Romain Ame / Mbed 2 deprecated Timer71pt

Fork de Timer après le match à 61 points

Dependencies:   RoboClaw mbed

Fork of Timer by ARES

deplacement.cpp@86:0c5e9ac3d8d8, 2016-05-06 (annotated)

Committer:
IceTeam
Date:
Fri May 06 10:05:33 2016 +0200
Revision:
86:0c5e9ac3d8d8
Child:
88:e4de39dd3e2e
Gestion du Timeout pour la funny action

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 86:0c5e9ac3d8d8 1 #include "entete.h"
IceTeam 86:0c5e9ac3d8d8 2
IceTeam 86:0c5e9ac3d8d8 3 void GotoDist(float timer) {
IceTeam 86:0c5e9ac3d8d8 4 Timer t;
IceTeam 86:0c5e9ac3d8d8 5
IceTeam 86:0c5e9ac3d8d8 6 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 7 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 8
IceTeam 86:0c5e9ac3d8d8 9 t.reset();
IceTeam 86:0c5e9ac3d8d8 10 t.start();
IceTeam 86:0c5e9ac3d8d8 11
IceTeam 86:0c5e9ac3d8d8 12 while (t.read() < timer) {
IceTeam 86:0c5e9ac3d8d8 13 if (Ravance != 1) {
IceTeam 86:0c5e9ac3d8d8 14 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 15 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 16 t.stop();
IceTeam 86:0c5e9ac3d8d8 17 while (Ravance != 1);
IceTeam 86:0c5e9ac3d8d8 18 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 19 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 20 t.start();
IceTeam 86:0c5e9ac3d8d8 21 }
IceTeam 86:0c5e9ac3d8d8 22 }
IceTeam 86:0c5e9ac3d8d8 23
IceTeam 86:0c5e9ac3d8d8 24 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 25 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 26
IceTeam 86:0c5e9ac3d8d8 27 t.stop();
IceTeam 86:0c5e9ac3d8d8 28 t.reset();
IceTeam 86:0c5e9ac3d8d8 29
IceTeam 86:0c5e9ac3d8d8 30 wait(waiting_time);
IceTeam 86:0c5e9ac3d8d8 31 }
IceTeam 86:0c5e9ac3d8d8 32
IceTeam 86:0c5e9ac3d8d8 33 void GotoThet (float timer, int signe) {
IceTeam 86:0c5e9ac3d8d8 34 Timer t;
IceTeam 86:0c5e9ac3d8d8 35
IceTeam 86:0c5e9ac3d8d8 36 if (signe < 0) {
IceTeam 86:0c5e9ac3d8d8 37 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 38 roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 39 }
IceTeam 86:0c5e9ac3d8d8 40 else {
IceTeam 86:0c5e9ac3d8d8 41 roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 42 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 43 }
IceTeam 86:0c5e9ac3d8d8 44
IceTeam 86:0c5e9ac3d8d8 45 t.reset();
IceTeam 86:0c5e9ac3d8d8 46 t.start();
IceTeam 86:0c5e9ac3d8d8 47
IceTeam 86:0c5e9ac3d8d8 48 while (t.read() < timer) {
IceTeam 86:0c5e9ac3d8d8 49 if (Ravance != 1) {
IceTeam 86:0c5e9ac3d8d8 50 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 51 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 52 t.stop();
IceTeam 86:0c5e9ac3d8d8 53 while (Ravance != 1);
IceTeam 86:0c5e9ac3d8d8 54 t.start();
IceTeam 86:0c5e9ac3d8d8 55 }
IceTeam 86:0c5e9ac3d8d8 56 if (signe < 0) {
IceTeam 86:0c5e9ac3d8d8 57 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 58 roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 59 }
IceTeam 86:0c5e9ac3d8d8 60 else {
IceTeam 86:0c5e9ac3d8d8 61 roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 62 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 63 }
IceTeam 86:0c5e9ac3d8d8 64 }
IceTeam 86:0c5e9ac3d8d8 65
IceTeam 86:0c5e9ac3d8d8 66 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 67 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 68
IceTeam 86:0c5e9ac3d8d8 69 t.stop();
IceTeam 86:0c5e9ac3d8d8 70 t.reset();
IceTeam 86:0c5e9ac3d8d8 71
IceTeam 86:0c5e9ac3d8d8 72 wait(waiting_time);
IceTeam 86:0c5e9ac3d8d8 73 }