Corentin Courtot / Mbed 2 deprecated Asserve

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Dependencies:   mbed X_NUCLEO_IHM02A1

main.cpp

Committer:
GuillaumeCH
Date:
2019-05-08
Revision:
4:deef042e9c02
Parent:
3:1dba6eca01ad
Child:
5:bbca34b60427

File content as of revision 4:deef042e9c02:

#include "mbed.h"

#include "hardware.h"
#include "odometrie.h"
#include "reglages.h"
#include "commande_moteurs.h"
#include "deplacement.h"

int main()
{
    //ini
    init_odometrie();
    init_hardware();
    srand(time(NULL));
    motors_on();
    AnalogIn Ain(A0);
    if(Ain.read()<0.5){
          return 0;
    }
    /*DigitalIn depart(USER_BUTTON);
    //Pause pour sauver le robot et l'ordi
    while(depart);*/
    deplacement robot;
    robot.bouton();
    Ticker asser;
    Timer t;
    t.start();
    //asser.attach(callback(&robot,&deplacement::asservissement),0.01);
    //robot.ligne_droite_v2(210000);

    //robot.ligne_droite_v2(210000);
    robot.commande_vitesse(500,0);
    //robot.ligne_droite_v2(150000);
    //robot.test_rotation_rel(90);
    //robot.ligne_droite_v2(40000);
    //robot.poussette();
    //robot.reculer_un_peu(-50000);
    //robot.test();
    //asser.detach();
    //robot.vitesse_nulle_G(0);
    //robot.vitesse_nulle_D(0);
    //wait(0.2);
    //motors_stop();
    //robot.printftab();
    
    
    //printf("x : %lf,y : %lf,angle : %lf\n",get_x_actuel(),get_y_actuel(),get_angle());*/
    return 0;
}