Diff: main.cpp

Revision:

36:2d7357a385bc

Parent:

31:8bcc3a0bfa8a

Child:

37:da3a2c781672

Child:

38:a17f8a61bc0d

diff -r 4e3d9ab1b94b -r 2d7357a385bc main.cpp
--- a/main.cpp	Tue Jan 26 17:21:11 2016 +0000
+++ b/main.cpp	Sun Jan 31 16:11:32 2016 +0000
@@ -5,6 +5,7 @@
 #define ATTENTE 0
 #define GO 1
 #define STOP 2
+#define ENTRAXE 248.25
 
 InterruptIn mybutton(USER_BUTTON);
 DigitalIn button(USER_BUTTON);
@@ -15,7 +16,7 @@
 Serial logger (PA_9, PA_10);
 RoboClaw roboclaw(460800, PA_11, PA_12);
 /* Changement entraxe : 252->253 */
-Odometry odo(63.2, 63.3, 253, 4096, roboclaw);
+Odometry odo(63.2, 63.3, ENTRAXE, 4096, roboclaw);
 
 int i = 0;
 
@@ -34,9 +35,9 @@
     
     init();
     //Construction des obstacles
-    //map.build();
+    map.build();
     
-    /*float x=odo.getX();
+    float x=odo.getX();
     float y=odo.getY();
     float the = 0;
     
@@ -56,13 +57,14 @@
         odo.GotoXYT(path[i].x, path[i].y, the);
     }
     
-    odo.GotoThet(PI);
+    //odo.GotoThet(PI);
+    odo.GotoThet(0);
+    //odo.TestEntraxe(3);
+   /*
+    odo.GotoXYT(1000, 1000, 0);
+    odo.GotoXYT(0, 1000, PI);
     odo.GotoThet(0);*/
     
-    odo.GotoXYT(1000, 1000, 0);
-    odo.GotoXYT(0, 1000, PI);
-    odo.GotoThet(0);
-
     //odo.GotoThet(-PI/2);
     wait(2000);
     //odo.GotoXYT(2250,500,0);