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Dependencies:   mbed

Classes/Deplacement.cpp@16:05665faaa489, 2019-06-04 (annotated)

Committer:
Wael_H
Date:
Tue Jun 04 08:49:01 2019 +0000
Revision:
16:05665faaa489
Parent:
15:3d4543a6c100
Child:
17:aae5361ddddf
tests deplacements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 10:efa507ba2b35 1 #include "Deplacement.h"
Wael_H 10:efa507ba2b35 2 #include "CAN_asser.h"
Wael_H 10:efa507ba2b35 3
Wael_H 10:efa507ba2b35 4 Deplacement::Deplacement()
Wael_H 10:efa507ba2b35 5 {
Wael_H 10:efa507ba2b35 6 this->peutBouger = true;
Wael_H 10:efa507ba2b35 7 }
Wael_H 10:efa507ba2b35 8
Wael_H 16:05665faaa489 9 bool Deplacement::getFlag()
Wael_H 16:05665faaa489 10 {
Wael_H 16:05665faaa489 11 return this->peutBouger;
Wael_H 16:05665faaa489 12 }
Wael_H 16:05665faaa489 13
Wael_H 15:3d4543a6c100 14 bool Deplacement::avance(signed short dist)
Wael_H 10:efa507ba2b35 15 {
Wael_H 10:efa507ba2b35 16 if(this->peutBouger)
Wael_H 10:efa507ba2b35 17 {
Wael_H 10:efa507ba2b35 18 GoStraight(dist,0,0,0);
Wael_H 10:efa507ba2b35 19 this->peutBouger = false;
Wael_H 10:efa507ba2b35 20 }
Wael_H 10:efa507ba2b35 21 else
Wael_H 10:efa507ba2b35 22 majFlagDpl(this->peutBouger);
Wael_H 10:efa507ba2b35 23
Wael_H 10:efa507ba2b35 24 return this->peutBouger;
Wael_H 10:efa507ba2b35 25 }
Wael_H 10:efa507ba2b35 26
Wael_H 15:3d4543a6c100 27 bool Deplacement::tourne(signed short angle)
Wael_H 10:efa507ba2b35 28 {
Wael_H 10:efa507ba2b35 29 if(this->peutBouger)
Wael_H 10:efa507ba2b35 30 {
Wael_H 10:efa507ba2b35 31 Rotate(angle);
Wael_H 10:efa507ba2b35 32 this->peutBouger = false;
Wael_H 10:efa507ba2b35 33 }
Wael_H 10:efa507ba2b35 34 else
Wael_H 10:efa507ba2b35 35 majFlagDpl(this->peutBouger);
Wael_H 10:efa507ba2b35 36
Wael_H 10:efa507ba2b35 37 return this->peutBouger;
Wael_H 10:efa507ba2b35 38 }
Wael_H 10:efa507ba2b35 39
Wael_H 15:3d4543a6c100 40 bool Deplacement::GoToXYT(unsigned short x, unsigned short y, unsigned short t, signed char sens) //sens = 0 par défaut
Wael_H 10:efa507ba2b35 41 {
Wael_H 10:efa507ba2b35 42 if(this->peutBouger)
Wael_H 10:efa507ba2b35 43 {
Wael_H 10:efa507ba2b35 44 GoToPosition(x,y,t,sens);
Wael_H 10:efa507ba2b35 45 this->peutBouger = false;
Wael_H 10:efa507ba2b35 46 }
Wael_H 10:efa507ba2b35 47 else
Wael_H 10:efa507ba2b35 48 majFlagDpl(this->peutBouger);
Wael_H 10:efa507ba2b35 49
Wael_H 10:efa507ba2b35 50 return this->peutBouger;
Wael_H 13:9c62e263f245 51 }
Wael_H 13:9c62e263f245 52
Wael_H 13:9c62e263f245 53 void Deplacement::stop()
Wael_H 13:9c62e263f245 54 {
Wael_H 13:9c62e263f245 55 SendRawId(ASSERVISSEMENT_STOP);
Wael_H 15:3d4543a6c100 56
Wael_H 15:3d4543a6c100 57 do majFlagDpl(this->peutBouger);
Wael_H 15:3d4543a6c100 58 while(!this->peutBouger);
Wael_H 10:efa507ba2b35 59 }