Diff: main.cpp

Revision:

86:0c5e9ac3d8d8

Parent:

85:38cbf5fd22e1

Child:

88:e4de39dd3e2e

--- a/main.cpp	Fri May 06 09:49:01 2016 +0200
+++ b/main.cpp	Fri May 06 10:05:33 2016 +0200
@@ -24,16 +24,20 @@
 int main(void)
 {
     Ticker ticker;
+    Timeout end;
     ticker.attach(&Sharps, 0.01);
+
     umbrella.setMode(0);
     umbrella.setMaxTorque(200);
-    umbrella.setGoal(0);
+    umbrella.setGoal(150);
+
     depart();
     if (SCouleur == VERT) {
+        end.attach(&endFonc, 10);
         GotoDist(5.5);
     }
-    else if (SCouleur == VIOLET) {
-        ;
+    else if (SCouleur == VIOLET) {  
+        end.attach(&endFonc, 10);
     }
     else {
         TestDist3(2,2);
@@ -70,74 +74,7 @@
         drapeau = 2;
 }
 
-void GotoDist(float timer) {
-    Timer t;
-    
-    roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
-    roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
-    
-    t.reset();
-    t.start();
-    
-    while (t.read() < timer) {
-        if (Ravance != 1) {
-            roboclaw.ForwardM1(0);
-            roboclaw.ForwardM2(0);
-            t.stop();
-            while (Ravance != 1);
-            roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
-            roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
-            t.start();
-        }
-    }
-    
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    
-    t.stop();
-    t.reset();
-    
-    wait(waiting_time);
+void endFonc () {
+    umbrella.setGoal(150);
+    while (1);
 }
-
-void GotoThet (float timer, int signe) {
-    Timer t;
-    
-    if (signe < 0) {
-        roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
-        roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
-    }
-    else {
-        roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
-        roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
-    }
-    
-    t.reset();
-    t.start();
-    
-    while (t.read() < timer) {
-        if (Ravance != 1) {
-            roboclaw.ForwardM1(0);
-            roboclaw.ForwardM2(0);
-            t.stop();
-            while (Ravance != 1);
-            t.start();
-        }
-        if (signe < 0) {
-            roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
-            roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
-        }
-        else {
-            roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
-            roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
-        }
-    }
-    
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    
-    t.stop();
-    t.reset();
-    
-    wait(waiting_time);
-}
\ No newline at end of file