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Dependencies:   mbed

main.cpp@19:dad67302af25, 2019-06-05 (annotated)

Committer:
Wael_H
Date:
Wed Jun 05 13:25:52 2019 +0000
Revision:
19:dad67302af25
Parent:
17:aae5361ddddf
Child:
20:a1b5d032b422
derniere version Classe Robot

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