Diff: main.cpp

Revision:

76:a862cb10559c

Parent:

75:195dd2bb13a3

--- a/main.cpp	Thu May 05 04:36:59 2016 +0000
+++ b/main.cpp	Thu May 05 06:34:13 2016 +0000
@@ -1,5 +1,5 @@
 #include "func.h"
-#include "Map/map.h"
+#include "map.h"
 
 #include "ControlleurPince.h"
 
@@ -45,7 +45,7 @@
 DigitalIn EnZ(PB_14);
 DigitalIn EnL(PB_13);
 
-ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL,left_hand,right_hand);
+ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL, left_hand, right_hand);
 
 Ticker ticker;
 //Serial logger(USBTX, USBRX);
@@ -55,7 +55,6 @@
 
 int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
 bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false, SGauche = false, SDevant = false, SDroite = false;
-bool front_Sharp_activated = true;
 
 void init(void);
 void update_main(void);
@@ -63,34 +62,21 @@
 /* Debut du programme */
 int main(void)
 {
-    init();
-    map m(&odo, NULL, &controlleurPince, VIOLET, 1);
-    m.Execute(0);
-    m.Execute();
-    /*drapeau = 0;
-    init();
-
-    map m(&odo);
-    m.addObs(obsCarr (1250, 1000, 220, 220));
-    m.addObs(obsCarr (1500, 750, 220, 220));
-    m.addObs(obsCarr (1500, 1250, 220, 220));
-
-    init();    
-    
-    int cote = MAP_RIGHTSIDE;
-    /*map m(&odo);
-    m.Build(cote);
-    m.Execute(1000,1000);
-    m.Execute(1500,1000);
-    m.Execute(1500,1500);
-    m.Execute(110,1000);
-
-    odo.GotoThet(0);
     roboclaw.ForwardM1(0);
     roboclaw.ForwardM2(0);
-    logger.printf ("Chemin Fini !");
+    roboclaw.ResetEnc();
 
-    while(1);*/
+    init_interrupt();
+    odo.setPos(110, 1000, 0);
+    logger.printf("Depart homologation !\n\r");
+    while(START != 1);
+    logger.printf("GO !!\n\r");
+    roboclaw.SpeedAccelDeccelPositionM1M2(accel_angle, vitesse_angle, deccel_angle, 10000, accel_angle, vitesse_angle, deccel_angle, 10000, 1);
+    logger.printf("Faut avancer !!\n\r");
+    while(1);
+    //odo.GotoXY(1000, 1000);
+    //odo.GotoXY(500, 1500);
+    
 }
 
 void init(void)
@@ -98,24 +84,25 @@
     logger.baud(9600);
     logger.printf("Hello from main !\n\r");
 
-    wait(0.5);
-    controlleurPince.init();
-    wait(0.5);
-    controlleurPince.home();
-    
-    //depart();
     init_interrupt();
-    wait_ms(1);
-    while (CAMP == 0);
-    while (CAMP == 1);
-    
-    //while(START==0);
+
+    SCouleur = VERT;
+    LEDV = 1;
+    LEDR = 0;
+
+    odo.setPos(110, 1000, 0);
+    roboclaw.ResetEnc();
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+    wait_ms(500);
+    depart();
+    wait_ms(100);
+    while(START==0);
     logger.printf("End init\n\r");
 }
 
 void update_main(void)
 {
     odo.update_odo();
-    if (front_Sharp_activated)
-        checkAround();
+    //checkAround();
 }
\ No newline at end of file