Diff: main.cpp

Revision:

20:7d206773f39e

Parent:

19:c419033c0967

Child:

21:e5f0f5abb5ae

--- a/main.cpp	Mon Oct 12 19:17:40 2020 +0000
+++ b/main.cpp	Tue Oct 20 17:53:32 2020 +0000
@@ -1,6 +1,16 @@
 // Nom du fichier : main.cpp
 #include "pins.h"
 
+//#define TPS_DRAPEAU 20 // 95
+//#define TPS_FIN 100
+
+Ticker TimerGlobal;
+int cptGlobal = 0;
+
+bool Match = 0;
+DigitalOut led(LED1);
+DigitalIn tirette(PC_8);
+
 void btnFct()
 {
     mot_dis();
@@ -13,6 +23,19 @@
     bt.printf("comptD = %d\r\n",comptD);
 }
 
+void fctCptGlobal()
+{
+    cptGlobal++;
+    
+    if(cptGlobal==95) {
+        FlagGOTO(0);
+    }
+    
+    if(cptGlobal>=100) {
+        fnc=0;
+    }
+}
+
 /*
 void cordonDem()
 {
@@ -21,16 +44,24 @@
     xC = objX[indice];
     yC = objY[indice];
     mot_en();
+    myled = 0;
 }
 */
 
+
 int main()
 {
+    captUS_init();
+    FlagGOTO(90);
+    TimerGlobal.attach(&fctCptGlobal, 1.0);
+    
+    tirette.mode(PullDown);
+    //myled = 1;
+
     pc.printf("\r\nAresCDFMainCode\r\n");
     bt.printf("\r\nAresCDFMainCode\r\n");
 
     btn.rise(&btnFct);
-    //cordon.fall(&cordonDem);
 
     // debug
     pc.attach(&serialIT); // Interruption liaison série
@@ -40,7 +71,7 @@
     bt.baud(9600);
     bt.format(8,SerialBase::None,1);
 
-    //ticker_US.attach(&captUS_trig,0.2); // On apelle cette fonction toutes 0.2 secondes
+    ticker_US.attach(&captUS_trig,0.2); // On apelle cette fonction toutes 0.2 secondes
     //ticker_affUS.attach(&affUltrasons,1.0);
     //ticker_affcd.attach(&affCodeurs,1.0);
     //ticker_odo.attach(&odo2,0.02);
@@ -72,9 +103,26 @@
     cddA.mode(PullUp);
 
     while(1) {
-        if (indice>=4) {
+        if (tirette == 1 && Match == 0) {
+            Match = 0;
+            led = 1;
+        } else if (tirette == 0 && Match == 0){
+            Match = 1;
+            
+            led = 0;
+
+            //indice++;
+            indice=1;
+            fnc = objEtape[indice];
+            xC = objX[indice];
+            yC = objY[indice];
+            cptGlobal = 0;
+            //mot_en();
+        }
+
+        if (indice>=NbObj) {
             fnc = 0;
-            mot_dis();
+            //mot_dis();
         }
 
     }