Revision 89:46730de0d013, committed 2016-05-06

Comitter:

IceTeam

Date:

Fri May 06 11:54:27 2016 +0000

Parent:

88:e4de39dd3e2e

Child:

90:78d2c1527c95

Commit message:

Rajout de GotoThet - Attention il y a un petit saut au d?but

Changed in this revision

--- a/deplacement.cpp	Fri May 06 11:25:05 2016 +0000
+++ b/deplacement.cpp	Fri May 06 11:54:27 2016 +0000
@@ -102,4 +102,21 @@
     t.reset();
     
     wait(waiting_time);
+}
+
+void GotoThet(double theta_) {
+    roboclaw.ResetEnc();
+    float diameter_left = 61.7;
+    float diameter_right = 61.8;
+    int distance_ticks_left = -theta_*ENTRAXE/(2*(diameter_left*3.14159/4096));
+    int distance_ticks_right = theta_*ENTRAXE/(2*(diameter_right*3.14159/4096));
+
+    if (theta_ < 0)
+        roboclaw.SpeedAccelDeccelPositionM1M2(-accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
+    else
+        roboclaw.SpeedAccelDeccelPositionM1M2(-accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, -accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
+
+    wait(10);
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
 }
\ No newline at end of file

--- a/entete.h	Fri May 06 11:25:05 2016 +0000
+++ b/entete.h	Fri May 06 11:54:27 2016 +0000
@@ -30,6 +30,7 @@
 void GotoThet (float timer, int signe);
 void GotoDist (float timer);
 void GotoArr(float timer);
+void GotoThet(double theta_);
 
 // Fonctions test.cpp
 void wait_start();
@@ -41,7 +42,9 @@
 void depart(void);
 void changeCamp(void);
 
-#define accel_angle 1
+#define ENTRAXE 243.8
+
+#define accel_angle 400
 #define vitesse_angle 400
 #define deccel_angle 400
 

--- a/main.cpp	Fri May 06 11:25:05 2016 +0000
+++ b/main.cpp	Fri May 06 11:54:27 2016 +0000
@@ -46,7 +46,7 @@
         //GotoDist(8.2);
         //GotoArr(8.2);
         GotoDist(2);
-        GotoThet(1, GAUCHE);
+        GotoThet(3.14159);
     }
     else if (SCouleur == NOIR) {
         TestDist3(2,2);