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Dependencies:   mbed

main.cpp

Committer:
Wael_H
Date:
2019-06-04
Revision:
16:05665faaa489
Parent:
15:3d4543a6c100
Child:
17:aae5361ddddf

File content as of revision 16:05665faaa489:

#include "mbed.h"
#include "CAN_asser.h"
#include "Robot.h"

void automate_testDeplacement(Robot&);

int main(void)
{
    Robot robot;
    
    robot.setSpeed(50,300);
    
    while(1)
        automate_testDeplacement(robot);
}

void automate_testDeplacement(Robot& robot)
{
    typedef enum{AVANCE,TOURNE,GOTO,SARRETE} type_etat;
    static type_etat etat = AVANCE;
    
    switch(etat)
    {
        case AVANCE:
            if(robot.avance(2000))
                etat = TOURNE;
            break;
            
        case TOURNE:
            if(robot.tourne(450))
                etat = GOTO;
            break;
            
        case GOTO:
            BendRadius(30,90,0,0);
            etat = SARRETE;
            break;
            
        case SARRETE:
            break;
    }
}