Diff: stateMachines.cpp

Revision:

48:df2b4b6feceb

Parent:

45:7d67809bd7bf

Child:

49:6a939e2ffb32

--- a/stateMachines.cpp	Thu Sep 20 12:11:11 2018 +0000
+++ b/stateMachines.cpp	Thu Sep 20 18:56:13 2018 +0000
@@ -120,7 +120,7 @@
 #endif
 
 s_Section* p_sectionCourante = NULL;
-bool dumped = false;
+int dumped = 0;
 
 
 // +++++++++++++++++++++++++++++++++++++++++++ SAMPLING +++++++++++++++++++++++++++++++++++++++++++
@@ -221,15 +221,26 @@
 #if DEBUG > 0
     pc.printf("[BTN PRESSED]\r\n");
 #endif
-if(!dumped)
-{
+switch(dumped)
+{case 0:
+    PwmMotor.period_us(DIRECTION_PERIOD_MS);          //20 ms is default
+    PwmMotor.pulsewidth_us(1000);//MIN
+    wait(3);
+    PwmMotor.pulsewidth_us(2000);//MAX
+    wait(1);
+    PwmMotor.pulsewidth_us(1500);//ZEROING
+    wait(1);
+    pulseSpeed_us = INITAL_PULSE_SPEED_US;
+    p_sectionCourante = &p_section1;
+    initSamples();
+break;
+case 1:
     transmitData();
-    dumped = true;
-}else{
-    initSamples();
-    p_sectionCourante = &p_section1;
-    dumped = false;
+    break;
+    default:
+    break;
     }
+    dumped ++;
 }
 #endif
 
@@ -350,7 +361,7 @@
     pc.printf("Init Section\r\n");
 #endif
     st_currentSection=ARRET;
-    p_sectionCourante=&p_section1;
+    //p_sectionCourante=&p_section1;
     it_tachymeter.fall(&it4cm);
     timerSinceTachy.start();
     tachySectionDist_cm = 0;
@@ -402,14 +413,6 @@
     pc.printf("Init Throttle\r\n");
 #endif
     st_thro = REGULATION_SPEED;
-    PwmMotor.period_us(DIRECTION_PERIOD_MS);          //20 ms is default
-    PwmMotor.pulsewidth_us(1000);//MIN
-    wait(3);
-    PwmMotor.pulsewidth_us(2000);//MAX
-    wait(1);
-    PwmMotor.pulsewidth_us(1500);//ZEROING
-    wait(1);
-    pulseSpeed_us = INITAL_PULSE_SPEED_US;
 #if DEBUG > 0
     pc.printf("temps init: %.4lf micros\r\n",timeSinceStart.read_us());
     pc.printf("\r\nStates INIT: state Murs: %.4lf, state Section %.4lf, state MaxSpeed %.4lf, state Throttle %.4lf\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro);