Diff: deplacement.cpp

Revision:

93:c0b040954eac

Parent:

90:78d2c1527c95

Child:

94:86b9bd6d5c28

diff -r f09f55aa992b -r c0b040954eac deplacement.cpp
--- a/deplacement.cpp	Fri May 06 15:25:21 2016 +0000
+++ b/deplacement.cpp	Fri May 06 17:33:43 2016 +0000
@@ -13,8 +13,10 @@
         if (Ravance != 1) {
             roboclaw.ForwardM1(0);
             roboclaw.ForwardM2(0);
+            wait_ms(1);
             t.stop();
             while (Ravance != 1);
+            wait_ms(1);
             roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
             roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
             t.start();
@@ -30,55 +32,12 @@
     wait(waiting_time);
 }
 
-void GotoThet (float timer, int signe) {
-    Timer t;
-    
-    if (signe == GAUCHE) {
-        //roboclaw.SpeedAccelM1(accel_angle, vitesse_angle);
-        //roboclaw.SpeedAccelM2(accel_angle, -vitesse_angle);
-        roboclaw.SpeedM1(vitesse_angle);
-        roboclaw.SpeedM2(-vitesse_angle);
-    }
-    if (signe == DROITE) {
-        roboclaw.SpeedAccelM1(accel_angle, -vitesse_angle);
-        roboclaw.SpeedAccelM2(accel_angle, vitesse_angle);
-    }
-    
-    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);
-}
-
 void GotoArr(float timer) {
     Timer t;
     
     roboclaw.SpeedAccelM1(accel_dista, -vitesse_dista);
     roboclaw.SpeedAccelM2(accel_dista, -vitesse_dista);
+    wait_ms(1);
     
     t.reset();
     t.start();
@@ -86,16 +45,19 @@
     while (t.read() < timer) {
         if (Ravance != 1) {
             roboclaw.ForwardM1(0);
+            wait_ms(1);
             roboclaw.ForwardM2(0);
             t.stop();
             while (Ravance != 1);
-            roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
-            roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
+            wait_ms(1);
+            roboclaw.SpeedAccelM1(accel_dista, -vitesse_dista);
+            roboclaw.SpeedAccelM2(accel_dista, -vitesse_dista);
             t.start();
         }
     }
     
     roboclaw.ForwardM1(0);
+    wait_ms(1);
     roboclaw.ForwardM2(0);
     
     t.stop();