Diff: main.cpp.orig

Revision:

46:5658af4e5149

Parent:

45:b53ae54062c6

Child:

48:03da1aead032

--- a/main.cpp.orig	Wed Apr 13 12:47:47 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,102 +0,0 @@
-#include "Odometry.h"
-/** Dependencies :
-    Map/Point.h
-    Map/define.h
-    Map/Obstacles/Obstacle.h
-
-    Test en cours :
-    * Un obstacle seulement
-    * Radius du robot réduit à 1 (defines.cpp)
-    * Nombreux
-*/ 
-#include "Map/Map.h"
-
-#define dt 10000
-#define ATTENTE 0
-#define GO 1
-#define STOP 2
-
-InterruptIn mybutton(USER_BUTTON);
-DigitalIn button(USER_BUTTON);
-DigitalOut led(LED1);
-Ticker ticker;
-//Serial pc(USBTX, USBRX);
-Serial pc(PA_9, PA_10);
-RoboClaw roboclaw(460800, PA_11, PA_12);
-Odometry odo(63.2, 63.3, 252, 4096, roboclaw);
-
-int i = 0;
-
-void update_main(void);
-void init(void);
-void pressed(void);
-void unpressed(void);
-
-/** Debut du programme */
-int main(void)
-{
-    double angle_v = 2*PI/5;
-    double distance_v = 200.0;
-    std::vector<SimplePoint> path;
-    Map map;
-    
-    init();
-    //Construction des obstacles
-    map.build();
-    map.Astar(0, 1000, 2000, 1000);
-    path = map.path;
-    
-    for(int i=0; i<path.size();i++) {
-        odo.GotoXYT(path[i].x, path[i].y, 0);
-    }
-        
-    //odo.GotoXYT(500, 50, 0);
-    //odo.GotoXYT(200, 0, 0);
-    //odo.GotoXYT(0, 0, 0);
-
-    //odo.GotoThet(-PI/2);
-    wait(2000);
-    //odo.GotoXYT(2250,500,0);
-    while(1);
-}
-
-void init(void)
-{
-    pc.baud(9600);
-    pc.printf("Hello from main !\n\r");
-    wait_ms(500);
-    
-    odo.setPos(0, 0, 0);
-    roboclaw.ForwardM1(ADR, 0);
-    roboclaw.ForwardM2(ADR, 0);
-    
-    while(button);
-    wait(1);
-    mybutton.fall(&pressed);
-    mybutton.rise(&unpressed);
-    ticker.attach_us(&update_main,dt); // 100 Hz
-}
-
-void update_main(void)
-{
-    odo.update_odo();
-    //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", odo.getX(), odo.getY(), odo.getTheta()*180/PI);
-    //if(pc.readable()) if(pc.getc()=='l') led = !led;
-}
-
-void pressed(void)
-{
-    if(i==0) {
-        roboclaw.ForwardM1(ADR, 0);
-        roboclaw.ForwardM2(ADR, 0);
-        //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", odo.getX(), odo.getY(), odo.getTheta()*180/PI);
-        i++;
-    }
-}
-
-void unpressed(void)
-{
-    if(i==1) {
-        i--;
-    }
-}
\ No newline at end of file