Diff: main.cpp

Revision:

12:d5e21f71c2a9

Parent:

10:ae3178aa94e9

Child:

16:a1ede21a963b

--- a/main.cpp	Fri Dec 04 11:18:13 2015 +0000
+++ b/main.cpp	Tue Jan 05 14:51:10 2016 +0000
@@ -24,18 +24,16 @@
 /** Debut du programme */
 int main(void)
 {
-    double angle_v = 2*PI/5;
-    double distance_v = 200.0;
     init();
-
-    odo.GotoXYT(500, 100, 0);
-    odo.GotoXYT(500, 50, 0);
-    //odo.GotoXYT(200, 0, 0);
-    //odo.GotoXYT(0, 0, 0);
-
-    //odo.GotoThet(-PI/2);
+    //roboclaw.SpeedAccelDeccelPositionM1M2(ADR, accel_angle, vitesse_angle, deccel_angle, -116878, accel_angle, vitesse_angle, deccel_angle, 116878, 1);
+    odo.GotoXY(1800,1500);
+    odo.GotoXY(2500,500);
+    odo.GotoXY(2000,300);
+    odo.GotoXYT(300,1000,0);
+    //for(int n=0; n<40; n++) odo.setTheta();
+    odo.GotoThet(-PI);
+    odo.GotoThet(0);
     wait(2000);
-    //odo.GotoXYT(2250,500,0);
     while(1);
 }
 
@@ -45,7 +43,7 @@
     pc.printf("Hello from main !\n\r");
     wait_ms(500);
     
-    odo.setPos(0, 0, 0);
+    odo.setPos(300, 1000, 0);
     roboclaw.ForwardM1(ADR, 0);
     roboclaw.ForwardM2(ADR, 0);
     
@@ -60,6 +58,8 @@
 {
     odo.update_odo();
     //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", odo.getX(), odo.getY(), odo.getTheta()*180/PI);
+    //pc.printf("Theta : %3.2f\n\r", odo.getTheta()*180/PI);
+    pc.printf("X : %4.2f\n\r", odo.getX());
     //if(pc.readable()) if(pc.getc()=='l') led = !led;
 }