Antoine Laurens / Mbed 2 deprecated DEMO22

version2

Dependencies:   BNO055_fusion mbed

Fork of DEMO2 by Antoine Laurens

Diff: main.cpp

Revision:
19:5832e34b7533
Parent:
18:f9012e93edb8
Child:
20:1da786e205eb
--- a/main.cpp	Tue Mar 29 02:12:08 2016 +0000
+++ b/main.cpp	Tue Mar 29 21:58:26 2016 +0000
@@ -22,8 +22,11 @@
 int target=20;
 int angle_error=2;
 bool xGood=false;
+bool yGood=false;
+bool angleGood=false;
+
 int angleTarget=0;
-
+int yTarget=30;
 void setTarget();
 void send();
 //void setAngle(int angle);
@@ -39,6 +42,7 @@
     while(1) {
         //loc.get_angle(&xya);
         loc.get_xy(&xya);
+        motion.check_xya(&xGood,&yGood,&angleGood,target,angleTarget,yTarget,angle_error)
         if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) {
             xGood = motion.setXPos(target,xya.x,2,angleTarget);
             if(motion.setYPos(130,xya.y,2,angleTarget)) {