Diff: main.cpp

Revision:

17:aae5361ddddf

Parent:

16:05665faaa489

Child:

19:dad67302af25

--- a/main.cpp	Tue Jun 04 08:49:01 2019 +0000
+++ b/main.cpp	Tue Jun 04 17:25:49 2019 +0000
@@ -8,35 +8,44 @@
 {
     Robot robot;
     
-    robot.setSpeed(50,300);
+    SetOdometrie(ODOMETRIE_POSITION, 2000, 0, 0);   // Erreur echange de X et Y...
+
+    robot.setSpeed(40,400);
+    
+    Timer timer_dbug;
+    timer_dbug.start();
     
     while(1)
+    {
         automate_testDeplacement(robot);
+        
+        if(timer_dbug.read() > 0.5f)
+        {
+            dbug.printf("PosX : %d --- PosY : %d\n\r", robot.pos(Robot::X), robot.pos(Robot::Y));
+            dbug.printf("Angle : %d degres\n\r", robot.pos(Robot::THETA) / 10 );
+            sauter_lignes(25);
+            timer_dbug.stop();
+            timer_dbug.reset();
+            timer_dbug.start();
+        }
+    }
 }
 
 void automate_testDeplacement(Robot& robot)
 {
-    typedef enum{AVANCE,TOURNE,GOTO,SARRETE} type_etat;
+    typedef enum{AVANCE,TOURNE} type_etat;
     static type_etat etat = AVANCE;
     
     switch(etat)
     {
         case AVANCE:
-            if(robot.avance(2000))
+            if(robot.avance(500))
                 etat = TOURNE;
             break;
             
         case TOURNE:
-            if(robot.tourne(450))
-                etat = GOTO;
-            break;
-            
-        case GOTO:
-            BendRadius(30,90,0,0);
-            etat = SARRETE;
-            break;
-            
-        case SARRETE:
+            if(robot.tourne(900))
+                etat = AVANCE;
             break;
     }
 }