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Dependencies:   mbed

Diff: Classes/Deplacement.cpp

Revision:
10:efa507ba2b35
Child:
13:9c62e263f245
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Classes/Deplacement.cpp	Thu May 23 21:26:08 2019 +0000
@@ -0,0 +1,46 @@
+#include "Deplacement.h"
+#include "CAN_asser.h"
+
+Deplacement::Deplacement()
+{
+    this->peutBouger = true;
+}
+
+bool Deplacement::avance(int dist)
+{
+    if(this->peutBouger)
+    {
+        GoStraight(dist,0,0,0);
+        this->peutBouger = false;
+    }
+    else
+        majFlagDpl(this->peutBouger);
+        
+    return this->peutBouger;
+}
+
+bool Deplacement::tourne(int angle)
+{ 
+    if(this->peutBouger)
+    {
+        Rotate(angle);
+        this->peutBouger = false;
+    }
+    else
+        majFlagDpl(this->peutBouger);
+        
+    return this->peutBouger;
+}
+
+bool Deplacement::GoToXYT(int x, int y, int t, int sens)  //sens = 0 par défaut
+{
+    if(this->peutBouger)
+    {
+        GoToPosition(x,y,t,sens);
+        this->peutBouger = false;
+    }
+    else
+        majFlagDpl(this->peutBouger);
+        
+    return this->peutBouger;
+}
\ No newline at end of file