File content as of revision 28:142ebc5410f3:

#include "Odometry.h"
/** Dependencies :
    Map/Point.h
    Map/define.h
    Map/Obstacles/Obstacle.h

    Test en cours :
    * Un obstacle seulement
    * Radius du robot réduit à 1 (defines.cpp)
    * Nombreux
*/ 
#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 pc(PA_9, PA_10);
Serial logger (PA_9, PA_10);
RoboClaw roboclaw(460800, PA_11, PA_12);
Odometry odo(63.2, 63.3, 252, 4096, roboclaw);

int i = 0;

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

/** Debut du programme */
int main(void)
{
    double angle_v = 2*PI/5;
    double distance_v = 200.0;
    std::vector<SimplePoint> path;
    Map map;
    
    init();
    //Construction des obstacles
    map.build();
    
    map.AStar(0, 1000, 1400, 1000, 75);
    path = map.path;
    
    for(int i=0; i<path.size();i++) {
        odo.GotoXYT(path[i].x, path[i].y, 0);
    }
    
    map.AStar(1400, 1000, 0, 1000, 75);
    path = map.path;
    
    for(int i=0; i<path.size();i++) {
        odo.GotoXYT(path[i].x, path[i].y, PI);
    }
     
    //odo.GotoXYT(500, 50, 0);
    //odo.GotoXYT(200, 0, 0);
    //odo.GotoXYT(0, 0, 0);

    //odo.GotoThet(-PI/2);
    wait(2000);
    //odo.GotoXYT(2250,500,0);
    while(1);
}

void init(void)
{
    pc.baud(9600);
    pc.printf("Hello from main !\n\r");
    wait_ms(500);
    
    odo.setPos(0, 1000, 0);
    roboclaw.ForwardM1(ADR, 0);
    roboclaw.ForwardM2(ADR, 0);
    
    while(button);
    wait(1);
    mybutton.fall(&pressed);
    mybutton.rise(&unpressed);
    ticker.attach_us(&update_main,dt); // 100 Hz
}

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--;
    }
}