Diff: main.cpp

Revision:

88:e4de39dd3e2e

Parent:

86:0c5e9ac3d8d8

Child:

89:46730de0d013

--- a/main.cpp	Fri May 06 10:05:45 2016 +0200
+++ b/main.cpp	Fri May 06 11:25:05 2016 +0000
@@ -18,7 +18,7 @@
 int RvalRcapt3 = 0;
 int Ravance = 1;
 DigitalIn start(PB_7);
-AX12 umbrella(PA_9, PA_10, 1, 250000);
+AX12 umbrella(PA_9, PA_10, 2, 250000);
 
 /* Debut du programme */
 int main(void)
@@ -30,16 +30,25 @@
     umbrella.setMode(0);
     umbrella.setMaxTorque(200);
     umbrella.setGoal(150);
-
+    wait(1);
+    umbrella.setGoal(200);
+    wait(1);
+    umbrella.setGoal(160);
+    
     depart();
     if (SCouleur == VERT) {
-        end.attach(&endFonc, 10);
-        GotoDist(5.5);
+        end.attach(&endFonc, 90);
+        GotoDist(8);
+        GotoArr(8.2);
     }
     else if (SCouleur == VIOLET) {  
-        end.attach(&endFonc, 10);
+        end.attach(&endFonc, 30);
+        //GotoDist(8.2);
+        //GotoArr(8.2);
+        GotoDist(2);
+        GotoThet(1, GAUCHE);
     }
-    else {
+    else if (SCouleur == NOIR) {
         TestDist3(2,2);
         TestThet3(1,1);
     }
@@ -75,6 +84,9 @@
 }
 
 void endFonc () {
-    umbrella.setGoal(150);
-    while (1);
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+    wait(1);
+    umbrella.setGoal(300);
+    while(1);
 }