TRR 2018 / Mbed 2 deprecated biniou-TRR2019-DLVV

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Dependencies:   mbed MPU6050

Diff: sm_sections.cpp

Revision:
11:2156cb77d0d6
Parent:
10:e63fe4080760
Child:
12:58ad06f9847d
--- a/sm_sections.cpp	Fri Oct 04 09:46:00 2019 +0000
+++ b/sm_sections.cpp	Fri Oct 04 09:58:51 2019 +0000
@@ -4,6 +4,7 @@
 
 s_Section s_section1;
 s_Section s_section2;
+s_Section s_section3;
 
 E_STATE_SECTIONS e_SECTIONS_state;
 
@@ -26,13 +27,23 @@
     s_section1.coef_i = 0.000;
 
     //epingle 1
-    s_section2.nextSection = NULL;
+    s_section2.nextSection = &s_section3;
     s_section2.consigne_position = 0.5;
     s_section2.targetSpeed_mps = 1700;
     s_section2.lng_section_m = 5.0;
     s_section2.coef_p = 1.0;
     s_section2.coef_d = 0.0;
     s_section2.coef_i = 0.000;
+    
+    
+        //epingle 1
+    s_section3.nextSection = NULL;
+    s_section3.consigne_position = 0.5;
+    s_section3.targetSpeed_mps = 1500;
+    s_section3.lng_section_m = 0.2;
+    s_section3.coef_p = 1.0;
+    s_section3.coef_d = 0.0;
+    s_section3.coef_i = 0.000;
 
     return;
 }
@@ -64,6 +75,7 @@
                     //rs_LOG_pc.printf("RUNNING SECTION !\r\n");
                 } else {
                     b_UTILS_flag_emergency_stop = true;
+                    log_stop();
                     e_next_state = STOPPED;
                 }
                 break;