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Dependencies:   mbed

Classes/Deplacement.cpp

Committer:
Wael_H
Date:
2019-06-07
Revision:
34:cea05fa02f37
Parent:
27:e103da412e2b
Child:
36:0a6cb92024c7

File content as of revision 34:cea05fa02f37:

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

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

bool Deplacement::getFlag()
{
    return this->peutBouger;
}

short Deplacement::getPos(int i)
{
    return this->pos[i];
}

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

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

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

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

bool Deplacement::immobile()
{
    return this->peutBouger;
}