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mmm
Dependencies: mbed StrategieLib BrasLib AnalyseDistanceLib BrasPousserLib EcranLib PompeLib DemarreurLib Asservissment_robot2_v16_05 AnalyseArcLib
Diff: main.cpp
- Revision:
- 5:10193f156c3f
- Parent:
- 0:712c30640b31
- Child:
- 6:4f7f2d8a7cf8
diff -r 7fb374acdc40 -r 10193f156c3f main.cpp --- 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)