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Dependencies:   mbed

Classes/Deplacement.cpp

Committer:
Wael_H
Date:
2019-05-23
Revision:
10:efa507ba2b35
Child:
13:9c62e263f245

File content as of revision 10:efa507ba2b35:

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

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

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

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

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