Diff: deplacement.cpp

Revision:

88:e4de39dd3e2e

Parent:

86:0c5e9ac3d8d8

Child:

89:46730de0d013

--- a/deplacement.cpp	Fri May 06 10:05:45 2016 +0200
+++ b/deplacement.cpp	Fri May 06 11:25:05 2016 +0000
@@ -33,13 +33,15 @@
 void GotoThet (float timer, int signe) {
     Timer t;
     
-    if (signe < 0) {
-        roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
-        roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
+    if (signe == GAUCHE) {
+        //roboclaw.SpeedAccelM1(accel_angle, vitesse_angle);
+        //roboclaw.SpeedAccelM2(accel_angle, -vitesse_angle);
+        roboclaw.SpeedM1(vitesse_angle);
+        roboclaw.SpeedM2(-vitesse_angle);
     }
-    else {
-        roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
-        roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
+    if (signe == DROITE) {
+        roboclaw.SpeedAccelM1(accel_angle, -vitesse_angle);
+        roboclaw.SpeedAccelM2(accel_angle, vitesse_angle);
     }
     
     t.reset();
@@ -70,4 +72,34 @@
     t.reset();
     
     wait(waiting_time);
+}
+
+void GotoArr(float timer) {
+    Timer t;
+    
+    roboclaw.SpeedAccelM1(accel_dista, -vitesse_dista);
+    roboclaw.SpeedAccelM2(accel_dista, -vitesse_dista);
+    
+    t.reset();
+    t.start();
+    
+    while (t.read() < timer) {
+        if (Ravance != 1) {
+            roboclaw.ForwardM1(0);
+            roboclaw.ForwardM2(0);
+            t.stop();
+            while (Ravance != 1);
+            roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
+            roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
+            t.start();
+        }
+    }
+    
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+    
+    t.stop();
+    t.reset();
+    
+    wait(waiting_time);
 }
\ No newline at end of file