Diff: main.cpp

Revision:

31:8bcc3a0bfa8a

Parent:

30:58bfac39e701

Child:

34:e5500418b0e7

Child:

36:2d7357a385bc

--- a/main.cpp	Fri Jan 22 15:46:43 2016 +0000
+++ b/main.cpp	Tue Jan 26 16:39:43 2016 +0000
@@ -1,14 +1,4 @@
-#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 "Odometry/Odometry.h"
 #include "Map/Map.h"
 
 #define dt 10000
@@ -24,7 +14,8 @@
 Serial pc(PA_9, PA_10);
 Serial logger (PA_9, PA_10);
 RoboClaw roboclaw(460800, PA_11, PA_12);
-Odometry odo(63.2, 63.3, 252, 4096, roboclaw);
+/* Changement entraxe : 252->253 */
+Odometry odo(63.2, 63.3, 253, 4096, roboclaw);
 
 int i = 0;
 
@@ -43,9 +34,9 @@
     
     init();
     //Construction des obstacles
-    map.build();
+    //map.build();
     
-    float x=odo.getX();
+    /*float x=odo.getX();
     float y=odo.getY();
     float the = 0;
     
@@ -65,11 +56,12 @@
         odo.GotoXYT(path[i].x, path[i].y, the);
     }
     
+    odo.GotoThet(PI);
+    odo.GotoThet(0);*/
+    
+    odo.GotoXYT(1000, 1000, 0);
+    odo.GotoXYT(0, 1000, PI);
     odo.GotoThet(0);
-     
-    //odo.GotoXYT(500, 50, 0);
-    //odo.GotoXYT(200, 0, 0);
-    //odo.GotoXYT(0, 0, 0);
 
     //odo.GotoThet(-PI/2);
     wait(2000);