Revision 45:b53ae54062c6, committed 2016-04-13

Comitter:

sype

Date:

Wed Apr 13 12:47:47 2016 +0000

Parent:

44:b1fd7489369f

Child:

46:5658af4e5149

Child:

47:be4eebf40568

Commit message:

Impl?mentation des dispositifs finie

Changed in this revision

--- a/Functions/func.cpp	Wed Apr 13 11:43:10 2016 +0000
+++ b/Functions/func.cpp	Wed Apr 13 12:47:47 2016 +0000
@@ -145,4 +145,10 @@
     EndR.fall(&ERpressed);
     EndR.rise(&ERunpressed);
     ticker.attach_us(&update_main,dt); // 100 Hz
+}
+
+void update_main(void)
+{
+    odo.update_odo();
+    checkAround();
 }
\ No newline at end of file

--- a/Functions/func.h	Wed Apr 13 11:43:10 2016 +0000
+++ b/Functions/func.h	Wed Apr 13 12:47:47 2016 +0000
@@ -9,6 +9,7 @@
 #include "AX12.h"
 
 #define SEUIL 0.25
+#define dt 10000
 
 extern Serial logger;
 extern RoboClaw roboclaw;
@@ -27,6 +28,8 @@
 extern InterruptIn EndL;
 extern AX12 left_hand;
 extern AX12 right_hand;
+extern Ticker ticker;
+extern Odometry odo;
 
 extern int i, state;
 extern bool EL, EZ, ER;
@@ -46,5 +49,6 @@
 void init_interrupt(void);
 void goHome(void);
 void checkAround(void);
+void update_main(void);
 
 #endif
\ No newline at end of file

--- a/main.cpp	Wed Apr 13 11:43:10 2016 +0000
+++ b/main.cpp	Wed Apr 13 12:47:47 2016 +0000
@@ -1,6 +1,5 @@
 #include "func.h"
 
-#define dt 10000
 #define ATTENTE 0
 #define GO 1
 #define STOP 2
@@ -42,7 +41,6 @@
 int i = 0, state = 0;
 bool EL = false, EZ = false, ER = false;
 
-void update_main(void);
 void init(void);
 
 /* Debut du programme */
@@ -71,9 +69,3 @@
     wait_ms(100);
     logger.printf("End init\n\r");
 }
-
-void update_main(void)
-{
-    odo.update_odo();
-    checkAround();
-}
\ No newline at end of file