Diff: main.cpp

Revision:

91:65fb6b9f3932

Parent:

90:78d2c1527c95

Child:

92:adb71eafef57

--- a/main.cpp	Fri May 06 12:34:25 2016 +0000
+++ b/main.cpp	Fri May 06 13:36:06 2016 +0000
@@ -24,6 +24,8 @@
 /* Debut du programme */
 int main(void)
 {
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
     Ticker ticker;
     Timeout end;
     ticker.attach(&Sharps, 0.01);
@@ -38,28 +40,56 @@
     wait(1);
     umbrella.setMaxTorque(0);
     
+    while(START == 1)
+    {
+        LEDR = 1;
+        LEDV = 1;
+        wait(0.5);
+        LEDR = 0;
+        LEDV = 0;
+        wait(0.5);
+    }
+   
+    wait(1);
     depart();
+    
     if (SCouleur == VERT) {
-        end.attach(&endFonc, 60);
+        end.attach(&endFonc, 90);
         GotoDist(9.0);
         GotoArr(9.2);
         R_SEUIL_SHARP = 0.25;
         GotoDist(2.5);
-        GotoThet(-3.14159);
-        GotoDist(4);
+        GotoThet(-3.04);
+        R_SEUIL_SHARP = 0.35;
+        GotoDist(5.5);
         R_SEUIL_SHARP = 1;
+        GotoDist(4.5);
+        GotoArr(3);
+        R_SEUIL_SHARP = 0.35;
+        GotoThet(3.04);
         GotoDist(3.5);
+        GotoThet(-3.04);
+        R_SEUIL_SHARP = 1; 
+        GotoDist(4.1);
     }
     else if (SCouleur == VIOLET) {  
-        end.attach(&endFonc, 60);
+        end.attach(&endFonc, 90);
         GotoDist(9.0);
         GotoArr(9.2);
         R_SEUIL_SHARP = 0.25;
         GotoDist(2.5);
-        GotoThet(3.14159);
-        GotoDist(4);
+        GotoThet(3.04);
+        R_SEUIL_SHARP = 0.35;
+        GotoDist(5.5);
         R_SEUIL_SHARP = 1;
+        GotoDist(4.5);
+        GotoArr(4);
+        R_SEUIL_SHARP = 0.35;
+        GotoThet(-3.04);
         GotoDist(3.5);
+        GotoThet(3.04);
+        R_SEUIL_SHARP = 1; 
+        GotoDist(4.1);
     }
     else if (SCouleur == NOIR) {
         TestDist3(2,2);