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Dependencies:   mbed

main.cpp

Committer:
Wael_H
Date:
2019-06-06
Revision:
24:314b1f6607c5
Parent:
23:bb1535360a98
Child:
25:033263cf832c

File content as of revision 24:314b1f6607c5:

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

void automate_testDeplacement(Robot&);
bool automate_arretUrgence(Robot&);

int main(void)
{
    Robot robot;

    robot.setSpeed(80,400);
    
    Timer timer_dbug;
    timer_dbug.start();
    
    while(1)
    {
        automate_testDeplacement(robot);
        
        if(timer_dbug.read() > 0.5f)
        {
            timer_dbug.stop();
            timer_dbug.reset();
            timer_dbug.start();
        }
    }
}

void automate_testDeplacement(Robot& robot)
{
    typedef enum{ AVANCE, ARRET_URGENCE } type_etat;
    static type_etat etat = AVANCE;
    
    
    switch(etat)
    {
        case AVANCE:
            robot.avance(2500);
            if( automate_arretUrgence(robot) )
                etat = ARRET_URGENCE;
            break;
            
        case ARRET_URGENCE:
            robot.stop();
            break;
    }
}

bool automate_arretUrgence(Robot& robot)
{
    typedef enum{RAS, PERCEPTION, ARRET_URGENCE, ATTENTE_REPLACEMENT} type_etat;
    static type_etat etat = RAS;
    
    // Timer pour la durée sur la ligne blanche
    static Timer timerCNY;
    
    switch(etat)
    {
        case RAS :
            if(robot.surBlanc(Robot::CNY_GAUCHE) && robot.surBlanc(Robot::CNY_DROIT)){
                etat = PERCEPTION;
                timerCNY.start();
            }
            break;
            
        case PERCEPTION :
            if(robot.surBlanc(Robot::CNY_GAUCHE) && robot.surBlanc(Robot::CNY_DROIT) && timerCNY.read() >= 0.15f )
                etat = ARRET_URGENCE;
            else if( timerCNY.read() >= 0.15f ){
                etat = RAS;
                timerCNY.stop();
                timerCNY.reset();
            }
            break;
            
        case ARRET_URGENCE :
            timerCNY.stop();
            timerCNY.reset();
            
            etat = ATTENTE_REPLACEMENT;
            
            return true;
            
        case ATTENTE_REPLACEMENT :
            if(!robot.surBlanc(Robot::CNY_GAUCHE) && !robot.surBlanc(Robot::CNY_DROIT))
                etat = RAS;
            break;
    }
    
    return false;
}