FRC_equipe1 / Mbed 2 deprecated FRC_2019

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Dependencies:   mbed

Diff: Classes/Robot.cpp

Revision:
19:dad67302af25
Parent:
17:aae5361ddddf
Child:
20:a1b5d032b422
--- a/Classes/Robot.cpp	Tue Jun 04 17:25:49 2019 +0000
+++ b/Classes/Robot.cpp	Wed Jun 05 13:25:52 2019 +0000
@@ -9,10 +9,13 @@
 
 using namespace std;
 
+DigitalIn Robot::Jack(PA_15);
 
-Robot::Robot() : laserG(Laser(PB_1)), laserD(Laser(PC_5)), laserA(Laser(PC_4)), rouleau(Rouleau(D5, D4, D6)) /*PWM, Ejecte, Gobe*/, BPs(DigitalIn(PC_2, PullDown))
+Robot::Robot() : laserG(Laser(PB_1)), laserD(Laser(PC_5)), laserA(Laser(PC_4)), rouleau(Rouleau(D5, D4, D6)) /*PWM, Ejecte, Gobe*/, 
+                    BPs(DigitalIn(PC_2, PullDown))
 {
     can_init();
+    this->setPos(500,0,0);
 }
 
 bool Robot::aBalle()
@@ -20,6 +23,12 @@
     return BPs.read();
 }
 
+/// Fonctions Odometrie ///
+void Robot::setPos(unsigned short x, unsigned short y, signed short theta) const
+{
+    SetOdometrie(ODOMETRIE_POSITION, y, x, theta);   // Oui les x et les y sont inversés...
+}
+
 /// retourne l'adresse de la premiere case d'un tableau contenant dans l'ordre la position en x et en y et l'angle theta ///
 short Robot::pos(int i)
 {