Diff: main.cpp

Revision:

19:c419033c0967

Parent:

17:176a1b4a2fa8

Child:

20:7d206773f39e

--- a/main.cpp	Wed Oct 07 20:00:45 2020 +0000
+++ b/main.cpp	Mon Oct 12 19:17:40 2020 +0000
@@ -13,12 +13,24 @@
     bt.printf("comptD = %d\r\n",comptD);
 }
 
+/*
+void cordonDem()
+{
+    indice++;
+    fnc = objEtape[indice];
+    xC = objX[indice];
+    yC = objY[indice];
+    mot_en();
+}
+*/
+
 int main()
 {
     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
@@ -32,7 +44,7 @@
     //ticker_affUS.attach(&affUltrasons,1.0);
     //ticker_affcd.attach(&affCodeurs,1.0);
     //ticker_odo.attach(&odo2,0.02);
-    ticker_asserv.attach(&asserv,0.020);
+    ticker_asserv.attach(&asserv,0.015);
     //ticker_affodo.attach(&affOdo,1.0);
 
     // Init capteurs à ultrasons
@@ -60,6 +72,10 @@
     cddA.mode(PullUp);
 
     while(1) {
-        //odoGeonobot1();
+        if (indice>=4) {
+            fnc = 0;
+            mot_dis();
+        }
+
     }
 }