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Dependencies:   mbed

Classes/Deplacement.cpp@10:efa507ba2b35, 2019-05-23 (annotated)

Committer:
Wael_H
Date:
Thu May 23 21:26:08 2019 +0000
Revision:
10:efa507ba2b35
Child:
13:9c62e263f245
Version avec classes a tester

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 10:efa507ba2b35 9 bool Deplacement::avance(int dist)
Wael_H 10:efa507ba2b35 10 {
Wael_H 10:efa507ba2b35 11 if(this->peutBouger)
Wael_H 10:efa507ba2b35 12 {
Wael_H 10:efa507ba2b35 13 GoStraight(dist,0,0,0);
Wael_H 10:efa507ba2b35 14 this->peutBouger = false;
Wael_H 10:efa507ba2b35 15 }
Wael_H 10:efa507ba2b35 16 else
Wael_H 10:efa507ba2b35 17 majFlagDpl(this->peutBouger);
Wael_H 10:efa507ba2b35 18
Wael_H 10:efa507ba2b35 19 return this->peutBouger;
Wael_H 10:efa507ba2b35 20 }
Wael_H 10:efa507ba2b35 21
Wael_H 10:efa507ba2b35 22 bool Deplacement::tourne(int angle)
Wael_H 10:efa507ba2b35 23 {
Wael_H 10:efa507ba2b35 24 if(this->peutBouger)
Wael_H 10:efa507ba2b35 25 {
Wael_H 10:efa507ba2b35 26 Rotate(angle);
Wael_H 10:efa507ba2b35 27 this->peutBouger = false;
Wael_H 10:efa507ba2b35 28 }
Wael_H 10:efa507ba2b35 29 else
Wael_H 10:efa507ba2b35 30 majFlagDpl(this->peutBouger);
Wael_H 10:efa507ba2b35 31
Wael_H 10:efa507ba2b35 32 return this->peutBouger;
Wael_H 10:efa507ba2b35 33 }
Wael_H 10:efa507ba2b35 34
Wael_H 10:efa507ba2b35 35 bool Deplacement::GoToXYT(int x, int y, int t, int sens) //sens = 0 par défaut
Wael_H 10:efa507ba2b35 36 {
Wael_H 10:efa507ba2b35 37 if(this->peutBouger)
Wael_H 10:efa507ba2b35 38 {
Wael_H 10:efa507ba2b35 39 GoToPosition(x,y,t,sens);
Wael_H 10:efa507ba2b35 40 this->peutBouger = false;
Wael_H 10:efa507ba2b35 41 }
Wael_H 10:efa507ba2b35 42 else
Wael_H 10:efa507ba2b35 43 majFlagDpl(this->peutBouger);
Wael_H 10:efa507ba2b35 44
Wael_H 10:efa507ba2b35 45 return this->peutBouger;
Wael_H 10:efa507ba2b35 46 }