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Dependencies:   mbed

main.cpp@17:aae5361ddddf, 2019-06-04 (annotated)

Committer:
theolp
Date:
Tue Jun 04 17:25:49 2019 +0000
Revision:
17:aae5361ddddf
Parent:
16:05665faaa489
Child:
19:dad67302af25
Odometrie position, dbug position, angles compris entre -180 et 180, fonction updateCAN. Bonne version.

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 16:05665faaa489 5 void automate_testDeplacement(Robot&);
Wael_H 8:94ecfe411d02 6
Wael_H 2:8971078b1ccf 7 int main(void)
Wael_H 2:8971078b1ccf 8 {
Wael_H 10:efa507ba2b35 9 Robot robot;
Wael_H 7:753e901d441b 10
theolp 17:aae5361ddddf 11 SetOdometrie(ODOMETRIE_POSITION, 2000, 0, 0); // Erreur echange de X et Y...
theolp 17:aae5361ddddf 12
theolp 17:aae5361ddddf 13 robot.setSpeed(40,400);
theolp 17:aae5361ddddf 14
theolp 17:aae5361ddddf 15 Timer timer_dbug;
theolp 17:aae5361ddddf 16 timer_dbug.start();
Wael_H 15:3d4543a6c100 17
Wael_H 15:3d4543a6c100 18 while(1)
theolp 17:aae5361ddddf 19 {
Wael_H 16:05665faaa489 20 automate_testDeplacement(robot);
theolp 17:aae5361ddddf 21
theolp 17:aae5361ddddf 22 if(timer_dbug.read() > 0.5f)
theolp 17:aae5361ddddf 23 {
theolp 17:aae5361ddddf 24 dbug.printf("PosX : %d --- PosY : %d\n\r", robot.pos(Robot::X), robot.pos(Robot::Y));
theolp 17:aae5361ddddf 25 dbug.printf("Angle : %d degres\n\r", robot.pos(Robot::THETA) / 10 );
theolp 17:aae5361ddddf 26 sauter_lignes(25);
theolp 17:aae5361ddddf 27 timer_dbug.stop();
theolp 17:aae5361ddddf 28 timer_dbug.reset();
theolp 17:aae5361ddddf 29 timer_dbug.start();
theolp 17:aae5361ddddf 30 }
theolp 17:aae5361ddddf 31 }
Wael_H 15:3d4543a6c100 32 }
Wael_H 15:3d4543a6c100 33
Wael_H 16:05665faaa489 34 void automate_testDeplacement(Robot& robot)
Wael_H 15:3d4543a6c100 35 {
theolp 17:aae5361ddddf 36 typedef enum{AVANCE,TOURNE} type_etat;
Wael_H 16:05665faaa489 37 static type_etat etat = AVANCE;
Wael_H 7:753e901d441b 38
Wael_H 7:753e901d441b 39 switch(etat)
Wael_H 9:2113adf37c66 40 {
Wael_H 16:05665faaa489 41 case AVANCE:
theolp 17:aae5361ddddf 42 if(robot.avance(500))
Wael_H 16:05665faaa489 43 etat = TOURNE;
Wael_H 13:9c62e263f245 44 break;
Wael_H 13:9c62e263f245 45
Wael_H 16:05665faaa489 46 case TOURNE:
theolp 17:aae5361ddddf 47 if(robot.tourne(900))
theolp 17:aae5361ddddf 48 etat = AVANCE;
Wael_H 13:9c62e263f245 49 break;
Wael_H 13:9c62e263f245 50 }
Wael_H 13:9c62e263f245 51 }
Wael_H 16:05665faaa489 52