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Dependencies:   mbed

Diff: Classes/Robot.cpp

Revision:
27:e103da412e2b
Parent:
26:fa8a8fa175cb
Child:
28:82571fd665bf
--- a/Classes/Robot.cpp	Thu Jun 06 13:22:25 2019 +0000
+++ b/Classes/Robot.cpp	Thu Jun 06 14:22:58 2019 +0000
@@ -9,21 +9,6 @@
 
 using namespace std;
 
-//**********    CNY70   **********//
-/*
-
-CNY70 de gauche branché sur CNY 0 : le plus à droite                    (peut changer)
-CNY70 de droite branché sur CNY 1 : deuxième en partant de la droite    (peut changer)
-
-PINS:
-CNY 0 -> A2
-CNY 1 -> A3
-CNY 2 -> A4
-CNY 3 -> A5
-
-*/
-/**********************************/
-
 DigitalIn Robot::Jack(PA_15);
 
 Robot::Robot() : laserG(Laser(PB_1)), laserD(Laser(PC_5)), laserA(Laser(PC_4)),
@@ -34,6 +19,7 @@
 {
     can_init();
     this->setPos(500,0,0);
+    this->gobe(25);
     
     this->Cerveau_Bras.period_ms(20);
     this->Cerveau_Bras = POS_BAS;
@@ -58,6 +44,11 @@
     return this->deplacement.getPos(pos);
 }
 
+bool Robot::immobile()
+{
+    return this->deplacement.immobile();
+}
+
 
 /// Toutes les fonctions de déplacement ///
 bool Robot::avance(signed short dist)