ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

Files at this revision

API Documentation at this revision

Revision 86:0c5e9ac3d8d8, committed 2016-05-06

Comitter:
IceTeam
Date:
Fri May 06 10:05:33 2016 +0200
Parent:
85:38cbf5fd22e1
Child:
87:60d81ecab4f5
Commit message:
Gestion du Timeout pour la funny action

Changed in this revision

deplacement.cpp Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/deplacement.cpp	Fri May 06 10:05:33 2016 +0200
@@ -0,0 +1,73 @@
+#include "entete.h"
+
+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 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

--- 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