AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_us2

Test

Dependencies:   mbed DRV8825

Files at this revision

API Documentation at this revision

Revision 26:4670968fbc63, committed 2020-10-28

Comitter:
g0dd4
Date:
Wed Oct 28 23:05:19 2020 +0000
Parent:
25:216e62f05f82
Commit message:
Ajout OFFSET;

Changed in this revision

captUS.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 216e62f05f82 -r 4670968fbc63 captUS.cpp
--- a/captUS.cpp	Wed Oct 28 22:40:13 2020 +0000
+++ b/captUS.cpp	Wed Oct 28 23:05:19 2020 +0000
@@ -2,7 +2,8 @@
 #include "pins.h"
 
 /* #define */
-#define DISTLIM 600
+#define DISTLIM 800
+#define OFFSET 200
 #define MAXMOY 1
 
 /* Variables globales */
@@ -69,7 +70,7 @@
     if((objRecule[indice]==0) && (fnc == 2)) {
         //if ((distt[5] >= DISTLIM) && (distt[0] >= DISTLIM)  && (distt[1] >= DISTLIM)) {
         //if (((distt[5] >= DISTLIM) && (distt[0] >= DISTLIM)  && (distt[1] >= DISTLIM)) /*|| ((distt[5] < 0) && (distt[0] < 0)  && (distt[1] < 0))*/) {
-        if ((ttt[5] >= DISTLIM) && (ttt[0] >= DISTLIM)  && (ttt[1] >= DISTLIM)) {
+        if ((ttt[5] >= DISTLIM-OFFSET) && (ttt[0] >= DISTLIM)  && (ttt[1] >= DISTLIM-OFFSET)) {
             wtt = 1;
         }
 
@@ -83,7 +84,7 @@
     else if((objRecule[indice]==1) && (fnc == 2)) {
         //if ((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM) && (distt[4] >= DISTLIM)) {
         //if (((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM)  && (distt[4] >= DISTLIM)) /*|| ((distt[2] < 0) && (distt[3] < 0)  && (distt[4] < 0))*/) {
-        if ((ttt[2] >= DISTLIM) && (ttt[3] >= DISTLIM)  && (ttt[4] >= DISTLIM)) {
+        if ((ttt[2] >= DISTLIM-OFFSET) && (ttt[3] >= DISTLIM)  && (ttt[4] >= DISTLIM-OFFSET)) {
             wtt=1;
         }