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Dependencies:   mbed

main.cpp@18:a7dc3a63d7eb, 2019-06-05 (annotated)

Committer:
Wael_H
Date:
Wed Jun 05 12:32:47 2019 +0000
Revision:
18:a7dc3a63d7eb
Parent:
15:3d4543a6c100 
cherche_balle_v2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 2:8971078b1ccf 1 #include "mbed.h"
Wael_H 5:34048faec367 2 #include "CAN_asser.h"
Wael_H 10:efa507ba2b35 3 #include "Robot.h"
Wael_H 10:efa507ba2b35 4
Wael_H 18:a7dc3a63d7eb 5 void testLasers(Robot&, bool&);
Wael_H 13:9c62e263f245 6 void automate_testABalle(Robot&);
Wael_H 18:a7dc3a63d7eb 7 void automate_deplacement(Robot&, bool&);
Wael_H 10:efa507ba2b35 8
Wael_H 10:efa507ba2b35 9
Wael_H 18:a7dc3a63d7eb 10 typedef enum{TURN_FAST,RETROUVE,GO_STRAIGHT,CORRECT_GAUCHE,CORRECT_DROITE} type_etat_deplacement;
Wael_H 15:3d4543a6c100 11 type_etat_deplacement etat_deplacement = TURN_FAST;
Wael_H 10:efa507ba2b35 12
Wael_H 8:94ecfe411d02 13
Wael_H 2:8971078b1ccf 14 int main(void)
Wael_H 2:8971078b1ccf 15 {
Wael_H 10:efa507ba2b35 16 Robot robot;
Wael_H 18:a7dc3a63d7eb 17 bool autorCorrect = false;
Wael_H 18:a7dc3a63d7eb 18 DigitalIn Jack(PA_15);
Wael_H 7:753e901d441b 19
Wael_H 18:a7dc3a63d7eb 20 robot.setSpeed(100,600);
Wael_H 18:a7dc3a63d7eb 21 robot.gobe(25);
Wael_H 15:3d4543a6c100 22
Wael_H 15:3d4543a6c100 23 while(1)
Wael_H 18:a7dc3a63d7eb 24 if(!Jack)
Wael_H 15:3d4543a6c100 25 {
Wael_H 15:3d4543a6c100 26 automate_testABalle(robot);
Wael_H 15:3d4543a6c100 27
Wael_H 18:a7dc3a63d7eb 28 testLasers(robot, autorCorrect);
Wael_H 15:3d4543a6c100 29
Wael_H 15:3d4543a6c100 30 if(!robot.aBalle())
Wael_H 18:a7dc3a63d7eb 31 automate_deplacement(robot, autorCorrect);
Wael_H 15:3d4543a6c100 32 }
Wael_H 15:3d4543a6c100 33 }
Wael_H 15:3d4543a6c100 34
Wael_H 18:a7dc3a63d7eb 35 void testLasers(Robot& robot, bool& autorCorrect)
Wael_H 18:a7dc3a63d7eb 36 {
Wael_H 18:a7dc3a63d7eb 37 const int diffMurBalle = 20;
Wael_H 15:3d4543a6c100 38 static float past_gauche, past_droit, actual_gauche, actual_droit;
Wael_H 15:3d4543a6c100 39
Wael_H 15:3d4543a6c100 40 actual_gauche = robot.getDist(Laser::Gauche);
Wael_H 15:3d4543a6c100 41 actual_droit = robot.getDist(Laser::Droit);
Wael_H 15:3d4543a6c100 42
Wael_H 18:a7dc3a63d7eb 43 switch(etat_deplacement)
Wael_H 15:3d4543a6c100 44 {
Wael_H 18:a7dc3a63d7eb 45 case TURN_FAST:
Wael_H 18:a7dc3a63d7eb 46 if(actual_droit < past_droit - diffMurBalle)
Wael_H 18:a7dc3a63d7eb 47 {
Wael_H 18:a7dc3a63d7eb 48 robot.stop();
Wael_H 18:a7dc3a63d7eb 49 etat_deplacement = RETROUVE;
Wael_H 18:a7dc3a63d7eb 50 robot.setSpeed(50,300);
Wael_H 18:a7dc3a63d7eb 51 }
Wael_H 18:a7dc3a63d7eb 52 break;
Wael_H 18:a7dc3a63d7eb 53
Wael_H 18:a7dc3a63d7eb 54 case RETROUVE:
Wael_H 18:a7dc3a63d7eb 55 if(actual_droit < past_droit - diffMurBalle)
Wael_H 18:a7dc3a63d7eb 56 {
Wael_H 18:a7dc3a63d7eb 57 robot.stop();
Wael_H 18:a7dc3a63d7eb 58 etat_deplacement = GO_STRAIGHT;
Wael_H 18:a7dc3a63d7eb 59 robot.setSpeed(100,500);
Wael_H 18:a7dc3a63d7eb 60 }
Wael_H 18:a7dc3a63d7eb 61 break;
Wael_H 18:a7dc3a63d7eb 62
Wael_H 18:a7dc3a63d7eb 63 /*case GO_STRAIGHT:
Wael_H 18:a7dc3a63d7eb 64 if(actual_droit > past_droit + diffMurBalle)
Wael_H 18:a7dc3a63d7eb 65 {
Wael_H 18:a7dc3a63d7eb 66 etat_deplacement = CORRECT_GAUCHE;
Wael_H 18:a7dc3a63d7eb 67 robot.setSpeed(50,300);
Wael_H 18:a7dc3a63d7eb 68 }
Wael_H 18:a7dc3a63d7eb 69 else if(actual_gauche > past_gauche + diffMurBalle)
Wael_H 18:a7dc3a63d7eb 70 {
Wael_H 18:a7dc3a63d7eb 71 etat_deplacement = CORRECT_DROITE;
Wael_H 18:a7dc3a63d7eb 72 robot.setSpeed(50,300);
Wael_H 18:a7dc3a63d7eb 73 }
Wael_H 18:a7dc3a63d7eb 74 break;*/
Wael_H 18:a7dc3a63d7eb 75
Wael_H 18:a7dc3a63d7eb 76 /*case CORRECT_GAUCHE:
Wael_H 18:a7dc3a63d7eb 77 if(autorCorrect) //s'il a fini d'avancer
Wael_H 18:a7dc3a63d7eb 78 if(actual_droit < past_droit - diffMurBalle)
Wael_H 18:a7dc3a63d7eb 79 {
Wael_H 18:a7dc3a63d7eb 80 robot.stop();
Wael_H 18:a7dc3a63d7eb 81 autorCorrect = false;
Wael_H 18:a7dc3a63d7eb 82 etat_deplacement = GO_STRAIGHT;
Wael_H 18:a7dc3a63d7eb 83 robot.setSpeed(80,300);
Wael_H 18:a7dc3a63d7eb 84 }
Wael_H 18:a7dc3a63d7eb 85 break;
Wael_H 18:a7dc3a63d7eb 86
Wael_H 18:a7dc3a63d7eb 87 case CORRECT_DROITE:
Wael_H 18:a7dc3a63d7eb 88 if(autorCorrect) //s'il a fini d'avancer
Wael_H 18:a7dc3a63d7eb 89 if(actual_gauche < past_gauche - diffMurBalle)
Wael_H 18:a7dc3a63d7eb 90 {
Wael_H 18:a7dc3a63d7eb 91 robot.stop();
Wael_H 18:a7dc3a63d7eb 92 autorCorrect = false;
Wael_H 18:a7dc3a63d7eb 93 etat_deplacement = GO_STRAIGHT;
Wael_H 18:a7dc3a63d7eb 94 robot.setSpeed(80,300);
Wael_H 18:a7dc3a63d7eb 95 }
Wael_H 18:a7dc3a63d7eb 96 break;*/
Wael_H 15:3d4543a6c100 97 }
Wael_H 15:3d4543a6c100 98
Wael_H 15:3d4543a6c100 99
Wael_H 15:3d4543a6c100 100 past_gauche = actual_gauche;
Wael_H 15:3d4543a6c100 101 past_droit = actual_droit;
Wael_H 15:3d4543a6c100 102 }
Wael_H 15:3d4543a6c100 103
Wael_H 15:3d4543a6c100 104 void automate_testABalle(Robot& robot)
Wael_H 15:3d4543a6c100 105 {
Wael_H 15:3d4543a6c100 106 typedef enum {ATTENTE,ABALLE} type_etat;
Wael_H 15:3d4543a6c100 107 static type_etat etat = ATTENTE;
Wael_H 15:3d4543a6c100 108
Wael_H 18:a7dc3a63d7eb 109 PwmOut Servo_Ballon(PA_10);
Wael_H 18:a7dc3a63d7eb 110 PwmOut Mot_Ballon(PB_6);
Wael_H 18:a7dc3a63d7eb 111
Wael_H 18:a7dc3a63d7eb 112 Servo_Ballon.period_ms(20);
Wael_H 18:a7dc3a63d7eb 113 Mot_Ballon.period_ms(20);
Wael_H 18:a7dc3a63d7eb 114
Wael_H 18:a7dc3a63d7eb 115 static Timer T_ejecte;
Wael_H 18:a7dc3a63d7eb 116
Wael_H 15:3d4543a6c100 117 switch(etat)
Wael_H 15:3d4543a6c100 118 {
Wael_H 15:3d4543a6c100 119 case ATTENTE:
Wael_H 15:3d4543a6c100 120 if(robot.aBalle())
Wael_H 15:3d4543a6c100 121 {
Wael_H 15:3d4543a6c100 122 dbug.printf("A balle\n\r");
Wael_H 15:3d4543a6c100 123 robot.stop();
Wael_H 18:a7dc3a63d7eb 124 //Servo_Ballon.write(1);
Wael_H 18:a7dc3a63d7eb 125 robot.setSpeed(80,500);
Wael_H 15:3d4543a6c100 126 etat = ABALLE;
Wael_H 15:3d4543a6c100 127 }
Wael_H 18:a7dc3a63d7eb 128 else if( T_ejecte.read() >= 1.0f )
Wael_H 18:a7dc3a63d7eb 129 {
Wael_H 18:a7dc3a63d7eb 130 robot.gobe(25);
Wael_H 18:a7dc3a63d7eb 131 //Reset du timer pour la prochaine balle
Wael_H 18:a7dc3a63d7eb 132 T_ejecte.stop();
Wael_H 18:a7dc3a63d7eb 133 T_ejecte.reset();
Wael_H 18:a7dc3a63d7eb 134 }
Wael_H 15:3d4543a6c100 135 break;
Wael_H 15:3d4543a6c100 136
Wael_H 15:3d4543a6c100 137 case ABALLE:
Wael_H 18:a7dc3a63d7eb 138 /*if(robot.tourne(1800))
Wael_H 15:3d4543a6c100 139 {
Wael_H 18:a7dc3a63d7eb 140 dbug.printf("Tourne\n\r");*/
Wael_H 18:a7dc3a63d7eb 141 robot.ejecte(70);
Wael_H 18:a7dc3a63d7eb 142 //}
Wael_H 18:a7dc3a63d7eb 143 if(!robot.aBalle())
Wael_H 18:a7dc3a63d7eb 144 {
Wael_H 18:a7dc3a63d7eb 145 //Timer qui permet à la balle d'avoir le temps de quitter le reservoir
Wael_H 18:a7dc3a63d7eb 146 T_ejecte.start();
Wael_H 18:a7dc3a63d7eb 147 //
Wael_H 18:a7dc3a63d7eb 148 Servo_Ballon.write(0);
Wael_H 15:3d4543a6c100 149 etat = ATTENTE;
Wael_H 15:3d4543a6c100 150 etat_deplacement = TURN_FAST;
Wael_H 18:a7dc3a63d7eb 151 robot.setSpeed(100,600);
Wael_H 18:a7dc3a63d7eb 152 }
Wael_H 15:3d4543a6c100 153 break;
Wael_H 15:3d4543a6c100 154 }
Wael_H 15:3d4543a6c100 155 }
Wael_H 15:3d4543a6c100 156
Wael_H 18:a7dc3a63d7eb 157 void automate_deplacement(Robot& robot, bool& autorCorrect)
Wael_H 15:3d4543a6c100 158 {
Wael_H 15:3d4543a6c100 159 switch(etat_deplacement)
Wael_H 15:3d4543a6c100 160 {
Wael_H 15:3d4543a6c100 161 case TURN_FAST:
Wael_H 15:3d4543a6c100 162 robot.tourne();
Wael_H 15:3d4543a6c100 163 break;
Wael_H 15:3d4543a6c100 164
Wael_H 15:3d4543a6c100 165 case RETROUVE:
Wael_H 15:3d4543a6c100 166 robot.tourne(-450);
Wael_H 15:3d4543a6c100 167 break;
Wael_H 15:3d4543a6c100 168
Wael_H 15:3d4543a6c100 169 case GO_STRAIGHT:
Wael_H 15:3d4543a6c100 170 robot.avance();
Wael_H 18:a7dc3a63d7eb 171 //autorCorrect = true;
Wael_H 15:3d4543a6c100 172 break;
Wael_H 18:a7dc3a63d7eb 173
Wael_H 18:a7dc3a63d7eb 174 /*case CORRECT_GAUCHE:
Wael_H 18:a7dc3a63d7eb 175 robot.tourne(-30);
Wael_H 18:a7dc3a63d7eb 176 break;
Wael_H 18:a7dc3a63d7eb 177
Wael_H 18:a7dc3a63d7eb 178 case CORRECT_DROITE:
Wael_H 18:a7dc3a63d7eb 179 robot.tourne(30);
Wael_H 18:a7dc3a63d7eb 180 break;*/
Wael_H 15:3d4543a6c100 181 }
Wael_H 15:3d4543a6c100 182 }
Wael_H 15:3d4543a6c100 183
Wael_H 15:3d4543a6c100 184
Wael_H 15:3d4543a6c100 185
Wael_H 15:3d4543a6c100 186 /*int main(void)
Wael_H 15:3d4543a6c100 187 {
Wael_H 15:3d4543a6c100 188 Robot robot;
Wael_H 15:3d4543a6c100 189
Wael_H 9:2113adf37c66 190 while(1)
Wael_H 13:9c62e263f245 191 {
Wael_H 15:3d4543a6c100 192 if(etat_deplacement != BALLE_STRAIGHT)
Wael_H 15:3d4543a6c100 193 automate_testLasers(robot);
Wael_H 15:3d4543a6c100 194
Wael_H 13:9c62e263f245 195 automate_testABalle(robot);
Wael_H 15:3d4543a6c100 196
Wael_H 13:9c62e263f245 197 if(!robot.aBalle())
Wael_H 13:9c62e263f245 198 automate_deplacement(robot);
Wael_H 13:9c62e263f245 199 }
Wael_H 7:753e901d441b 200 }
Wael_H 7:753e901d441b 201
Wael_H 10:efa507ba2b35 202
Wael_H 13:9c62e263f245 203 void automate_testLasers(Robot& robot)
Wael_H 7:753e901d441b 204 {
Wael_H 13:9c62e263f245 205 typedef enum {ATTENTE, TURN_RIGHT, TURN_LEFT, VOIT_BALLE} type_etat;
Wael_H 13:9c62e263f245 206 static type_etat etat = ATTENTE;
Wael_H 13:9c62e263f245 207
Wael_H 13:9c62e263f245 208 static float past_gauche, past_droit, actual_gauche, actual_droit;
Wael_H 13:9c62e263f245 209
Wael_H 13:9c62e263f245 210 actual_gauche = robot.getDist(Laser::Gauche);
Wael_H 13:9c62e263f245 211 actual_droit = robot.getDist(Laser::Droit);
Wael_H 7:753e901d441b 212
Wael_H 7:753e901d441b 213 switch(etat)
Wael_H 9:2113adf37c66 214 {
Wael_H 13:9c62e263f245 215 case ATTENTE:
Wael_H 14:1be2f691cbb4 216 if(actual_gauche < past_gauche-30)
Wael_H 13:9c62e263f245 217 {
Wael_H 15:3d4543a6c100 218 dbug.printf("TURN_LEFT\n\r");
Wael_H 13:9c62e263f245 219 etat = TURN_LEFT;
Wael_H 13:9c62e263f245 220 robot.stop();
Wael_H 13:9c62e263f245 221 }
Wael_H 13:9c62e263f245 222
Wael_H 14:1be2f691cbb4 223 if(actual_droit < past_droit-30)
Wael_H 13:9c62e263f245 224 {
Wael_H 15:3d4543a6c100 225 dbug.printf("TURN_RIGHT\n\r");
Wael_H 13:9c62e263f245 226 etat = TURN_RIGHT;
Wael_H 13:9c62e263f245 227 robot.stop();
Wael_H 13:9c62e263f245 228 }
Wael_H 13:9c62e263f245 229 break;
Wael_H 13:9c62e263f245 230
Wael_H 13:9c62e263f245 231
Wael_H 13:9c62e263f245 232 case TURN_LEFT:
Wael_H 15:3d4543a6c100 233 etat_deplacement = BALLE_GAUCHE;
Wael_H 13:9c62e263f245 234
Wael_H 14:1be2f691cbb4 235 if(actual_droit < past_droit-30)
Wael_H 13:9c62e263f245 236 {
Wael_H 15:3d4543a6c100 237 dbug.printf("VOIT_BALLE\n\r");
Wael_H 13:9c62e263f245 238 etat = VOIT_BALLE;
Wael_H 13:9c62e263f245 239 robot.stop();
Wael_H 13:9c62e263f245 240 }
Wael_H 13:9c62e263f245 241
Wael_H 14:1be2f691cbb4 242 if(actual_gauche > past_gauche+30)
Wael_H 13:9c62e263f245 243 {
Wael_H 15:3d4543a6c100 244 dbug.printf("TURN_RIGHT\n\r");
Wael_H 13:9c62e263f245 245 etat = TURN_RIGHT;
Wael_H 13:9c62e263f245 246 robot.stop();
Wael_H 13:9c62e263f245 247 }
Wael_H 13:9c62e263f245 248 break;
Wael_H 13:9c62e263f245 249
Wael_H 13:9c62e263f245 250
Wael_H 13:9c62e263f245 251 case TURN_RIGHT:
Wael_H 15:3d4543a6c100 252 etat_deplacement = BALLE_DROITE;
Wael_H 13:9c62e263f245 253
Wael_H 14:1be2f691cbb4 254 if(actual_gauche < past_gauche-30)
Wael_H 13:9c62e263f245 255 {
Wael_H 15:3d4543a6c100 256 dbug.printf("VOIT_BALLE\n\r");
Wael_H 13:9c62e263f245 257 etat = VOIT_BALLE;
Wael_H 13:9c62e263f245 258 robot.stop();
Wael_H 13:9c62e263f245 259 }
Wael_H 13:9c62e263f245 260
Wael_H 14:1be2f691cbb4 261 if(actual_droit > past_droit+30)
Wael_H 13:9c62e263f245 262 {
Wael_H 15:3d4543a6c100 263 dbug.printf("TURN_LEFT\n\r");
Wael_H 13:9c62e263f245 264 etat = TURN_LEFT;
Wael_H 13:9c62e263f245 265 robot.stop();
Wael_H 13:9c62e263f245 266 }
Wael_H 8:94ecfe411d02 267 break;
Wael_H 8:94ecfe411d02 268
Wael_H 13:9c62e263f245 269
Wael_H 13:9c62e263f245 270 case VOIT_BALLE:
Wael_H 15:3d4543a6c100 271 etat_deplacement = BALLE_STRAIGHT;
Wael_H 13:9c62e263f245 272
Wael_H 14:1be2f691cbb4 273 if(actual_gauche > past_gauche+30)
Wael_H 13:9c62e263f245 274 {
Wael_H 15:3d4543a6c100 275 dbug.printf("TURN_RIGHT\n\r");
Wael_H 13:9c62e263f245 276 etat = TURN_RIGHT;
Wael_H 13:9c62e263f245 277 robot.stop();
Wael_H 13:9c62e263f245 278 }
Wael_H 13:9c62e263f245 279
Wael_H 14:1be2f691cbb4 280 if(actual_droit > past_droit+30)
Wael_H 13:9c62e263f245 281 {
Wael_H 15:3d4543a6c100 282 dbug.printf("TURN_LEFT\n\r");
Wael_H 13:9c62e263f245 283 etat = TURN_LEFT;
Wael_H 13:9c62e263f245 284 robot.stop();
Wael_H 13:9c62e263f245 285 }
Wael_H 13:9c62e263f245 286 break;
Wael_H 13:9c62e263f245 287 }
Wael_H 13:9c62e263f245 288
Wael_H 13:9c62e263f245 289 past_gauche = actual_gauche;
Wael_H 13:9c62e263f245 290 past_droit = actual_droit;
Wael_H 13:9c62e263f245 291 }
Wael_H 13:9c62e263f245 292
Wael_H 13:9c62e263f245 293 void automate_testABalle(Robot& robot)
Wael_H 13:9c62e263f245 294 {
Wael_H 13:9c62e263f245 295 typedef enum {ATTENTE,ABALLE} type_etat;
Wael_H 13:9c62e263f245 296 static type_etat etat = ATTENTE;
Wael_H 13:9c62e263f245 297
Wael_H 13:9c62e263f245 298 switch(etat)
Wael_H 13:9c62e263f245 299 {
Wael_H 13:9c62e263f245 300 case ATTENTE:
Wael_H 15:3d4543a6c100 301 robot.gobe(25);
Wael_H 13:9c62e263f245 302 if(robot.aBalle())
Wael_H 13:9c62e263f245 303 {
Wael_H 15:3d4543a6c100 304 dbug.printf("A balle\n\r");
Wael_H 15:3d4543a6c100 305 robot.stop();
Wael_H 13:9c62e263f245 306 etat = ABALLE;
Wael_H 15:3d4543a6c100 307 etat_deplacement = CHERCHE_BALLE;
Wael_H 13:9c62e263f245 308 }
Wael_H 13:9c62e263f245 309 break;
Wael_H 13:9c62e263f245 310
Wael_H 13:9c62e263f245 311 case ABALLE:
Wael_H 13:9c62e263f245 312 if(robot.tourne(1800))
Wael_H 13:9c62e263f245 313 {
Wael_H 15:3d4543a6c100 314 dbug.printf("Tourne\n\r");
Wael_H 13:9c62e263f245 315 robot.ejecte(60);
Wael_H 15:3d4543a6c100 316 }
Wael_H 15:3d4543a6c100 317 if(!robot.aBalle())
Wael_H 13:9c62e263f245 318 etat = ATTENTE;
Wael_H 13:9c62e263f245 319 break;
Wael_H 13:9c62e263f245 320 }
Wael_H 13:9c62e263f245 321 }
Wael_H 13:9c62e263f245 322
Wael_H 13:9c62e263f245 323 void automate_deplacement(Robot& robot)
Wael_H 13:9c62e263f245 324 {
Wael_H 15:3d4543a6c100 325 switch(etat_deplacement)
Wael_H 13:9c62e263f245 326 {
Wael_H 13:9c62e263f245 327 case CHERCHE_BALLE:
Wael_H 15:3d4543a6c100 328 robot.tourne();
Wael_H 13:9c62e263f245 329 break;
Wael_H 13:9c62e263f245 330
Wael_H 13:9c62e263f245 331 case BALLE_GAUCHE:
Wael_H 15:3d4543a6c100 332 robot.tourne(-30);
Wael_H 13:9c62e263f245 333 break;
Wael_H 13:9c62e263f245 334
Wael_H 13:9c62e263f245 335 case BALLE_DROITE:
Wael_H 15:3d4543a6c100 336 robot.tourne(30);
Wael_H 13:9c62e263f245 337 break;
Wael_H 13:9c62e263f245 338
Wael_H 13:9c62e263f245 339 case BALLE_STRAIGHT:
Wael_H 15:3d4543a6c100 340 robot.avance();
Wael_H 18:a7dc3a63d7eb 341 static float allerJusqua;
Wael_H 15:3d4543a6c100 342
Wael_H 15:3d4543a6c100 343 if(robot.getDist(Laser::Gauche,"mm") < robot.getDist(Laser::Droit,"mm"))
Wael_H 15:3d4543a6c100 344 allerJusqua = 0.95*robot.getDist(Laser::Gauche,"mm");
Wael_H 15:3d4543a6c100 345 else
Wael_H 15:3d4543a6c100 346 allerJusqua = 0.95*robot.getDist(Laser::Droit,"mm");
Wael_H 15:3d4543a6c100 347
Wael_H 15:3d4543a6c100 348 if(allerJusqua > 2500)
Wael_H 15:3d4543a6c100 349 allerJusqua = 2500;
Wael_H 15:3d4543a6c100 350
Wael_H 15:3d4543a6c100 351 while(!robot.avance((int)allerJusqua))
Wael_H 15:3d4543a6c100 352 {
Wael_H 15:3d4543a6c100 353 dbug.printf("%f\n\r", robot.getDist(Laser::Gauche,"mm"));
Wael_H 18:a7dc3a63d7eb 354 }
Wael_H 18:a7dc3a63d7eb 355 break;
Wael_H 7:753e901d441b 356 }
Wael_H 15:3d4543a6c100 357 }*/