Diff: main.cpp

Revision:

3:0b19b5b7c3a4

Parent:

2:6d12c2d70f19

Child:

4:aafb0016ed84

diff -r 6d12c2d70f19 -r 0b19b5b7c3a4 main.cpp
--- a/main.cpp	Wed May 31 18:33:54 2017 +0000
+++ b/main.cpp	Wed May 31 18:35:50 2017 +0000
@@ -16,7 +16,7 @@
 DigitalOut myled4(LED4);
 DigitalOut S2 (p11);
 
-
+int iCoefVirage=0.44;
 void Led (bool l1,bool l2,bool l3,bool l4){  //Fonction pour aider au debug avec les led
   
     myled1=l1;
@@ -35,6 +35,20 @@
     emiss(0,Vit);
     emiss(4,Vit);
 }
+void myVirageGauche (char Vit , char Ang){
+    emiss(1,Vit);
+    emiss(4,Vit);   
+    wait((Ang*iCoefVirage)/Vit);    //Le coeficient 0.5 est a réler en fonction de la batterie et de la voiture.
+    emiss(1,0);
+    emiss(4,0);
+    }
+void myVirageDroite (char Vit , char Ang){
+    emiss(0,Vit);
+    emiss(5,Vit);   
+    wait((Ang*iCoefVirage)/Vit);
+    emiss(1,0);
+    emiss(4,0);
+    }
 void avancer(char Vit) {
      int i=0;
      for(i; i<Vit ; i=i+(Vit/5));{
@@ -77,52 +91,20 @@
      emiss(4,0);  
 }
 void demi_tour_droite(char Vit) {
-     emiss(0,Vit);
-     emiss(5,Vit);   
-     wait(0.75);
-     emiss(0,0);
-     emiss(5,0);      
+myVirageDroite(Vit,180);     
 }
 void demi_tour_gauche(char Vit) {
-     emiss(1,Vit);
-     emiss(4,Vit);   
-     wait(0.75);
-     emiss(1,0);
-     emiss(4,0);  
+    myVirageGauche(Vit,180);
 }
-void myVG (char Vit , char Ang){
-    emiss(1,Vit);
-    emiss(4,Vit);   
-    wait((Ang*0.44)/Vit);
-    emiss(1,0);
-    emiss(4,0);
-    }
+
 int main (){
     while (1){
-        Led (1,0,0,0);
+        Led (1,1,1,0);
         S2=0;
         wait(1);
-    avancer(70);
+    demi_tour_droite(100);
         Led (1,1,0,0);
         wait(1);
-    arreter(70);
-        wait(0.5);
-    reculer(70);
-        Led (1,1,1,0);
-        wait(1);
-    arret_urgence();
-        wait(0.5);
-    tourner_gauche(120);
-        Led (1,1,1,1);
-        wait(1);
-    tourner_droite(120);
-        Led (0,1,1,1);
-        wait(1);
-    demi_tour_gauche(120);
-        Led (0,0,1,1);
-        wait(1);
-    demi_tour_droite(120);   
-        Led (0,0,0,1);
- 
+    demi_tour_gauche(70);
     }
 }