Diff: main.cpp.orig

Revision:

76:a862cb10559c

Parent:

74:07cdad6e861a

--- a/main.cpp.orig	Thu May 05 04:36:59 2016 +0000
+++ b/main.cpp.orig	Thu May 05 06:34:13 2016 +0000
@@ -1,8 +1,6 @@
 #include "func.h"
 #include "map.h"
 
-#include "ControlleurPince.h"
-
 /* Déclaration des différents éléments de l'IHM */
 
 DigitalIn CAMP(PA_15);
@@ -24,8 +22,8 @@
 DigitalOut blanc(PC_6);
 DigitalOut rouge(PC_8);
 
-AX12 left_hand(PA_9, PA_10, 3, 250000);
-AX12 right_hand(PA_9, PA_10, 2, 250000);
+//AX12 left_hand(PA_9, PA_10, 4, 250000);
+//AX12 right_hand(PA_9, PA_10, 1, 250000);
 
 /* Sharp */
 AnalogIn capt1(PA_4);
@@ -34,9 +32,9 @@
 AnalogIn capt4(PC_0);
 
 /* Moteurs pas à pas */
-Stepper RMot(NC, PA_8, PC_7, PB_15, 4);
-Stepper ZMot(NC, PB_4, PB_10, PB_14, 5);
-Stepper LMot(NC, PB_5, PB_3, PB_13, 4);
+Stepper RMot(NC, PA_8, PC_7, 4);
+Stepper ZMot(NC, PB_4, PB_10, 5);
+Stepper LMot(NC, PB_5, PB_3, 4);
 /* Fins de course */
 InterruptIn EndR(PB_15);
 InterruptIn EndZ(PB_14);
@@ -45,8 +43,6 @@
 DigitalIn EnZ(PB_14);
 DigitalIn EnL(PB_13);
 
-ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL, left_hand, right_hand);
-
 Ticker ticker;
 //Serial logger(USBTX, USBRX);
 Serial logger(PA_2, PA_3);
@@ -62,53 +58,8 @@
 /* Debut du programme */
 int main(void)
 {
-<<<<<<< local
-    init();
-    map m(&odo, NULL, &controlleurPince, VERT, 1);
-    m.Execute(0);
-    m.Execute();
-=======
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    
-    //logger.printf("Depart homologation !\n\r");
-    //homologation();
-    
-    controlleurPince.init();
-    controlleurPince.home();
-    wait(1);
-    controlleurPince.open();
-    logger.printf("z 10 \r\n");
-    controlleurPince.setPos(10,-1);
-    wait(1);
-    logger.printf("z 20 \r\n");
-    controlleurPince.setPos(20,-1);
-    wait(1);
-    controlleurPince.close();
-    logger.printf("d 30 \r\n");
-    controlleurPince.setPos(-1,30);
-    wait(1);
-    logger.printf("c 50 \r\n");
-    controlleurPince.setPos(-1,-1,50);
-    wait(1);
-    logger.printf("d 0 \r\n");
-    controlleurPince.setPos(-1,0);
-    
-    while(1);
-    
-    
-    /*wait(1);
-    logger.printf("set pos 20 ...\n\r");
-    controlleurPince.setPos(20.f,0.f,0.f);
-    wait(1);
-    logger.printf("set pos 70 ...\n\r");
-    controlleurPince.setPos(70.f,0.f,0.f);
-    wait(1);
-    logger.printf("set pos 20 ...\n\r");
-    controlleurPince.setPos(20.f,0.f,0.f);
-    logger.printf("Done ...\n\r");*/
-    
->>>>>>> other
+    logger.printf("Depart homologation !\n\r");
+    homologation();
     /*drapeau = 0;
     init();
 
@@ -117,11 +68,6 @@
     m.addObs(obsCarr (1500, 750, 220, 220));
     m.addObs(obsCarr (1500, 1250, 220, 220));
 
-    init();    
-    
-    int cote = MAP_RIGHTSIDE;
-    /*map m(&odo);
-    m.Build(cote);
     m.Execute(1000,1000);
     m.Execute(1500,1000);
     m.Execute(1500,1500);
@@ -140,15 +86,23 @@
     logger.baud(9600);
     logger.printf("Hello from main !\n\r");
 
-    controlleurPince.home();
-    
+    init_interrupt();
+    goHome();
+
+    SCouleur = VERT;
+    LEDV = 1;
+    LEDR = 0;
+
+    odo.setPos(110, 1000, 0);
+    roboclaw.ResetEnc();
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+    wait_ms(500);
+    while(1);
     //depart();
     init_interrupt();
-    wait_ms(1);
-    while (CAMP == 0);
-    while (CAMP == 1);
-    
-    //while(START==0);
+    wait_ms(100);
+    while(START==0);
     logger.printf("End init\n\r");
 }