File content as of revision 78:c28bdbf29b6e:

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

/* Déclaration des différents éléments de l'IHM */

DigitalIn CAMP(PA_15);
DigitalIn START(PB_7);
DigitalOut LEDR(PC_2);
DigitalOut LEDV(PC_3);

BusOut drapeau(PC_8, PC_6, PC_5);

InterruptIn mybutton(USER_BUTTON);
DigitalIn button(USER_BUTTON);

DigitalIn ChannelA1(PA_1);
DigitalIn ChannelB1(PA_0);
DigitalIn ChannelA2(PA_5);
DigitalIn ChannelB2(PA_6);

DigitalOut bleu(PC_5);
DigitalOut blanc(PC_6);
DigitalOut rouge(PC_8);

//AX12 left_hand(PA_9, PA_10, 4, 250000);
//AX12 right_hand(PA_9, PA_10, 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, 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);
InterruptIn EndL(PB_13);
DigitalIn EnR(PB_15);
DigitalIn EnZ(PB_14);
DigitalIn EnL(PB_13);

Ticker ticker;
//Serial logger(USBTX, USBRX);
Serial logger(PA_2, PA_3);
RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);

int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false;
int SGauche = false, SDevant = false, SDroite = false;
bool Sharps_actives = false;
bool SHomologation = false;

float seuils[3] = {0.25, 0.40, 0.25};

void init(void);
void update_main(void);

/* Debut du programme */
int main(void)
{
    /*logger.printf("Depart homologation !\n\r");
    LEDV = 1;
    LEDR = 0;
    odo.setPos(110, 1000, 0);
    roboclaw.ResetEnc();
    roboclaw.ForwardM1(0);
    roboclaw.ForwardM2(0);
    wait_ms(100);
    while(START==0);
    odo.GotoXY(1000, 1000);*/
    
    roboclaw.ResetEnc();
    roboclaw.ForwardM1(0);
    roboclaw.ForwardM2(0);
    logger.printf("Depart");
    odo.setPos(110,850,0);
    
    init_interrupt();
    
    while(START==0);
    
    logger.printf("Depart");
    odo.GotoXY(450,850);
    logger.printf("Premier point atteint");
    odo.GotoXY(1050,1100);
    Sharps_actives = true;
    logger.printf("Second point atteint");
    odo.GotoXY(400,850);
    logger.printf("Troisieme point atteint");
    odo.GotoXY(400,1000);

    LEDV = 1;
    while(1);
    //homologation();
    /*drapeau = 0;
    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(0);
    roboclaw.ForwardM2(0);
    logger.printf ("Chemin Fini !");

    while(1);*/
}

void init(void)
{
    logger.baud(9600);
    logger.printf("Hello from main !\n\r");

    init_interrupt();

    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(100);
    while(START==0);
    logger.printf("End init\n\r");*/
}

void update_main(void)
{
    odo.update_odo();
    
    checkAround();
    
    if (Sharps_actives && max(SGauche,SDevant,SDroite)>0 && odo.getCurrentStep() != STEP_T)
    {
        odo.pause();
    }
    /*else
    {
        odo.resume();
    }*/
}