Diff: main.cpp

Revision:

9:2113adf37c66

Parent:

8:94ecfe411d02

Child:

10:efa507ba2b35

--- a/main.cpp	Thu May 23 13:54:45 2019 +0000
+++ b/main.cpp	Thu May 23 15:37:33 2019 +0000
@@ -1,54 +1,33 @@
 #include "mbed.h"
 #include "CAN_asser.h"
-
-
-CAN can(PB_8, PB_9,1000000); 
+#include "Deplacement.h"
 
-bool flagFinDpl = true;
-
-void automate_test();
+void automate_test(Deplacement& R);
 
 int main(void)
 {
-    bool quit = false;
+    Deplacement robot;
     
-    can_init();
-    can.attach(&isr_can);
-        
-    while(!quit)
-    {
-        trait_can();
-        automate_test();
-    }
-    
-    return 0;
+    while(1)
+        automate_test(robot);
+            
 }
 
-void automate_test()
+void automate_test(Deplacement& R)
 {
-    typedef enum{AVANCE,TOURNE} type_etat;
+    typedef enum {AVANCE, TOURNE} type_etat;
     static type_etat etat = AVANCE;
     
     switch(etat)
-    {            
+    {
         case AVANCE:
-            
-            if(flagFinDpl)
-            {
-                Rotate(900);
+            if(R.avance(500))
                 etat = TOURNE;
-                flagFinDpl = false;
-            }
             break;
             
         case TOURNE:
-            
-            if(flagFinDpl)
-            {
-                GoStraight(500,0,0,0);
+            if(R.tourne(900))
                 etat = AVANCE;
-                flagFinDpl = false;
-            }
             break;
     }
 }
\ No newline at end of file