Diff: main.cpp

Revision:

8:ea8db9aacdfb

Parent:

7:7d3c6326cbc3

Child:

9:53a6a4e0db9f

diff -r 7d3c6326cbc3 -r ea8db9aacdfb main.cpp
--- a/main.cpp	Mon Jun 26 09:58:11 2017 +0000
+++ b/main.cpp	Mon Jul 03 09:04:23 2017 +0000
@@ -23,6 +23,7 @@
 void act()
 {
     action=bth.getc();
+    bState = 0;  
     switch(action) {
         case 'a':
             bth.printf("avancer\n\r");
@@ -56,14 +57,9 @@
             bth.printf("demi tour left\n\r");
             robot.demi_tour_gauche(100);
             break;
-        case not 'o':
-            bState = 0;
         case 'o':
             bState = !bState;
-            if (not bState) {
-                bth.printf("stop\n\r");
-                robot.arreter();
-            }
+            iState = 0;
             break;
     }
     action='0';
@@ -78,16 +74,15 @@
     int visu;
     bth.baud(57600);
     bth.attach(&act);
-
+    bState = 1;
     servo.period(0.02);
     while(1) {
-        bState = 1;
         if (bState) {
             switch (iState) {
 
                 case 0:
 
-                    if (srf08.read() <60 and srf08.read() >0 ) {
+                    if (srf08.read() <40 and srf08.read() >0 ) {
                         iState = 1;
                         bth.printf("stop\n\r");
                         robot.arreter();
@@ -100,20 +95,23 @@
 
                 case 1 :
                     servo.write(0.05);
-                    wait (0.2);
+                    wait (0.4);
                     aMes[1] = srf08.read();
 
-                    servo.write(0.1);
-                    wait (0.2);
+                    servo.write(0.095);
+                    wait (0.4);
                     aMes[2]= srf08.read();
 
                     servo.write(0.08);
-
-                    if (aMes[1] <100 and aMes[1] >0) {
+                    
+                    bth.printf("capt 1 : %.2f     capt 2 : %.2f",aMes[1], aMes[2]);
+                    //if (aMes[1] <80 and aMes[1] >0)
+                    if (aMes[2]>40) {
                         action = 'g';
                         bth.printf("gauche\n\r");
                         robot.tourner_gauche(70);
-                    } else if (aMes[2] <100 and aMes[2] >0) {
+                    //} else if (aMes[2] <80 and aMes[2] >0) {
+                    } else if (aMes[1]>40) {
                         bth.printf("droite\n\r");
                         robot.tourner_droite(70);
                     } else {