AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
Diff: main.cpp
- Revision:
- 19:c419033c0967
- Parent:
- 17:176a1b4a2fa8
- Child:
- 20:7d206773f39e
diff -r 48246daf0c06 -r c419033c0967 main.cpp --- 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(); + } + } }