Diff: main.cpp

Revision:

2:6d12c2d70f19

Parent:

1:5830b7d6a985

Child:

3:0b19b5b7c3a4

diff -r 5830b7d6a985 -r 6d12c2d70f19 main.cpp
--- a/main.cpp	Wed May 31 18:33:28 2017 +0000
+++ b/main.cpp	Wed May 31 18:33:54 2017 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 
 char Adress = 128;
-char Vit =50;
+//char Vit =50;
                     //Address: 130
                     //Command : 0
                     //Data: 64
@@ -24,85 +24,105 @@
     myled3=l3;
     myled4=l4;    
 }
-void emiss(char Code,  char Vit_perso){
+void emiss(char Code,  char Vit){
      sbt.putc(Adress);
      sbt.putc(Code); 
-     sbt.putc(Vit_perso);  
-     sbt.putc((Adress+Code+Vit_perso) & 127);
+     sbt.putc(Vit);  
+     sbt.putc((Adress+Code+Vit) & 127);
     }
 
-void forward(char Vit_perso) {
-    emiss(0,Vit_perso);
-    emiss(4,Vit_perso);
+void forward(char Vit) {
+    emiss(0,Vit);
+    emiss(4,Vit);
 }
-void avancer(void) {
- 
-     emiss(0,Vit);
-     emiss(4,Vit);
+void avancer(char Vit) {
+     int i=0;
+     for(i; i<Vit ; i=i+(Vit/5));{
+         emiss(0,i);
+         emiss(4,i);
+         wait(0.1);
+     }
 }
-void arreter(void) {
+void arreter(char Vit){
+     int i=Vit;
+     for(i ; i>0;i=i-(Vit/5)){
+         emiss(0,i);
+         emiss(4,i);
+         wait(0.1);}
      emiss(0,0);
      emiss(4,0);
 }
-
-void reculer(void) {
- 
-     emiss(1,Vit);
-     emiss(5,Vit);
+void arret_urgence(void) {
+     emiss(0,0);
+     emiss(4,0);
 }
-void tourner_droite(void) {
-
+void reculer(char Vit) {
+     for(int i =0; i<Vit;i=i+5){
+     emiss(1,i);
+     emiss(5,i);
+     wait(0.1);}
+}
+void tourner_droite(char Vit) {
      emiss(0,Vit);
      emiss(5,Vit);   
-     wait(0.3);
+     wait(0.125);
      emiss(0,0);
      emiss(5,0);  
 }
-void tourner_gauche(void) {
-     Vit=50;
+void tourner_gauche(char Vit) {
      emiss(1,Vit);
      emiss(4,Vit);   
-     wait(0.3);
+     wait(0.125);
      emiss(1,0);
      emiss(4,0);  
 }
-void demi_tour_droite(void) {
-
+void demi_tour_droite(char Vit) {
      emiss(0,Vit);
      emiss(5,Vit);   
-     wait(1);
+     wait(0.75);
      emiss(0,0);
      emiss(5,0);      
 }
-void demi_tour_gauche(void) {
+void demi_tour_gauche(char Vit) {
      emiss(1,Vit);
      emiss(4,Vit);   
-     wait(1);
+     wait(0.75);
      emiss(1,0);
      emiss(4,0);  
 }
+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);
-    S2=0;
-    wait(1);
-    avancer();
-    Led (1,1,0,0);
-    wait(1);
-    reculer();
-    Led (1,1,1,0);
-    wait(1);
-    tourner_gauche();
-    Led (1,1,1,1);
-    wait(1);
-    tourner_droite();
-    Led (0,1,1,1);
-    wait(1);
-    demi_tour_gauche();
-    Led (0,0,1,1);
-    wait(1);
-    demi_tour_droite();   
-    Led (0,0,0,1);
+        Led (1,0,0,0);
+        S2=0;
+        wait(1);
+    avancer(70);
+        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);
  
     }
 }