Diff: main.cpp

Revision:

46:8eae88c45a78

Parent:

45:b53ae54062c6

--- a/main.cpp	Wed Apr 13 12:47:47 2016 +0000
+++ b/main.cpp	Wed Apr 20 13:13:37 2016 +0000
@@ -1,45 +1,66 @@
 #include "func.h"
+#include "Map/map.h"
 
 #define ATTENTE 0
 #define GO 1
 #define STOP 2
 
 /* Déclaration des différents éléments de l'IHM */
-InterruptIn mybutton(USER_BUTTON);
-DigitalIn button(USER_BUTTON);
-DigitalOut led(LED1);
-DigitalOut bleu(PC_5);
-DigitalOut blanc(PC_6);
-DigitalOut rouge(PC_8);
-
-/* AX12 */
-AX12 left_hand(PA_15, PB_7, 4, 250000);
-AX12 right_hand(PA_15, PB_7, 1, 250000);
-
-/* Sharp */
-AnalogIn capt1(PA_4);
-AnalogIn capt2(PB_0);
-AnalogIn capt3(PC_1);
-AnalogIn capt4(PC_0);
-
-/* Moteurs pas à pas */
-Stepper RMot(NC, PB_10, PA_8);
-Stepper ZMot(NC, PB_5, PB_4);
-Stepper LMot(NC, PB_3, PA_10);
-/* Fins de course */
-InterruptIn EndR(PB_15);
-InterruptIn EndZ(PB_14);
-InterruptIn EndL(PB_13);
-
-Ticker ticker;
-
-Serial logger(USBTX, USBRX);
-//Serial logger(PA_9, PA_10);
-RoboClaw roboclaw(460800, PA_11, PA_12);
-Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
-
-int i = 0, state = 0;
-bool EL = false, EZ = false, ER = false;
+class S { 
+public:
+    S () :  mybutton(USER_BUTTON), button(USER_BUTTON), led(LED1), bleu(PC_5), blanc(PC_6), rouge(PC_8)
+            left_hand(PA_15, PB_7, 4, 250000), right_hand(PA_15, PB_7, 1, 250000),
+            capt1(PA_4), capt2(PB_0), capt3(PC_1), capt4(PC_0),
+            RMot(NC, PB_10, PA_8), ZMot(NC, PB_5, PB_4), LMot(NC, PB_3, PA_10),
+            EndR(PB_15), EndZ(PB_14), EndL(PB_13),
+            logger(PA_9, PA_10), roboclaw(460800, PA_11, PA_12), odo(61.7, 61.8, ENTRAXE, 4096, roboclaw) {
+        
+        i = 0;
+        state = 0;
+        EL = false;
+        EZ = false
+        ER = false;            
+    }
+            
+    static InterruptIn mybutton;
+    static DigitalIn button;
+    static DigitalOut led;
+    static DigitalOut bleu;
+    static DigitalOut blanc;
+    static DigitalOut rouge;
+    
+    /* AX12 */
+    static AX12 left_hand;
+    static AX12 right_hand;
+    
+    /* Sharp */
+    static AnalogIn capt1;
+    static AnalogIn capt2;
+    static AnalogIn capt3;
+    static AnalogIn capt4;
+    
+    /* Moteurs pas à pas */
+    static Stepper RMot;
+    static Stepper ZMot;
+    static Stepper LMot;
+    /* Fins de course */
+    static InterruptIn EndR;
+    static InterruptIn EndZ;
+    static InterruptIn EndL;
+    
+    static Ticker ticker;
+    
+    //Serial logger(USBTX, USBRX);
+    static Serial logger;
+    static RoboClaw roboclaw;
+    static Odometry odo;
+    
+    static int i;
+    static state;
+    static bool EL;
+    static EZ;
+    static ER;
+}    
 
 void init(void);
 
@@ -47,6 +68,20 @@
 int main(void)
 {
     init();
+    
+    odo.setPos(110, 1000, 0);
+    map m(&odo);
+    m.addObs(obsCarr (1250, 1000, 220, 220));
+    m.addObs(obsCarr (1500, 750, 220, 220));
+    m.addObs(obsCarr (1500, 1250, 220, 220));
+    
+    m.Execute(1000,1000);
+    m.Execute(1500,1000);
+    m.Execute(1500,1500);
+    m.Execute(110,1000);
+    
+    odo.GotoThet(0);
+    
     while(1) JPO();
 }
 
@@ -61,7 +96,7 @@
     wait_ms(1000);
     bleu = 0, blanc = 0, rouge = 0;
     
-    while(button);
+    while(S::button);
     wait(1);
     
     init_ax12();