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Dependencies:   mbed

main.cpp

Committer:
Wael_H
Date:
2019-06-05
Revision:
19:dad67302af25
Parent:
17:aae5361ddddf
Child:
20:a1b5d032b422

File content as of revision 19:dad67302af25:

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

void automate_testDeplacement(Robot&);

int main(void)
{
    Robot robot;

    robot.setSpeed(40,400);
    
    Timer timer_dbug;
    timer_dbug.start();
    
    while(1)
    {
        automate_testDeplacement(robot);
        
        if(timer_dbug.read() > 0.5f)
        {
            dbug.printf("PosX : %d --- PosY : %d\n\r", robot.pos(Robot::X), robot.pos(Robot::Y));
            dbug.printf("Angle : %d degres\n\r", robot.pos(Robot::THETA) / 10 );
            sauter_lignes(25);
            timer_dbug.stop();
            timer_dbug.reset();
            timer_dbug.start();
        }
    }
}

void automate_testDeplacement(Robot& robot)
{
    typedef enum{AVANCE,TOURNE} type_etat;
    static type_etat etat = AVANCE;
    
    switch(etat)
    {
        case AVANCE:
            if(robot.avance(500))
                etat = TOURNE;
            break;
            
        case TOURNE:
            if(robot.tourne(900))
                etat = AVANCE;
            break;
    }
}