Diff: main.cpp

Revision:

24:731f8fbc4adb

Parent:

23:f87e7472befe

Child:

25:f986cbbaf4e8

--- a/main.cpp	Sun May 03 11:51:56 2020 +0000
+++ b/main.cpp	Sun May 03 12:29:38 2020 +0000
@@ -54,8 +54,8 @@
 
 int main() { 
     int iState=Depart;
-    int distObsGauche=pot1.read();
-    int distObsDroite=pot2.read();
+    float distObsGauche=pot1.read();
+    float distObsDroite=pot2.read();
     int SwitchBumpers=bumpers.read();
     int SwitchUp=up.read();
     int SwitchJack=jack.read();
@@ -100,7 +100,7 @@
                 break;
             }//switch
         
-        while(iState==Depart)
+        if(iState==Depart)
         {
             if(SwitchJack==0||SwitchFire==1)
                 iState=Navigation;
@@ -108,7 +108,7 @@
                 iState=Arrive;
         }
         
-        while(iState==Navigation)
+        if(iState==Navigation)
         {
             if(distObsGauche>20||distObsDroite>20)
                 iState=Rotation;
@@ -118,13 +118,13 @@
                 iState=Arrive;
         }
         
-        while(iState==Arrive)
+        if(iState==Arrive)
         {
             if(SwitchUp==1)
                 iState=Depart;
         }
         
-        while(iState==Evitement)
+        if(iState==Evitement)
         {
             if(distObsGauche<20||distObsDroite<20)
                 iState=Rotation;
@@ -134,7 +134,7 @@
                 iState=Arrive;
         }
         
-        while(iState==Rotation)
+        if(iState==Rotation)
         {
             if(distObsGauche>40&&distObsDroite>40)
                 iState=Navigation;