Diff: main.cpp

Revision:

5:10193f156c3f

Parent:

0:712c30640b31

Child:

6:4f7f2d8a7cf8

--- a/main.cpp	Mon May 20 23:48:08 2019 +0000
+++ b/main.cpp	Fri May 24 21:48:01 2019 +0000
@@ -4,7 +4,7 @@
  * @author  Jimmy MAINGAM
  * @version V0.0.1
  * @date    20/03/2019
- * @brief   Implementation file to communicate with the screen 
+ * @brief   Implementation file main 
  ****************************************************************************
  *This software has been developed to be used in AREM's robot for the cdfr 2019
  **/
@@ -27,12 +27,14 @@
 
 #include "Strategie.h"
 #include "AnalyseDistance.h"
+#include "AnalyseArcLib.h"
 
 
 /* Global Variables ---------------------------------------------------------*/   
 
 //I2CSlave i2c(PIN_SDA, PIN_SCL);
 extern Serial serial;
+extern bool typeEvitement;
 Serial capteursUART(A0,A1,2000000);
 //Ticker lectureI2C;
 extern event_callback_t afficherEcranCallback;
@@ -46,7 +48,7 @@
 //void afficherI2C();
 void recupererCapteurs(int events);
 
-/* Main  ------------------------------------------------------------------*/
+/* Main  -----------------------------------------------------------------------------*/
 
 int main()
 {
@@ -74,11 +76,12 @@
     serial.read((uint8_t*)buffer, TAILLE, afficherEcranCallback, SERIAL_EVENT_RX_COMPLETE);
     capteursUART.read((uint8_t*)bufferCapteurs, TAILLEBUFFERCAPTEURS, afficherCapteursCallback, SERIAL_EVENT_RX_COMPLETE);
     
-    setEmplacementDepartViolet();
+    setEmplacementTest();
     init_odometrie();
+    typeEvitement = ARC;
     wait(10);
     robot.va_au_point(200000,30000,0.0);
-    
+    robot.va_au_point(200000,15000,-90);
     while(1)
     {
         if(detectionUltrasons)