Revision 88:e4de39dd3e2e, committed 2016-05-06

Comitter:

IceTeam

Date:

Fri May 06 11:25:05 2016 +0000

Parent:

87:60d81ecab4f5

Child:

89:46730de0d013

Commit message:

Programme super ? 51points !;

Changed in this revision

--- 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

--- a/entete.h	Fri May 06 10:05:45 2016 +0200
+++ b/entete.h	Fri May 06 11:25:05 2016 +0000
@@ -29,6 +29,7 @@
 //vFonctions deplacement.cpp
 void GotoThet (float timer, int signe);
 void GotoDist (float timer);
+void GotoArr(float timer);
 
 // Fonctions test.cpp
 void wait_start();
@@ -40,14 +41,13 @@
 void depart(void);
 void changeCamp(void);
 
-#define ADR 0x80
-#define accel_angle 12000
-#define vitesse_angle 10000
-#define deccel_angle 12000
+#define accel_angle 1
+#define vitesse_angle 400
+#define deccel_angle 400
 
-#define accel_dista 4096
-#define vitesse_dista 4096
-#define deccel_dista 4096
+#define accel_dista 2000
+#define vitesse_dista 2000
+#define deccel_dista 2000
 
 #define waiting_time 1
 #define R_SEUIL_SHARP 1

--- 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);
 }