
int main(void)
{
    init();    
    
    /*map m(&odo);
    m.addObs(obsCarr (1250, 1000, 220, 220));
    m.addObs(obsCarr (1500, 750, 220, 220));
    m.addObs(obsCarr (1500, 1250, 220, 220));
    
    m.Execute(1000,1000);
    m.Execute(1500,1000);
    m.Execute(1500,1500);
    m.Execute(110,1000);
    
    odo.GotoThet(0);
    
    roboclaw.ForwardM1(ADR, 0);
    roboclaw.ForwardM2(ADR, 0);
    
    logger.printf ("Chemin Fini !");*/
    odo.GotoXY(500,1000);
    while (1);
}

void init(void)
{
    odo.setPos(110, 1000, 0);
    roboclaw.ForwardM1(ADR, 0);
    roboclaw.ForwardM2(ADR, 0);
    logger.baud(9600);
    logger.printf("Hello from main !\n\r");
    bleu = 1, blanc = 1, rouge = 1;
    wait_ms(500);
    bleu = 0, blanc = 0, rouge = 0;
    
    while(button);
    wait(1);
    
    init_ax12();
    init_interrupt();
    wait_ms(100);
    logger.printf("End init\n\r");
}