Diff: main.cpp

Revision:

14:1be2f691cbb4

Parent:

13:9c62e263f245

Child:

15:3d4543a6c100

--- a/main.cpp	Tue May 28 06:48:54 2019 +0000
+++ b/main.cpp	Tue May 28 16:26:14 2019 +0000
@@ -38,13 +38,13 @@
     switch(etat)
     {
         case ATTENTE:            
-            if(actual_gauche < past_gauche-10)
+            if(actual_gauche < past_gauche-30)
             {
                 etat = TURN_LEFT;
                 robot.stop();
             }
                 
-            if(actual_droit < past_droit-10)
+            if(actual_droit < past_droit-30)
             {
                 etat = TURN_RIGHT;
                 robot.stop();
@@ -55,13 +55,13 @@
         case TURN_LEFT:
             etat_balle = BALLE_GAUCHE;
             
-            if(actual_droit < past_droit-10)
+            if(actual_droit < past_droit-30)
             {
                 etat = VOIT_BALLE;
                 robot.stop();
             }
                 
-            if(actual_gauche > past_gauche+10)
+            if(actual_gauche > past_gauche+30)
             {
                 etat = TURN_RIGHT;
                 robot.stop();
@@ -72,13 +72,13 @@
         case TURN_RIGHT:
             etat_balle = BALLE_DROITE;
             
-            if(actual_gauche < past_gauche-10)
+            if(actual_gauche < past_gauche-30)
             {
                 etat = VOIT_BALLE;
                 robot.stop();
             }
                 
-            if(actual_droit > past_droit+10)
+            if(actual_droit > past_droit+30)
             {
                 etat = TURN_LEFT;
                 robot.stop();
@@ -89,13 +89,13 @@
         case VOIT_BALLE:
             etat_balle = BALLE_STRAIGHT;
                 
-            if(actual_gauche > past_gauche+10)
+            if(actual_gauche > past_gauche+30)
             {
                 etat = TURN_RIGHT;
                 robot.stop();
             }
                 
-            if(actual_droit > past_droit+10)
+            if(actual_droit > past_droit+30)
             {
                 etat = TURN_LEFT;
                 robot.stop();
@@ -118,7 +118,7 @@
             robot.gobe(40);
             if(robot.aBalle())
             {
-                robot.stop();
+                //robot.stop();
                 etat = ABALLE;
                 etat_balle = CHERCHE_BALLE;
             }
@@ -139,7 +139,7 @@
     switch(etat_balle)
     {
         case CHERCHE_BALLE:
-            robot.tourne(3600);
+            robot.tourne(100);
             break;
             
         case BALLE_GAUCHE:
@@ -151,7 +151,7 @@
             break;
             
         case BALLE_STRAIGHT:
-            robot.avance(100);
+            robot.avance((short)robot.getDist(Laser::Gauche,"mm"));
             break;
     }
 }
\ No newline at end of file