Diff: main.cpp

Revision:

9:7584e3904be6

Parent:

8:527f5db9b3dc

diff -r 527f5db9b3dc -r 7584e3904be6 main.cpp
--- a/main.cpp	Fri Jun 09 02:09:09 2017 +0000
+++ b/main.cpp	Fri Jun 09 11:14:04 2017 +0000
@@ -452,7 +452,7 @@
 int main()
 {
 
-    int i = 0, val_H_balle = 0, val_W_balle=0, max_val_W_balle = 0, indice_balle = 0, val_carre_balle=0, val_x_balle=0;
+    int i = 0, val_H_balle = 0, val_W_balle=0, max_val_W_balle = 0, indice_balle = 0, val_carre_balle=0, val_x_balle=0, A=1;
 
     Byte        PIXY_rCCObjet = 0, PIXY_rNMObjet = 0;
     int         PIXY_objet;
@@ -548,7 +548,14 @@
                 Pc.printf ("\rAppuyez sur Entree pour quitter\n");
                 do 
                 {
-                   capteur_ultrason();
+                   if(CNY1>0.5 && A==1) {
+                       avancer();
+                       }
+                   else 
+                   {
+                       En = 0;
+                       A=0;
+                       }
                 }
                 while(!Pc.readable());
                 MENU_choix = Pc.getc();
@@ -584,7 +591,7 @@
                  {
                      tour_droit();
                  }
-                 else if(CAP_PWM>200)
+                 else if(CAP_PWM>230)
                  {
                      tour_gauche();
                  }
@@ -791,6 +798,7 @@
                                 if(val_W_balle>max_val_W_balle){
                                 max_val_W_balle=val_W_balle;
                                 indice_balle=i;
+                                }
                                 if(val_x_balle>130 && val_x_balle<170){
                                     avancer();
                                     }
@@ -798,7 +806,7 @@
                                     En = 0;
                                     }
                                 
-                                }
+                                
                         }
 Pc.printf("\rNMobj sig = %hd : X=%5hd,Y=%5hd (W=%5hd, H=%5hd)\n",Pixy_NMFIFO[indice_balle].NMbloc.signature,Pixy_NMFIFO[indice_balle].NMbloc.x,Pixy_NMFIFO[indice_balle].NMbloc.y,Pixy_NMFIFO[indice_balle].NMbloc.width,Pixy_NMFIFO[indice_balle].NMbloc.height);
 
@@ -992,11 +1000,9 @@
                 En = 1;
                 SensD = 1;
                 Led2 = 1;
-                MOTD_duty = 0.48;
-                Pwm_MD = 0.5;  
+                MOTD_duty = 0.2; 
                 SensG = 0;
-                MOTG_duty = 0.5;
-                Pwm_MG = 0.5;
+                MOTG_duty = 0.87;
                 
                 Pwm_MG = MOTG_duty;
                 Pwm_MD = MOTD_duty;
@@ -1007,10 +1013,10 @@
                 SensD = 0;
                 Led2 = 1;
                 MOTD_duty = 0.5;
-                Pwm_MD = 0.5;  
+                Pwm_MD = 0.3;  
                 SensG = 0;
                 MOTG_duty = 0.5;
-                Pwm_MG = 0.5;
+                Pwm_MG = 0.3;
                 
                 Pwm_MG = MOTG_duty;
                 Pwm_MD = MOTD_duty;