Diff: main.cpp

Revision:

1:5c28b22f3ca0

Parent:

0:88fd29503679

Child:

2:bbd254222dd7

--- a/main.cpp	Fri May 06 07:23:13 2016 +0000
+++ b/main.cpp	Fri May 06 07:31:35 2016 +0000
@@ -30,6 +30,7 @@
 volatile bool start = 1;
 volatile bool end = 1;
 char data = 0x08 | (char)64;
+int step=0;
 bool tag = true;
 int i2cAddres=0x70;                // Address of DS1307 is 0x68 (7 bit address)
 int i2c8BitAddres= i2cAddres <<1;  // Convert to 8bit addressing used by mbed
@@ -170,19 +171,45 @@
     game_length.attach(&stop, 90); //1 minutes 30 secondes pour la Coupe
 
     while(end) {
-        //deplacement(60, 1);
-        //motor1->Run(StepperMotor::FWD);
-        //motor2->Run(StepperMotor::BWD);
-        //wait(1);
-        //motor1->Run(StepperMotor::BWD);
-        //motor2->Run(StepperMotor::FWD);
-        wait_ms(100);
-        motor1->Move(StepperMotor::BWD,12000);
-        motor2->Move(StepperMotor::FWD,12000);
-        while((sensor.getDistance()>50) && end) {
-            //Tant que la distance est superieure on continue d'avancer
-            wait_ms(20);
-            printf("1");
+
+        switch(step) {
+            case 0:
+                step = 1;
+                break;
+
+            case 1:
+                //Déplacement 1ers cubes au milieu
+                wait_ms(100);
+                motor1->Move(StepperMotor::BWD,12000);
+                motor2->Move(StepperMotor::FWD,12000);
+                while((sensor.getDistance()>50) && end) {
+                    //Tant que la distance est superieure on continue d'avancer
+                    wait_ms(20);
+                    printf("1");
+                }
+                step = 2;
+                break;
+
+            case 2:
+                //Mise en position du robot pour pêche
+
+                step = 3;
+                break;
+            case 3:
+                //déploiement des bras, pêche
+
+                step = 4;
+                break;
+            case 4:
+                //Dépose des poissons dans le filet
+
+                step = 5;
+
+            case 5:
+                end = 0;
+                break;
+
+
         }
     }