File content as of revision 21:e5f0f5abb5ae:

// 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();
    aff_cd[0] = 0;
    aff_cd[1] = 0;

    pc.printf("comptG = %d\r\n",comptG);
    pc.printf("comptD = %d\r\n",comptD);
    bt.printf("comptG = %d\r\n",comptG);
    bt.printf("comptD = %d\r\n",comptD);
}

void fctCptGlobal()
{
    cptGlobal++;
    
    if(cptGlobal==5) { //95
        FlagGOTO(0);
    }
    
    if(cptGlobal>=100) {
        fnc=0;
    }
}

/*
void cordonDem()
{
    indice++;
    fnc = objEtape[indice];
    xC = objX[indice];
    yC = objY[indice];
    mot_en();
    myled = 0;
}
*/


int main()
{
    //captUS_init();
    tps.start();
    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);

    // debug
    pc.attach(&serialIT); // Interruption liaison série
    bt.attach(&bluetoothIT); // Interruption  bluetooth
    pc.baud(9600);
    pc.format(8,SerialBase::None,1);
    bt.baud(9600);
    bt.format(8,SerialBase::None,1);

    ticker_US.attach(&captUS_trig,0.1); // 0.2
    //ticker_affUS.attach(&affUltrasons,1.0);
    //ticker_affcd.attach(&affCodeurs,1.0);
    //ticker_odo.attach(&odo2,0.02);
    ticker_asserv.attach(&asserv,0.015);
    //ticker_affodo.attach(&affOdo,1.0);

    // Init capteurs à ultrasons
    //captUS_init();
    echo1.rise(&echoRise1);
    echo1.fall(&echoFall1);
    echo2.rise(&echoRise2);
    echo2.fall(&echoFall2);
    echo3.rise(&echoRise3);
    echo3.fall(&echoFall3);
    echo4.rise(&echoRise4);
    echo4.fall(&echoFall4);
    echo5.rise(&echoRise5);
    echo5.fall(&echoFall5);
    echo6.rise(&echoRise6);
    echo6.fall(&echoFall6);

    // Init DRV8825
    drv_init();

    // Init codeurs
    cdgA.rise(&cdgaRise);
    cddA.rise(&cddaRise);
    cdgA.mode(PullUp);
    cddA.mode(PullUp);

    while(1) {
        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();
        }

    }
}