Revision 44:b1fd7489369f, committed 2016-04-13

Comitter:

sype

Date:

Wed Apr 13 11:43:10 2016 +0000

Parent:

43:d5aaff7d2bec

Child:

45:b53ae54062c6

Commit message:

Refonte du swag du code

Changed in this revision

--- a/Functions/func.cpp	Wed Apr 13 11:30:16 2016 +0000
+++ b/Functions/func.cpp	Wed Apr 13 11:43:10 2016 +0000
@@ -131,4 +131,18 @@
     right_hand.setGoal(180);
     left_hand.setGoal(180);
     wait(2);
+}
+
+void init_interrupt(void)
+{
+    mybutton.fall(&pressed);
+    mybutton.rise(&unpressed);
+
+    EndL.fall(&ELpressed);
+    EndL.rise(&ELunpressed);
+    EndZ.fall(&EZpressed);
+    EndZ.rise(&EZunpressed);
+    EndR.fall(&ERpressed);
+    EndR.rise(&ERunpressed);
+    ticker.attach_us(&update_main,dt); // 100 Hz
 }
\ No newline at end of file

--- a/Functions/func.h	Wed Apr 13 11:30:16 2016 +0000
+++ b/Functions/func.h	Wed Apr 13 11:43:10 2016 +0000
@@ -21,6 +21,12 @@
 extern AnalogIn capt1;
 extern AnalogIn capt2;
 extern AnalogIn capt3;
+extern InterruptIn mybutton;
+extern InterruptIn EndR;
+extern InterruptIn EndZ;
+extern InterruptIn EndL;
+extern AX12 left_hand;
+extern AX12 right_hand;
 
 extern int i, state;
 extern bool EL, EZ, ER;
@@ -37,6 +43,7 @@
 void JPO(void);
 
 void init_ax12(void);
+void init_interrupt(void);
 void goHome(void);
 void checkAround(void);
 

--- a/main.cpp	Wed Apr 13 11:30:16 2016 +0000
+++ b/main.cpp	Wed Apr 13 11:43:10 2016 +0000
@@ -49,51 +49,7 @@
 int main(void)
 {
     init();
-    /* Code AStar */
-
-    /*double angle_v = 2*PI/5;
-    double distance_v = 200.0;
-    std::vector<SimplePoint> path;
-    Map map;
-
-
-    //Construction des obstacles
-    map.build();
-
-    float x=odo.getX();
-    float y=odo.getY();
-    float the = 0;
-
-    map.AStar(x, y, 1600, 1000, 75);
-    path = map.path;
-
-    for(int i=0; i<path.size();i++) {
-        the = (float) atan2((double) (path[i].y - odo.getY()), (double) (path[i].x - odo.getX()));
-        odo.GotoXYT(path[i].x, path[i].y, the);
-    }
-
-    map.AStar(odo.getX(), odo.getY(), 0, 1000, 75);
-    path = map.path;
-
-    for(int i=0; i<path.size();i++) {
-        the = (float) atan2((double) (path[i].y - odo.getY()), (double) (path[i].x - odo.getX()));
-        odo.GotoXYT(path[i].x, path[i].y, the);
-    }*/
-
-    //odo.GotoThet(PI);
-    //odo.GotoThet(0);
-    //odo.TestEntraxe(3);
-
-    //odo.GotoThet(-PI/2);
-    //wait(2000);
-    //odo.GotoXYT(2250,500,0);
-
-    //odo.TestEntraxe(5);
-    //odo.Forward(1000);
-    while(1)
-    {
-        JPO();
-    }
+    while(1) JPO();
 }
 
 void init(void)
@@ -103,30 +59,16 @@
     logger.baud(9600);
     logger.printf("Hello from main !\n\r");
     wait_ms(500);
-    bleu = 1;
-    blanc = 1;
-    rouge = 1;
+    bleu = 1, blanc = 1, rouge = 1;
     wait_ms(1000);
-    bleu = 0;
-    blanc = 0;
-    rouge = 0;
+    bleu = 0, blanc = 0, rouge = 0;
     
-    //odo.setPos(0, 1000, 0);
     while(button);
     wait(1);
-
-    mybutton.fall(&pressed);
-    mybutton.rise(&unpressed);
-
-    EndL.fall(&ELpressed);
-    EndL.rise(&ELunpressed);
-    EndZ.fall(&EZpressed);
-    EndZ.rise(&EZunpressed);
-    EndR.fall(&ERpressed);
-    EndR.rise(&ERunpressed);
-
+    
+    init_ax12();
+    init_interrupt();
     wait_ms(100);
-    ticker.attach_us(&update_main,dt); // 100 Hz
     logger.printf("End init\n\r");
 }