Diff: odometrie.cpp

Revision:

5:3638d7e7c5c1

Parent:

2:3066e614372f

Child:

6:e1585b8bd07d

diff -r eac6746544fb -r 3638d7e7c5c1 odometrie.cpp
--- a/odometrie.cpp	Thu May 16 09:10:16 2019 +0000
+++ b/odometrie.cpp	Mon May 20 23:08:09 2019 +0000
@@ -8,15 +8,19 @@
 double y_actuel;
 double angle; // angle du robot
 
+extern Serial pc;
+extern double X_init = 0.0;
+extern double Y_init = 0.0;
+extern double ANGLE_init = 0.0;
 
 long int nbr_tick_D_prec;
 long int nbr_tick_G_prec;
     
 void init_odometrie()
 {
-	x_actuel=X_INIT;
-	y_actuel=Y_INIT;
-	angle=THETA_INIT;
+	x_actuel = X_init;
+	y_actuel = Y_init;
+	angle = ANGLE_init;
 	nbr_tick_D_prec=0;
 	nbr_tick_G_prec=0;
 }
@@ -95,4 +99,20 @@
 double get_angle()
 {
 	return angle*180/PI;
+}
+
+void setEmplacementDepartViolet()
+{
+	X_init = 30000.0; //22500
+	Y_init = 30000.0; // 45000
+	//ANGLE_init = 0.0; 
+	ANGLE_init = 0.0;
+}
+
+
+void setEmplacementDepartJaune()
+{
+	X_init = 0.0;
+	Y_init = 0.0;
+	ANGLE_init = -90.0*3.1415/180.0;
 }
\ No newline at end of file