FRC_equipe1 / Mbed 2 deprecated FRC_2019

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Classes/Deplacement.cpp

Committer:
Wael_H
Date:
2019-06-03
Revision:
15:3d4543a6c100
Parent:
13:9c62e263f245
Child:
16:05665faaa489

File content as of revision 15:3d4543a6c100:

#include "Deplacement.h"
#include "CAN_asser.h"

Deplacement::Deplacement()
{
    this->peutBouger = true;
}

bool Deplacement::avance(signed short dist)
{
    if(this->peutBouger)
    {
        GoStraight(dist,0,0,0);
        this->peutBouger = false;
    }
    else
        majFlagDpl(this->peutBouger);
        
    return this->peutBouger;
}

bool Deplacement::tourne(signed short angle)
{ 
    if(this->peutBouger)
    {
        Rotate(angle);
        this->peutBouger = false;
    }
    else
        majFlagDpl(this->peutBouger);
        
    return this->peutBouger;
}

bool Deplacement::GoToXYT(unsigned short x, unsigned short y, unsigned short t, signed char sens)  //sens = 0 par défaut
{
    if(this->peutBouger)
    {
        GoToPosition(x,y,t,sens);
        this->peutBouger = false;
    }
    else
        majFlagDpl(this->peutBouger);
        
    return this->peutBouger;
}

void Deplacement::stop()
{
    SendRawId(ASSERVISSEMENT_STOP);
    
    do majFlagDpl(this->peutBouger);
    while(!this->peutBouger);
}